/odom topic doesn't work on ROS2

asked 2022-12-17 17:02:05 -0600

andi
26 ●3 ●3 ●7

Hey all! I'm having some problems with Gazebo. I'm using ROS2 foxy on UBUNTU 20.04.5 LTS with Gazebo installed via ros-foxy-gazebo. I made an URDF model on a differential drive robot, with a launch file to run gazebo and spawn the robot. Even though, when launching the file, it appears on the terminal that the diff_drive is advertising the /odom and publishing the tf between odom frame and base_link, i cannot find the frame odom in RVIZ2. Moreover, when echoing the /odom topic i have no results. Finally, in the view_frames the odom frame doesn't appear. I guess that i did the correct launch file with the diff_drive control plugin and the good parameters. Here below the files. Launch file:

import os

from ament_index_python.packages import get_package_share_directory


from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch_ros.actions import Node


def generate_launch_description():

    # Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled
    # !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!!

    package_name = 'package_test'  # <--- CHANGE ME

    rsp = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([os.path.join(
            get_package_share_directory(
                package_name), 'launch', 'rsp.launch.py'
        )]), launch_arguments={'use_sim_time': 'true'}.items()
    )
# Include the Gazebo launch file, provided by the gazebo_ros package
gazebo = IncludeLaunchDescription(
    PythonLaunchDescriptionSource([os.path.join(
        get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
)

# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                    arguments=['-topic', 'robot_description',
                               '-entity', 'my_bot'],
                    output='screen')

# Launch them all!
return LaunchDescription([
    rsp,
    gazebo,
    spawn_entity,
])

Gazebo plugin:

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"  name="robot">

   <gazebo>
        <plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">
            <!-- Wheel info-->
            <left_joint>left_wheel_joint</left_joint>
            <right_joint>right_wheel_joint</right_joint>
            <wheel_separation>0.35</wheel_separation>
            <wheel_diameter>0.1</wheel_diameter>

            <!-- Limits-->
            <max_wheel_torque>200</max_wheel_torque>
            <max_wheel_acceleration>10.0</max_wheel_acceleration>

            <!-- Output-->
            <odometry_frame>odom</odometry_frame>
            <robot_base_frame>base_link</robot_base_frame>

            <publish_odom>true</publish_odom> 
            <publish_odom_tf>true</publish_odom_tf> 
            <publish_wheel_tf>true</publish_wheel_tf> 

        </plugin>


     </gazebo>

</robot>

URDF file:

<robot <a="" href="http://xmlns:xacro="http://www.ros.org/wiki/xacro">xmlns:xacro="http://www.ros.org/wiki/..." ><="" p=""> </robot>

<xacro:include filename="inertial_macros.xacro"/>

<material name="white">
    <color rgba="1 1 1 1" />
</material>

<material name="orange">
    <color rgba="1 0.3 0.1 1"/>
</material>

<material name="blue">
    <color rgba="0.2 0.2 1 1"/>
</material>

<material name="black">
    <color rgba="0 0 0 1"/>
</material>

<!-- BASE LINK -->

<link name="base_link">

</link>


<!-- CHASSIS LINK -->

<joint name="chassis_joint" type="fixed">
    <parent link="base_link"/>
    <child link="chassis"/>
    <origin xyz="-0.1 0 0"/>
</joint>

<link name="chassis">
    <visual>
        <origin xyz="0.15 0 0.075"/>
        <geometry>
            <box size="0.3 0.3 0.15"/>
        </geometry>
        <material name="white"/>
    </visual>
    <collision>
        <origin xyz="0.15 0 0.075"/>
        <geometry>
            <box size="0.3 ...

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import os from ament_index_python.packages import get_package_share_directory from launch.substitutions import LaunchConfiguration from launch.actions import DeclareLaunchArgument from launch import LaunchDescription from launch_ros.actions import Node from launch.actions.execute_process import ExecuteProcess #===================================== # VARIABLES #===================================== pkg_name = 'package_test' # your package name urdf_folder = 'description' # I saw on your code your xacro file is in a folder named description model_name = 'robot.urdf' # The urdf created automatically by xacro conversion command. This is inside description folder world_folder = 'world_folder_name' world_name = 'robot_world' #===================================== # LAUNCH CODE #===================================== def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time', default='true') urdf_file = os.path.join(get_package_share_directory(pkg_name),urdf_folder, model_name) world_file = os.path.join(get_package_share_directory(pkg_name), world_folder, world_name) return LaunchDescription([ DeclareLaunchArgument( 'use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'), # --------- ROBOT STATE PUBLISHER ---------- Node( package="robot_state_publisher", executable="robot_state_publisher", name="robot_state_publisher", parameters=[{' use_sim_time': use_sim_time}], arguments=[urdf_file], ), # ------- Gazebo -------------- ExecuteProcess( name='START-GAZEBO-SERVER', cmd=['gzserver', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', world_file]), ExecuteProcess(name='START-GAZEBO-CLIENT', cmd=['gzclient']) ])

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