How to Use ROS2 Jazzy and Gazebo Harmonic for Robot Simulation

[@amina673]

Hi, thanks a lot for sharing your codes and knowledge with the Robotic community.

[@robotmania8896]

Hi amin a! Thanks for watching my video! It is my pleasure if my video has helped you!

[@MikeZ2024]

Excellent video. Code worked exactly as presented. Thanks.

[@robotmania8896]

Hi MikeZ! Thank you for watching my video! It is my pleasure if this video has helped you!

[@a.t10]

you are a awesome. thank you for everything that you do.

[@robotmania8896]

Hi A. T.! It is my pleasure if my videos help you!

[@selehadinhabesi3855]

I want to use this but with teleop_twist_keyboard instead of joystick. what changes should i do? thanks for the amazing package

[@robotmania8896]

Hi Selehadin HABEŞİ! Thanks for watching my video! In that case, you should modify the “robot_control.py” script. In lines 105~130, modify the code to subscribe to the “cmd_vel” topic. You also have to comment out lines 119 ~ 126.

[@exystaaxyde8988]

Hello, i have a problem when using gz sim on my terminal the GUI instantly crashes. The gazebo sim window popups but it seems to only be a screenshot of what is on my monitor and i need to manually kill it. I used the recommended command to install : "sudo apt-get install ros-${ROS_DISTRO}-ros-gz" with my ros2 jazzy installation. I tried to reinstall both gazebo and ros2. Any ideas on how i may be able to fix it?

[@robotmania8896]

Hi exysta axyde! Are there any errors in the terminal? Also, does your computer have enough computational capabilities to run the Gazebo?

[@kaizoku_04]

@@robotmania8896 same issue here :(

[@kaizoku_04]

@@robotmania8896 [ruby $(which gz) sim-1] [GUI] [Err] [Ogre2RenderEngine.cc:1301] Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165) this error was on the terminal

[@robotmania8896]

@@kaizoku_04 Hi Mohannad Rababah! Thanks for watching my video! Do you have any errors in the turminal?

[@kaizoku_04]

@@robotmania8896 yes ! .. a bunch of errors and this is the first one between them : "" [ruby $(which gz) sim-1] [GUI] [Err] [Ogre2RenderEngine.cc:1301] Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165) "" ....... when I open the home for gazebo using gz sim nothing happens until I enter a project. thank you for replying

[@borislavmarinov9637]

Hello, I am trying to move a prismatic joint with this setup for controllers, but I am uncertain which controller I would need to be able to control it as the position commander itself does not fully work for it. This video has been really helpful with understanding how different components interact and integrate, but it has proven difficult for me to expand beyong and find out what is needed.

[@robotmania8896]

Hi Borislav Marinov” Thanks for watching my video! I am using prismatic joints in this tutorial. Please refer to the code to get an idea of how to use it. For example, I am using it in the “robot_sliding_base.xacro” file. kzbin.info/www/bejne/nYOoeoJ6YsitnJo

[@borislavmarinov9637]

@@robotmania8896 I took a look at it and it does seem to be what I need. I was just wondering if you know of a way to handle movement due to gravity when initiallly running the simulation if the prismatic joint is vertical

[@robotmania8896]

@@borislavmarinov9637 In that case, I think you should use force control for your joint.

[@edoardodanna850]

HI! I have some issues with the installation of slam_toolbox on ros2 Jazzy version. Using your robot, I am not able to display the slam environment on rviz2. Do you have any advice? thanks in advance.

[@robotmania8896]

Hi Edoardo D'Anna! Thanks for watching my video! What exactly do you mean by “slam environment”? Do you have any errors in the terminal?

[@edoardodanna850]

@@robotmania8896 Basecally the map of SLAM. There is a warning in the /map topic, particularly "no map received"

[@robotmania8896]

@@edoardodanna850 This message means that the map is probably not published. Have you generated a map and placed it into the right directory?

[@nazlee98]

Hi, would like to ask, how do i want to control using /cmd_vel ?

[@robotmania8896]

Hi Na Zlee! Thanks for watching my video! In that case, please subscribe to “/cmd_vel” topic and use linear.x, linear.y and angular.z values.

[@Mecha_Hacks]

I have an issue, my robot model spawns perfectly in rviz2 but when i spawn it in gazebo only one or two joints are visible and spawned, other 3-4 joints arent visible, the terminal successfully spawns all the joints, but not visible in gazebo, help!!

[@robotmania8896]

Hi Mecha_Hacks! Thanks for watching my video! So, I assume that several links of your robot are not visible. Please check whether you have specified dae file directory correctly.

[@elastico_007]

hi i have issues with ros2_control ackerman steering control i have made 2 steer joints and 4 drive joints.i can steer using /position using my steer joints and /velocity using rear drive joint. but i couldn't move my front drive joints and also how to limit steer angles? do you have any example script running in teleop_twist_keyboard

[@robotmania8896]

Hi ELASTICO! In the Ackerman steering control, you suppose to steer front wheels and rotate rear wheels, so you cannot do that. I don’t have example script for the “teleop_twist_keyboard”. If you are using this package, I think you just have to subscribe to the “cmd_vel” topic.

[@elastico_007]

@@robotmania8896 but the front drive joints are not rotating only steering is done.is there is anyway to make like dummy front wheels?

[@robotmania8896]

I think that if you would like to apply rotation to front wheels anyway, you should make a ros2 control plugin.

[@elastico_007]

@@robotmania8896 can I do navigation with plugin?

[@robotmania8896]

@@elastico_007 Yes, you can. But your plugin should publish “odom” topic.

[@elastico_007]

Hi I'm modelling a Ackerman chassis car in fusion and converting it to urdf. Can I give streer joint and rotation joint at the same place? And both joints are perpendicular?

[@robotmania8896]

Hi ELASTICO! Thanks for watching my video! Yes, you can. I have several videos with Ackerman steering mechanism. You can refer to URDF files for those videos.

[@imenmabrouk6769]

Hi . Is this works for ros2 humble et gazebo fortress?

[@robotmania8896]

Hi Imen Mabrouk! Thanks for watching my video! No, I don’t think so. I think you will need to change “gz” to “ign” in several parts of the code.

[@imenmabrouk6769]

@robotmania8896 thanks for your response! From your experience, do you recommend using the humble with the Fortress? Or to move on?

[@robotmania8896]

@@imenmabrouk6769 I recommend you use Jazzy with Harmonic in order to avoid rewriting your code using new API. Since in the future you will have to move to the newer version inevitably.

[@hemanthreddy8317]

Hello, can i know how you craeted these robot files. Can you please help me appreciate it.

[@robotmania8896]

Hi hemanth reddy! Thanks for watching my video! What do you mean by “robot files”? Are you talking about URDF files and STL, DAE files?

[@hemanthreddy8317]

@@robotmania8896 yes, can I know how can I create the urdf and launch files from cad.

[@robotmania8896]

May be there are scripts that convert CAD file to URDF file, but I personally always write URDF files and launch files based on the files I created in previous projects. I recommend you take one of my URDF/launch files as an example and write your own file. If you get used to it, it will not be that difficult.

[@elastico_007]

hi i want to use intel d435i in the gazebo sim and i couldn't find plugin can you suggest how to do?

[@robotmania8896]

Hi ELASTICO! Thanks for watching my video! I cannot find plugin for Gazebo sim either. I guess you have to wait till someone make it, or you should make it yourself.

[@elastico_007]

Hi Thanks I added rgbd camera plugin in gazebo sim and used Ros gazebo bridge. And I can visualise depth and camera in rqt image view but not in rviz2 it's like blank white screen.

[@robotmania8896]

@@elastico_007 If I remember correctly, if there are no topics received, there will be “No image” writing in the window. So, probably the topic is received correctly. But I cannot tell you anything else specific.

[@อภิวัฒน์พิทักษ์ศิลป์]

Thank you for making very good content. what if I don't have the controller, how can I use keyboard to control the robot? Could you please suggest?

[@robotmania8896]

Hi อภิวัฒน์ พิทักษ์ศิลป์! Thanks for watching my video! If you would like to use a keyboard, you can use this package to publish commands. cmower/ros2-keyboard: Keyboard driver for ROS 2. (github.com)

[@nguyenng6737]

​@@robotmania8896 The ros-noetic-teleop-twist-keyboard is for ROS, and cmower/ros2-keyboard is for ROS 2, right? Can you give me an example of this?

[@robotmania8896]

@@nguyenng6737 You can find an example in this page github.com/cmower/ros2-keyboard under the “Example:” section.

[@ZacharyReid-t9l]

Having issues running colcon build in scr dir due to cmake

[@ZacharyReid-t9l]

edit: forgot to set up ros /sorce ect

[@robotmania8896]

Hi Zachary Reid! Thanks for watching my video! So, now you can build the packages successfully?

[@allaboutcontrollers]

gazebo command is not working on the terminal

[@robotmania8896]

Hi AllAboutControllers! Thanks for watching my video! What kind of command are you trying to execute?

[@benterki_aboubakerseddiq3993]

thank you for sharing but i have a warning [gazebo-1] Warning [Utils.cc:132] [/sdf/model[@name="fws_robot"]/link[@name="base_footprint"]/sensor[@name="lidar_head_link"]/lidar/frame_id::L126]: XML Element[frame_id], child of element[lidar], not defined in SDF. Copying[frame_id] as children of [lidar]. could you please tell me how to solve it

[@omarsalem5832]

Thank you!

[@robotmania8896]

Hi Omar Salem! My pleasure!

[@gamingstudio2433]

Colcon build is. Not working

[@robotmania8896]

Hi GaMiNg sTuDiO. What errors do you have?

[@daffarandika3148]

hey, I have an issue when running the launch file from your code. And after troubleshooting I was able to determine that the error is from gazebo, any time I run gz sim `something something` it doesn't show anything but the terminal is indicating that the program is still running, so I checked the ~/.gz/auto_default.log file and found this error: "GUI requesting list of world names. The server may be busy downloading resources. Please be patient.". Can you please help me, appreciate it.

[@daffarandika3148]

your launch file (and all gz sim program) worked after rebooting my PC, not sure why though

[@robotmania8896]

Hi Daffa Randika! Thanks for watching my video! This happens probably because Gazebo downloads some files when you launch it for the very first time.

[@sherlockholmes4035]

I tried to run the following node in launch file: spawn = Node( package='ros_gz_sim', executable='create', arguments=[ '-entity', 'my_robot', '-string', 'robot_description', ], output='screen', ) I am not getting any errors but it's showing like this. [create-4] [INFO] [1728369743.553537559] [ros_gz_sim]: Requesting list of world names. I am using humble with fortress.

[@robotmania8896]

Hi Chennam Sunil Kumar! Thanks for watching my video! I have never used fortress, so I cannot tell for sure, but to launch Gazebo, you have to execute the “gz_sim.launch.py” file like this. Please refer to the “main.launch.py” script that I have provided. gazebo = IncludeLaunchDescription( PythonLaunchDescriptionSource([os.path.join( get_package_share_directory('ros_gz_sim'), 'launch'), '/gz_sim.launch.py']), launch_arguments=[ ('gz_args', [LaunchConfiguration('world'), '.sdf', ' -v 4', ' -r'] ) ] )

[@sherlockholmes4035]

@@robotmania8896 thanks for that ☺️