NAV2 Getting Started Example error

asked 2022-11-22 11:10:06 -0500

Is_that_so
13 ●2 ●3 ●6

https://navigation.ros.org/getting_st...

I'm following the NAV2 tutorial and this is what happens:

I have everything installed:

sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup
sudo apt install ros-humble-turtlebot3*
sudo apt-get install ros-humble-turtlebot3-gazebo

Then I set the key environment variables:

source /opt/ros/humble/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models

Then after running:

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

I rush to rviz, set the 2D pose estimation as quick as I can and end up with this in the terminal:

[component_container_isolated-6] [INFO] [1669122316.072762902] [amcl]: Creating bond (amcl) to lifecycle manager.
[rviz2-5] [INFO] [1669122320.120000768] [rviz2]: Setting estimate pose: Frame:map, Position(-2.97266, -0.58257, 0), Orientation(0, 0, 0.0273898, 0.999625) = Angle: 0.0547864
[spawn_entity.py-3] [ERROR] [1669122345.950231796] [spawn_entity]: Service %s/spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-3] [ERROR] [1669122345.950698437] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-3]: process has died [pid 20529, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity turtlebot3_waffle -file /opt/ros/humble/share/nav2_bringup/worlds/waffle.model -robot_namespace -x -2.00 -y -0.50 -z 0.01 -R 0.00 -P 0.00 -Y 0.00 --ros-args'].

Some system info ROS_VERSION=2 ROS_PYTHON_VERSION=3 ROS_LOCALHOST_ONLY=0 ROS_DISTRO=humble Ubuntu 22 duel booted

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I started gazebo using gazebo --verbose then I closed it. I then sourced my enviroment and ran ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False and it finally worked.