gazebo_ros2_control
[gzserver-1] [ERROR] [1727951819.671190014] [jackal.gazebo_ros2_control]: controller manager doesn't have an update_rate parameter
No solution.
OpenAL
[gzserver-1] [Err] [OpenAL.cc:84] Unable to open audio device[default]
Related to support for audio inside a Docker container. It will not be resolved.
Command failed: docker compose
If you have any issue with docker incompatibility (e.g. Error: Command failed: docker compose ...), make sure that docker compose or docker-compose is set correctly in the settings.
In docker-compose.yaml, uncomment the factory_simulation_nvidia section:
factory_simulation_nvidia:
<<: *research-base
container_name: factory_simulation_nvidia
runtime: nvidia
deploy:
resources:
reservations:
devices:
- driver: nvidia
count: "all"
capabilities: [compute,utility,graphics,display]
and update .devcontainer/devcontainer.json:
{
"name": "ROS2 RESEARCH CONTAINER",
"dockerComposeFile": "../docker-compose.yaml",
"service": "factory_simulation_nvidia
...
Missing nvidia docker runtime
Solution: https://stackoverflow.com/questions/59008295/add-nvidia-runtime-to-docker-runtimes
Docker nvidia-container-cli: requirement error
If you get this error when building the docker container:
nvidia-container-cli: requirement error: unsatisfied condition: cuda>=12.6, please update your driver to a newer version, or use an earlier cuda container: unknown
A solution to try is first: re-install nvidia-container-toolkit. Or, if that does not work, update your nvidia-drivers.
GLIBC_2 issue
Sometimes the wrong nvidia-container-toolkit results in this issue below:
$/usr/lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by /usr/lib/x86_64-linux-gnu/libGLdispatch.so.0)
$/usr/lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by /usr/lib/x86_64-linux-gnu/libGLX.so.0)
If so, try downgrading nvidia-container- toolkit. You can use these commands:
$sudo apt-get remove --purge nvidia-container-toolkit nvidia-container-toolkit-base libnvidia-container*
$sudo apt-get update
$sudo apt-get install nvidia-container-toolkit=1.17.4-1 nvidia-container-toolkit-base=1.17.4-1 libnvidia-container1=1.17.4-1 libnvidia-container-tools=1.17.4-1
docker issues
Make sure docker is installed correctly by following these two instructions:
Advanced options:
To record camera images for available cameras we use a simple Python code ./camera_utility/camera_subscriber.py that continuously records camera images in camera_utility/camera_data/:
./control.sh cam_dump
Advanced features
Running ROS2 commands:
To avoid conflict between ros nodes in the same network, after each build a new random ROS2 domain is created. This means that you need to adjust this random domain before running any ros2 commands. For convenience you can use
./control.sh cmd YOUR_ROS2_COMMANDS
Here is an example of extracting tf2 hierarchy
./control.sh cmd ros2 run tf2_tools view_frames
These features and commands are under development and not fully supported yet and therefore are subject to change.
Cartographer: With both Gazebo and rviz running you can start creating a map of a robot's surroundings.
To start: ./control.sh cartographer
The jackal can then be controlled with the computer keyboard by running:
./control.sh teleop_jackal
To record one screenshot after use:
./control.sh screenshot 164
The result will be stored in ./camera_utility/camera_data/.
To record ROS messages in ROS bag files to replay the scenario later:
./control.sh ros_record
To replay the last rosbag recording:
./control.sh ros_replay
To test the unit tests before pushing new code:
./control.sh test
Jackal
If you want to control the Jackal, you add the following lines into the control.sh:
elif [[ "$*" == *"jackal_teleop"* ]]
then
ros2 launch dyno_jackal_bringup keyboard_steering.launch.py
And then run:
./control.sh jackal_teleop
These ones did not work, so we put them here in issues
elif [[ "$*" == *"move_object"* ]]
then
ros2 run object_mover move_object
elif [[ "$*" == *"scenario"* ]]
then
ros2 launch scenario_execution_ros scenario_launch.py scenario:=simulation/scenario_manager/scenarios/test.osc