ekumen-os / andino_webots Goto Github PK

This issue is to track the development of the PROTOSpawner node that will replace the current implementation to spawn a robot from an URDF with the webots_ros2 package.

Currently the tool used to spawn robots on runtime from an URDF is URDFSpawner. Given that it is about to be deprecated, some change in the deployed version installed by default using rosdep has this functionality broken. The workaround to solve this was to install a specific newer version via Dockerfile. Once the PROTOSpawner is officially released we should modify this package to implement it using the latest version of webots_ros2.

The PR including the implementation of PROTOSpawner can be found here

The generated solid for the caster wheel has a weird structure, adding an unnecessary bounding box in the middle.
Usually hingeJoints contain a solid as an endPoint which is the link to which the joint is attached. In this case the wheel is attached to an intermediate solid, further investigation is required.
Additionally, the hinge joint parameters seem to have the anchor a little off of the wheel's center. It could be related/fixed together.

Project milestones:

• Set up the andino_webots package
  • Launch a simple world in Webots using a ROS2 launchfile
  • Spawn Andino from a plain URDF description in Webots
  • Identify all sensors are present in the webots simulation (Albeit uninitialized)
• Create webots URDF for Andino
  • Initialize all devices
  • Read Sensor output from ROS2 topics
• Control Andino using diff drive
• Spawn Andino on runtime
• Create a functional custom plugin example
• Write comparative document for Andino sim in Webots vs Gazebo

Summary

Lidar doesn't cast shadows:

When trying to enable this it complains about the complexity of the meshes:

WARNING: Robot "andino" > Solid "solid0" > Solid "solid1" > Pose > Shape > DEF rplidar-a1 Mesh: Too many triangles (26247) in mesh: unable to cast shadows, please reduce the number of triangles below 21845 or set Shape.castShadows to FALSE to disable this warning.

This is an issue that comes from upstream.

Tracking issue upstream

• Ekumen-OS/andino#160

The initial pose of Andino when being spawned is currently being set to [0, 0, 0.22]. Having parameters to modify these values should be a feature.

Summary

• Review LICENSE and opensource conditions
• Add contributing and missing files #32
• Move to Ekumen OS repo
• OpenSource! Make it public

Post public:

• #37
• #29

The generated proto does not translate the colors specified in the gazebo_description URDF. According to urdf2webots the material can be parsed from a list of gazebo materials defined in the package, but this does not seem to be working.

Summary

Update readme file description to consolidate package.

Strong Suggestion

Take a look at ROS2 Dev Guide
as good starting point.

https://github.com/ekumenlabs/andino_webots/blob/7a8b9c07f5709c83fa8258c182e6e5f7b904e3da/docker/Dockerfile#L26-L29

Webots uses the contactProperties field in the world settings to define the physical properties of the interaction between different solids with a specified contactMaterial.
This is a twofold problem:

• On one side the contactProperties sets the properties of friction between 2 contactMaterials and is configured in the WorldInfo node, which is defined in the .wbt worldfile.
• The contactMaterial is defined in the Solid node, which is being automatically generated from the andino URDF. Currently urdf2webots doesn't provide a way of setting a contactMaterial for a solid.

Hello, I'm new to docker. I'm trying to complete installation. My ubuntu 22.04 is running with UTM on macOS Sonoma.
Webots installed on MacOS, because cyberbotics doesn't have a build for arm64 ubuntu and it can't build from source. So, I use TCP/IP bridge.

When I try to set up docker env I got error:

Building the docker image for ros2 humble andino development.
[+] Building 0.8s (6/24) docker:default
=> [internal] load build definition from Dockerfile 0.0s
=> => transferring dockerfile: 1.89kB 0.0s
=> [internal] load metadata for docker.io/osrf/ros:humble-desktop-full 0.5s
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
=> CACHED [ 1/20] FROM docker.io/osrf/ros:humble-desktop-full@sha256:d5b 0.0s
=> [internal] load build context 0.0s
=> => transferring context: 71B 0.0s
=> ERROR [ 2/20] RUN echo 'debconf debconf/frontend select Noninteractiv 0.2s

[ 2/20] RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections:
0.153 exec /bin/sh: exec format error

---

Dockerfile:10

8 | ENV TERM linux
9 | ENV DEBIAN_FRONTEND noninteractive
10 | >>> RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
11 |
12 | # Copy requirement files and install dependencies

ERROR: failed to solve: process "/bin/sh -c echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections" did not complete successfully: exit code: 1

I think this is because osrf/ros:humble-desktop-full doesn't support ARM64 architecture. How can I fix it ?

Maybe I must use this arm64/ros docker image ?

The caster_rotation_joint is created in Webots with a motor device, not allowing the caster to spin freely along the Z-axis. If no motor is generated, the hinge joint is free to move without the need of specifically applying a force to a motor.
The same would apply to the caster_wheel_joint.