Example using the rae_gazebo package?

mjohannessen

Is there an example using the rae_gazebo package? I'm working off of the rae-ros git archive. After launching rae using ros2 launch rae_bringup bringup.launch.py and then on another machine (Ubuntu 22.04 in a VM (Parallels) on a Mac silicon) where gazebo (8), libignition-transport ros_gz are installed and then running ros2 launch rae_gazebo gazebo.launch.py, gazebo locks up repeating

[create-4] [INFO] [1704236658.747997546] [ros_gz_sim]: Requesting list of world names. [create-4] [INFO] [1704236663.748480009] [ros_gz_sim]: Requesting list of world names. [create-4] [INFO] [1704236668.750945364] [ros_gz_sim]: Requesting list of world names. [create-4] [INFO] [1704236673.751742169] [ros_gz_sim]: Requesting list of world names. [create-4] [INFO] [1704236678.752599998] [ros_gz_sim]: Requesting list of world names. [create-4] [INFO] [1704236683.754066393] [ros_gz_sim]: Requesting list of world names. [create-4] [INFO] [1704236688.759424963] [ros_gz_sim]: Requesting list of world names. [create-4] [INFO] [1704236693.760169079] [ros_gz_sim]: Requesting list of world names.

on the VM the topics are being published:

gz topic -l /camera/camera_info /camera/depth_image /camera/image /cmd_vel /image_out /image_tuning /odom /scan

and ros2 topic list on the VM shows the rae topics being published, so it doesn't look like a communication issue.

jakaskerl

cc @Luxonis-Adam

Luxonis-Adam

Hi, this might be Gazebo issue related to your setup, one cause I could think of is that Gazebo needs to download the world model at the first run which might take a long time. I would try leaving the simulator open for a while, or try launching the world without ROS stack.

mjohannessen

Luxonis-Adam

It looks like the issue is in the rae_gazebo package which doesn't copy the world_demo.sdf file to the install directory, so I re-created the rae_gazebo package using ament_python and added the launch and worlds directories to setup.py so both of those directories and the contents are saved to the install directory.

Also, in gazebo.launch.py:

launch_arguments={ 'gz_args': '-r /home/mateo/Dev/Projects/rae/rae-sandbox/src/rae_gazebo/worlds/world_demo.sdf', 'use_sim_time': 'True' }.items()

I changed gz_args to reflect the location of the world_demo.sdf file in my system.

Now, the world loads correctly.