まだ検証中なので、参考サイトやメモを残すだけ。 あとで内容をまとめるつもり。
Troubleshooting_1
mkdir -p ~/turtlebot3_ws/src cd ~/turtlebot3_ws/src/ git clone -b humble-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git git clone -b humble-jp-devel https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_jp_custom.git cd ~/turtlebot3_ws colcon build --symlink-install
ここでエラー発生。
root@1d491d21ae70:~/turtlebot3_ws# colcon build --symlink-install
Starting >>> dynamixel_sdk
Starting >>> turtlebot3_msgs
--- stderr: dynamixel_sdk
CMake Error at CMakeLists.txt:18 (find_package):
By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"ament_cmake", but CMake did not find one.
Could not find a package configuration file provided by "ament_cmake" with
any of the following names:
ament_cmakeConfig.cmake
ament_cmake-config.cmake
Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
"ament_cmake_DIR" to a directory containing one of the above files. If
"ament_cmake" provides a separate development package or SDK, be sure it
has been installed.
---
Failed <<< dynamixel_sdk [0.33s, exited with code 1]
Aborted <<< turtlebot3_msgs [0.27s]
Summary: 0 packages finished [1.04s]
1 package failed: dynamixel_sdk
1 package aborted: turtlebot3_msgs
2 packages had stderr output: dynamixel_sdk turtlebot3_msgs
10 packages not processed
以下を参考にして、ひとまず解決。 https://github.com/ros2/ros2/issues/710
source /opt/ros/humble/setup.bash
Troubleshooting_2
Finished <<< turtlebot3_navigation2 [1.41s] Starting >>> turtlebot3_teleop --- stderr: turtlebot3_teleop /usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools. warnings.warn( /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.16.0-unknown is an invalid version and will not be supported in a future release warnings.warn( /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.1build1 is an invalid version and will not be supported in a future release warnings.warn( --- Finished <<< turtlebot3_teleop [10.6s] Starting >>> turtlebot3_example --- stderr: turtlebot3_example /usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools. warnings.warn( /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.16.0-unknown is an invalid version and will not be supported in a future release warnings.warn( /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.1build1 is an invalid version and will not be supported in a future release warnings.warn( --- Finished <<< turtlebot3_example [13.3s]
これで解決。 https://zenn.dev/tasada038/articles/f2f5b500cdc36a
pip install setuptools==58.2.0
Troubleshooting_3
cd ~/turtlebot3_ws/src/ git clone -b humble-jp-devel https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_simulations_jp_custom git clone https://github.com/robotics-upo/lightsfm cd lightsfm make sudo make install cd ~/turtlebot3_ws colcon build --symlink-install
これをやったらこうなった。
[Processing: turtlebot3_gazebo]
[Processing: turtlebot3_gazebo]
--- stderr: turtlebot3_gazebo
CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
The package name passed to `find_package_handle_standard_args` (PkgConfig)
does not match the name of the calling package (gazebo). This can lead to
problems in calling code that expects `find_package` result variables
(e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
/usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:99 (find_package_handle_standard_args)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:72 (include)
CMakeLists.txt:23 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
/root/turtlebot3_ws/src/turtlebot3_simulations_jp_custom/turtlebot3_gazebo/src/infinite_corridor_sfm_plugin.cpp: In member function ‘virtual void gazebo::InfiniteCorridorSFMPlugin::Reset()’:
/root/turtlebot3_ws/src/turtlebot3_simulations_jp_custom/turtlebot3_gazebo/src/infinite_corridor_sfm_plugin.cpp:283:23: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ignition::math::v6::Vector3<double> >::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
283 | for (int i = 0; i < goals.size(); i++) {
| ~~^~~~~~~~~~~~~~
---
Finished <<< turtlebot3_gazebo [7min 21s]
Starting >>> turtlebot3_simulations
Finished <<< turtlebot3_simulations [5.17s]
Summary: 19 packages finished [7min 50s]
1 package had stderr output: turtlebot3_gazebo
root@1d491d21ae70:~/turtlebot3_ws#
こちらを参考に修正。 https://memoteki.net/archives/7187
vi /root/turtlebot3_ws/src/turtlebot3_simulations_jp_custom/turtlebot3_gazebo/CMakeLists.txt -find_package(gazebo REQUIRED) +find_package(gazebo_ros REQUIRED)
Troubleshooting_4
今回利用させていただいたDockerイメージでは、VNCからターミナルを開くとRootでログインできない。 また、ROSのワークスペースが /root配下にあるため、source ~/turtlebot3_ws/install/setup.bash を実行できない。 VSCodeでこのDockerにShellをアタッチするとRootでログインできるので、ここでRootパスワードを変更した。
sudo passwd root
Troubleshooting_5
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
これをやったら、こうなった。
root@1d491d21ae70:~# ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2023-08-02-00-58-41-294663-1d491d21ae70-4888 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_big_wheel.urdf.xacro urdf_file_name : turtlebot3_big_wheel.urdf.xacro [ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: xacro /root/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_big_wheel.urdf.xacro Captured stderr output: error: environment variable 'LDS_MODEL' is not set when evaluating expression 'lds_model=='LDS-01'' when processing file: /root/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_big_wheel.gazebo.xacro included from: /root/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_big_wheel.urdf.xacro
こちらを参考に解決。
https://blog.csdn.net/weixin_45365549/article/details/127225258
export LDS_MODEL=LDS-01
Troubleshooting_6
ubuntu@1d491d21ae70:/$ gazebo ALSA lib confmisc.c:855:(parse_card) cannot find card '0' ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
これで解決。 https://waregawa-log.hatenablog.com/entry/2020/10/10/234148
root@1d491d21ae70:/# vi /usr/share/alsa/alsa.conf
pcm.!default {
type plug
slave.pcm "null"
}
Troubleshooting_7
root@1d491d21ae70:~# ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py [ERROR] [gzclient-2]: process has died [pid 18100, exit code -6, cmd 'gzclient'].
権限の問題っぽいので、
chmod 777 /root
をしたうえで、Rootを抜けて一般ユーザでturtlebot3_wsに移動して、
export TURTLEBOT3_MODEL=burger source /root/turtlebot3_ws/install/setup.bash
をやってからリトライしたら正常にGazeboが起動した。 同様の手順をほかのTerminalでも実行したところ、正常にTeleopできた。
