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Sim doesn't realize goals are complete - and no data on /odom #201
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Is your issue consistently reproducible? |
I'm facing exactly the same issue on my Ubuntu 22.04 machine running ROS2 Humble. The Dock and Undock goals work fine however. |
@jonliberal what is the "same exact issue" that you are referring to? |
I'm not seeing data published to /odom topic. And Drive Goals (tested Drive Arc, Rotate Angle, Navigate to Position) are never completed: the robot initiates movement (e.g. rotate around itself for Rotate Angle) and never stops. |
Ok, it's strange then that you are able to dock/undock successfully. |
Hi, thanks for the quick responses. This is 100% reproducible for me - I can share my Dockerfile / docker-compose.yml as well if that's helpful. This is also 100% reproducible in the following conditions:
My environment isn't powerful enough to run the Ignition sim, so not sure if it's happening there. Here's the logs from my docker compose session. This is with classic Gazebo. You'll see that the last message confirms the receipt of the goal. I left the terminal open for ~10 minutes after that point, but no additional log messages were generated.
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More info here: I walked through the setup process for Galactic / Ubuntu 20.04 and didn't encounter this issue on the create3_sim/galactic branch. |
We are looking into this problem and we just merged this PR which should fix some of the issues |
Amazing thanks for the update! |
We pushed additional fixes as part of this PR #200. |
Finally had a chance to test this out - all is working well now! Thank you much iRobotEdu team :) |
Describe the bug
I'm running create3_sim in a Humble docker environment. There are no messages published on
/odom
and I'm seeing some goals behaving unexpectedly: when a goal involves rotating or driving, that behaviour continues forever without stopping.I'm pretty new to ros + the create3, but it seems like the sim is supposed to publish to
/odom
but isn't, which causes the goals to never complete. Is this a bug in the sim, or did I set something up wrong?To Reproduce
Steps to reproduce the behavior:
Dockerfile
from the create3-docker example:Observe the sim undock successfully, but get stuck spinning forever trying to find the goal heading.
Observe the odom topic not publishing:
Expected behavior
/odom
topic should have data published to it.Screenshots
Additional context
In rviz, there are error messages for left_wheel and right_wheel that no transforms to odom are present.
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