husky_navigation amcl_demo.launch No laser scan received
I'm trying to follow the clearpath husky simulation (noetic) tutorials move_base, amcl, gmapping, navigation: http://www.clearpathrobotics.com/assets/guides/noetic/husky/HuskyAMCL.html
but when I launch rviz, I'm unable to do gmapping/navigation simulations. I think because no laser scan data is being published to the /scan topic and therefore no local map can be displayed in rviz.
Any advice would be greatly appreciated.
(I'm new to ROS so not sure if there was some other software/packages I need to have installed. or if I needed to do some configuration e.g. to any launch files, gazebo, etc.
I have also tried downloading the husky ROS packages from the github https://github.com/husky/husky and compiling in catkin workspace, but couldn't get it working either.
And have also tried installing husky melodic using apt-get in Ubuntu 18.04.6 and ros-melodic, but can't get the husky simulation to run in melodic either.
And please let me know if there's any further info I need to provide.)
**The versions I'm using:**
Ubuntu 20.0.4
ROS noetic 1.15.14
Gazebo 11.9.0
rviz 1.14.14
python 3.8.10
$ uname -a
Linux ubuntu 5.13.0-35-generic #40~20.04.1-Ubuntu SMP Mon Mar 7 09:18:32 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux
husky-noetic (0.6.2-1focal)
I have installed clearpath husky simulation packages using apt-get
$ sudo apt-get install ros-noetic-husky-desktop
$ sudo apt-get install ros-noetic-husky-simulator
$ sudo apt-get install ros-noetic-husky-navigation
In three separate terminal windows, I run:
$ roslaunch husky_gazebo husky_playpen.launch
$ roslaunch husky_viz view_robot.launch
$ roslaunch husky_navigation amcl_demo.launch
I have only copied and pasted the error+warning messages and used "..." to indicate any non-error messages, but please let me know if I need to provide full terminal outputs.
$ roslaunch husky_gazebo husky_playpen.launch
...
process[spawn_husky_model-11]: started with pid [9312]
[ERROR] [1647674180.290283713]: Couldn't open joystick /dev/input/ps4. Will retry every second.
...
[ INFO] [1647674184.429833104]: Physics dynamic reconfigure ready.
[ WARN] [1647674184.640071378, 1298.620000000]: Failed to meet update rate! Took 1298.6199999999998909
[ WARN] [1647674184.641745344, 1298.620000000]: Failed to meet update rate! Took 1298.5999999999999091
...
[ INFO] [1647674184.987716237, 1298.720000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1647674185.108936746, 1298.720000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/front_left_wheel
[ERROR] [1647674185.109574739, 1298.720000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/front_right_wheel
[ERROR] [1647674185.110297501, 1298.720000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/rear_left_wheel
[ERROR] [1647674185.110949397, 1298.720000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/rear_right_wheel
...
[spawn_husky_model-11] process has finished cleanly
log file: /home/amandaquy/.ros/log/79082e7a-a754-11ec-bf9b-edc657b57d65/spawn_husky_model-11*.log
[ WARN] [1647674330.041573173, 1443.500000000]: Failed to meet update rate! Took 0.14000000000000001332
[ WARN] [1647674330.042218543, 1443.500000000]: Failed to meet update rate! Took 0.12000000000000000944
[ WARN] [1647678500.905016778, 5612.930000000]: Failed to meet update rate! Took 0.17000000000000001221
[ WARN] [1647678500.905757698, 5612.930000000]: Failed to meet update ...