Hood NUC Melih Gazebo Install

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January 17, 2020

Reference

See Melih's tutorial section "Gazebo Simulator and ROS2-Gazebo Installation"

Install

 eepp@hood:ros2_ws$ sudo apt install ros-dashing-ros-core ros-dashing-geometry*
     [sudo] password for eepp: 
     Reading package lists... Done
     Building dependency tree       
     Reading state information... Done
     Note, selecting 'ros-dashing-geometry-msgs' for glob 'ros-dashing-geometry*'
     Note, selecting 'ros-dashing-geometry-msgs-dbgsym' for glob 'ros-dashing-geometry*'
     ros-dashing-geometry-msgs is already the newest version (0.7.0-1bionic.20191210.233228).
     ros-dashing-geometry-msgs set to manually installed.
     ros-dashing-ros-core is already the newest version (0.7.3-1bionic.20191212.195334).
     ros-dashing-ros-core set to manually installed.
     The following packages were automatically installed and are no longer required:
       libllvm7 libllvm8
     Use 'sudo apt autoremove' to remove them.
     The following NEW packages will be installed:
       ros-dashing-geometry-msgs-dbgsym
     0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
     Need to get 20.5 MB of archives.
     After this operation, 25.5 MB of additional disk space will be used.
     Do you want to continue? [Y/n] Y
     Get:1 http://packages.ros.org/ros2/ubuntu bionic/main amd64 ros-dashing-geometry-msgs-dbgsym amd64 0.7.0-1bionic.20191210.233228 [20.5 MB]
     Fetched 20.5 MB in 4s (4,769 kB/s)                           
     Selecting previously unselected package ros-dashing-geometry-msgs-dbgsym.
     (Reading database ... 275909 files and directories currently installed.)
     Preparing to unpack .../ros-dashing-geometry-msgs-dbgsym_0.7.0-1bionic.20191210.233228_amd64.deb ...
     Unpacking ros-dashing-geometry-msgs-dbgsym (0.7.0-1bionic.20191210.233228) ...
     Setting up ros-dashing-geometry-msgs-dbgsym (0.7.0-1bionic.20191210.233228) ...

Test 1

This simple bring-up test does not work 

 eepp@hood:ros2_ws$ gazebo --verbose /opt/ros/dashing/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world
     Gazebo multi-robot simulator, version 9.11.0
     Copyright (C) 2012 Open Source Robotics Foundation.
     Released under the Apache 2 License.
     http://gazebosim.org

     [Msg] Waiting for master.
     Gazebo multi-robot simulator, version 9.11.0
     Copyright (C) 2012 Open Source Robotics Foundation.
     Released under the Apache 2 License.
     http://gazebosim.org

     [Msg] Waiting for master.
     [Msg] Connected to gazebo master @ http://127.0.0.1:11345
     [Msg] Publicized address: 10.0.0.111
     [INFO] [1579288600.726571176] [gazebo_ros_node]: ROS was initialized without arguments.
     [WARN] [1579288600.727818572] [rcl]: Found remap rule 'cmd_vel:=cmd_demo'. This syntax is deprecated. Use '--ros-args --remap cmd_vel:=cmd_demo' instead.
     [WARN] [1579288600.727867073] [rcl]: Found remap rule 'odom:=odom_demo'. This syntax is deprecated. Use '--ros-args --remap odom:=odom_demo' instead.
     [Err] [Connection.cc:546] Connection[0] Closed during Read
     [Err] [ConnectionManager.cc:141] Unable to read from master

Doesn't come up. The following doesn't help because it sets up RoS 2 for the environment built from source. Gazebo was not 

 eepp@hood:ros2_ws$ source ~/ros2_all_ws/ros2_ws/install/setup.bash
     ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
     ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.

Test 2

Mostly passes: Notice the setup.bash scripts in each terminal. They reference different ROS 2 installs: binary and from source. Gazebo doesn't work otherwise. Troubling. This must have to do with the binary install using apt.

Terminal 1 

 eepp@hood:~$ source /opt/ros/dashing/setup.bash

 eepp@hood:~$ gazebo --verbose /opt/ros/dashing/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world
     Gazebo multi-robot simulator, version 9.11.0
     Copyright (C) 2012 Open Source Robotics Foundation.
     Released under the Apache 2 License.
     http://gazebosim.org

     [Msg] Waiting for master.
     Gazebo multi-robot simulator, version 9.11.0
     Copyright (C) 2012 Open Source Robotics Foundation.
     Released under the Apache 2 License.
     http://gazebosim.org

     [Msg] Waiting for master.
     [Msg] Connected to gazebo master @ http://127.0.0.1:11345
     [Msg] Publicized address: 10.0.0.111
     [INFO] [gazebo_ros_node]: ROS was initialized without arguments.
     [INFO] [demo.diff_drive]: Wheel pair 1 separation set to [1.250000m]
     [INFO] [demo.diff_drive]: Wheel pair 1 diameter set to [0.600000m]
     [INFO] [demo.diff_drive]: Subscribed to [/demo/cmd_demo]
     [INFO] [demo.diff_drive]: Advertise odometry on [/demo/odom_demo]
     [INFO] [demo.diff_drive]: Publishing odom transforms between [odom_demo] and [chassis]
     [INFO] [demo.diff_drive]: Publishing wheel transforms between [chassis], [left_wheel_joint] and [right_wheel_joint]
     [Msg] Connected to gazebo master @ http://127.0.0.1:11345
     [Msg] Publicized address: 10.0.0.111
     ^C[INFO] [rclcpp]: signal_handler(signal_value=2)

Terminal 2 

 eepp@hood:~$ source ~/ros2_all_ws/ros2_ws/install/local_setup.bash

 eepp@hood:~$ ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 1.0}}' -1
     publisher: beginning loop
     publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

 eepp@hood:~$ ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 0.0}}' -1
     publisher: beginning loop
     publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))
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