An example project which contains the Unity components necessary to complete Navigation2's SLAM tutorial with a Turtlebot3, using a custom Unity environment in place of Gazebo.

License: Apache License 2.0

C# 34.56% CMake 13.96% Shell 0.90% C++ 8.79% Python 35.09% Lua 3.72% Dockerfile 2.97%

robotics-nav2-slam-example's Introduction

Navigation 2 SLAM Example

This example provides a Unity Project and a colcon workspace that, when used together, allows a user to substitute Unity as the simulation environment for the purposes of following the Navigation 2 SLAM tutorials. In following the setup instructions below, you will exercise Unity's ROS 2 integration, explore an example environment generated with our Robotics Warehouse randomizable environment, integrate visualizations with our Visualizations package, and learn about ways in which this project could be extended to support a more specific use case or automated to provide continuous integration testing of a robotics navigation stack.

We're currently working on lots of things! As a first step for this tutorial, please take a short moment fill out our survey to help us identify what products and packages to build next.

Setup Instructions

Understanding the Project Components

Learning More About Unity

If you are brand new to Unity, found this example intersting, and want to learn more about how to use the Unity Editor, you may find these tutorials very useful for better familiarizing yourself with the Editor interface:

Exploring the Editor Layout: a 10 minute tutorial giving a quick and straightforward overview of the Editor layout
Using the Unity Interface: a 1 hr tutorial, which includes more context for each window and short introductions to commonly used components of the Scene

If you'd like more information about how to create customized environments, you may find some of these very in-depth tutorials on the creation of environments in Unity useful:

Foundations of Real-Time 3D: A comprehensive look on the various aspects of building a realtime 3D environment in Unity. Although the whole course is 3 hours and 30 minutes, you may skip to the courses that are most relevant to your use case, which are likely to be Work with GameObjects in a 3D Scene, Add components to 3D GameObjects, and Get 3D assets
Environments Live Session: This Session provides a deeper dive into the intricacies of constructing a believable environment. While its focus is on environments for game development, most of the content is just as relevant to anyone interested in building realistic environments for simulation.

Getting Support

Many issues you may encounter can be solved by performing an internet search on the relevant error message and following the troubleshooting tips you find online. If you've already investigated your issue and haven't been able to find a suitable solution, please submit an Issue ticket here, describing your issue with as much detail as possible, including logs and screenshots as appropriate, and we'll do our best to help you resolve it.

More from Unity Robotics

Visit the Unity Robotics Hub for more robotics-related tutorials and examples. Join in on discussions on robotics or start your own in the official Unity Robotics Forums.

robotics-nav2-slam-example's People

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cometyang rsanz unitycoder mrb0y seaosrobotics jonpol01 brandon-unity lyleokoth classicvalues jerwallace tarukosu leandropineda hodgespodge maghauke kokuno1122 romlel mkemka russ76 howard1414 sateeshs tiryoh xinghuitao denniszht code-name-57 594270461 thirses ggory15 david20120720 isabella232 palwanishan ericselbor godvenn rdaneelolivav wjsebastian brenda1602 prgrobots cryptohypnos ajinkyapuar ly774508966 zyx1999 creminem94 makotoyoshigoe sjnaj hirorittsu hasan-uenalan amndan godxkey stone60 massittha furansujin simon-fuhaoyuan baebling arun-mohandas krishx007 harrydyson chaejungmaeng valeriangcz jpsoares17 yuataka titusawakes cs-util paparoni crackestan junmeng6025 quinn-parsons mrrocketraccoon kablov92 acharya-apurva keerthisagarsn wrxsky lhseop0710 ndhnam99 miingyang looninho ic garrettcmeyer hitenkoku l-devhub jmachuca77 digitalmkt wang970073247 pugens zihanwang0422 khwoowoo chrooke liqianqi almartson kazukiyuzawa zsbztdxx cyh443 mana1003 louridoc viprob-ai 1222-takeshi hosuappa suedasen sihunh zchenfq ab-pixel-pixel ineedgrowup

robotics-nav2-slam-example's Issues

Docker container not running

Hi there,

I'm trying to run the docker container using: docker run -p 6080:80 -p 10000:10000 -p 5005:5005 --shm-size=1024m unity-robotics:nav2-slam-example, however it stays stagnant loading and never loads the docker container (see attached image). Any suggestions as to what to do would be appreciated.

compilation errors ＆ missing prefab

Hi,

When I open the project, a window pops up (compilation errors):

I'd like to choose "Ignore" and then open the project successfully.

But there are some errors in "Console" and "Hierarchy" (Missing Prefab):

I have no ideas.

Anyone could help me with this?

My environment:
Ubuntu Verison: 20.04
Unity Editor Version: 2020.3.37f1

Thank you so much!

ROS2 Communication not working

When I start ROS node , running ros2 launch unity_slam_example unity_slam_example.py, and enter Unity play mode, no communication is initiated. The Rviz map doesn't fill and the arrows on the top left corner in Unity play mode remain red.
The terminal keeps showing as the image below

Is there possibly something that I missed?

Thanks

ERROR keyserver 'hkp://keyserver.ubuntu.com:80'

Hello,

I just can't build the docker and always get the following error:

0.255 Executing: /tmp/apt-key-gpghome.h5zo4KlEsf/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
0.457 gpg: CRC error; 14C720 - 6C9712
0.457 gpg: read_block: read error: Invalid keyring
0.457 gpg: Total number processed: 0

Anyone has a tip how I can solve it?

Tried to build on a Mac and also on Ubuntu 22.04..

"git submodule update --init --recursive" error

Hello! I am running into the following error when I do "git submodule update --init --recursive"

Please make sure you have the correct access rights
and the repository exists.
fatal: clone of '[email protected]:Unity-Technologies/ROS-TCP-Endpoint.git' into submodule path '/home/fbaldini/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/src/ROS-TCP-Endpoint' failed
Failed to clone 'ros2_docker/colcon_ws/src/ROS-TCP-Endpoint'. Retry scheduled
Cloning into '/home/fbaldini/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/src/ROS-TCP-Endpoint'...

Is there anyone that can help?

Thank you!

Compilation error while using ROS2 natively (w/o docker) and latest Unity editor 2022.3.33f1

Nav2SLAMExampleProject: I get the following error while using ROS2 natively (w/o docker) and latest Unity editor 2022.3.33f1:

'Library/PackageCache/[email protected]/Runtime/GroundTruth/RenderPasses/CrossPipelinePasses/GroundTruthCrossPipelinePass.cs(55,19): error CS0246: The type or namespace name 'RendererListDesc' could not be found (are you missing a using directive or an assembly reference?)'

However, the scene opens up as shown in the documentation. When I open it using the recommended editor (2020.3.11f1), the environment turns pinkish and I get multiple compilation errors which I couldn't resolve either. Does anyone know how to resolve these issues? Please let me know

Does not run straight.

Does not run straight.
If you make the robot turn left (or right) even slightly, it will not be able to go straight.
It feels like it has power left.
Why is this?

A3-2022-10-25_11.44.28.mp4

Is there an efficient way to publish RGB image from camera in Unity to ROS2?

Docker build failure on arm64

When trying to build the Docker image on an arm64 computer, the build fails because the base image is for amd64.

I tried to solve the problem is by using the 'focal-arm64' image tag instead of 'focal'. It took me a little further, but I still got errors.

First it complained by not having rights to execute ros2-setup.bash. I fixed that by moving the 'chmod +x' command further up, below the COPY ros2-setup.bash command. It again took me a little futher, but then it seems like I was running out of storage space on my host (I am running a limited memory Linux device), so I can't say for sure whether it would have solved the problem.

error when you build dockerFile

..\Robotics-Nav2-SLAM-Example\ros2_docker>docker build -t unity-robotics:nav2-slam-example ./
[+] Building 4.2s (8/14)
 => [internal] load build definition from Dockerfile                                                               0.0s
 => => transferring dockerfile: 3.23kB                                                                             0.0s
 => [internal] load .dockerignore                                                                                  0.0s
 => => transferring context: 2B                                                                                    0.0s
 => [internal] load metadata for docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal                                    1.1s
 => [auth] dorowu/ubuntu-desktop-lxde-vnc:pull token for registry-1.docker.io                                      0.0s
 => [internal] load build context                                                                                  0.2s
 => => transferring context: 554.97kB                                                                              0.2s
 => [1/9] FROM docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal@sha256:07e51eafb6e0923759105eeb8cfc8f0d19be77a212b1  0.0s
 => CACHED [2/9] RUN echo "Set disable_coredump false" >> /etc/sudo.conf                                           0.0s
 => ERROR [3/9] RUN apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget           3.0s
------
 > [3/9] RUN apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget         curl         git         build-essential         vim         sudo         gnupg2         lsb-release         locales         bash-completion         tzdata         gosu         python3-argcomplete         python3-pip     && rm -rf /var/lib/apt/lists/*:
#7 0.411 Get:1 http://dl.google.com/linux/chrome/deb stable InRelease [1811 B]
#7 0.417 Get:2 http://mirrors.ubuntu.com/mirrors.txt Mirrorlist [617 B]
#7 0.481 Err:1 http://dl.google.com/linux/chrome/deb stable InRelease
#7 0.481   The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 4EB27DB2A3B88B8B
#7 0.524 Get:5 http://ubuntu.mirrors.ovh.net/ubuntu focal-backports InRelease [108 kB]
#7 0.537 Ign:4 https://ubuntu.lafibre.info/ubuntu focal-updates InRelease
#7 0.548 Ign:3 https://mirror.ubuntu.ikoula.com focal InRelease
#7 0.585 Get:6 http://security.ubuntu.com/ubuntu focal-security InRelease [114 kB]
#7 0.653 Get:4 http://www-ftp.lip6.fr/pub/linux/distributions/Ubuntu/archive focal-updates InRelease [114 kB]
#7 0.693 Ign:3 https://mirror.crexio.com/ubuntu focal InRelease
#7 0.757 Get:8 http://ubuntu.univ-nantes.fr/ubuntu focal-backports/main amd64 Packages [54.2 kB]
#7 0.800 Ign:10 https://mirror.ubuntu.ikoula.com focal-updates/multiverse amd64 Packages
#7 0.832 Get:12 http://ubuntu.univ-nantes.fr/ubuntu focal-updates/main amd64 Packages [2456 kB]
#7 0.833 Get:7 http://ubuntu.mirror.serverloft.de/ubuntu focal-backports/universe amd64 Packages [27.1 kB]
#7 0.840 Get:3 http://mirror.plusserver.com/ubuntu/ubuntu focal InRelease [265 kB]
#7 0.843 Ign:10 https://ubuntu.lafibre.info/ubuntu focal-updates/multiverse amd64 Packages
#7 0.860 Ign:11 http://ftp.rezopole.net/ubuntu focal-updates/universe amd64 Packages
#7 0.881 Get:9 http://ubuntu.mirror.serverloft.de/ubuntu focal-updates/restricted amd64 Packages [1487 kB]
#7 0.977 Ign:11 http://distrib-coffee.ipsl.jussieu.fr/pub/linux/ubuntu focal-updates/universe amd64 Packages
#7 1.027 Get:17 http://security.ubuntu.com/ubuntu focal-security/main amd64 Packages [1990 kB]
#7 1.041 Ign:13 https://mirror.ubuntu.ikoula.com focal/multiverse amd64 Packages
#7 1.050 Get:10 http://ubuntu.univ-nantes.fr/ubuntu focal-updates/multiverse amd64 Packages [30.2 kB]
#7 1.056 Ign:16 https://ubuntu.lafibre.info/ubuntu focal/restricted amd64 Packages
#7 1.060 Get:14 http://ftp.rezopole.net/ubuntu focal/universe amd64 Packages [11.3 MB]
#7 1.105 Get:11 http://ubuntu.univ-nantes.fr/ubuntu focal-updates/universe amd64 Packages [1161 kB]
#7 1.118 Get:15 http://distrib-coffee.ipsl.jussieu.fr/pub/linux/ubuntu focal/main amd64 Packages [1275 kB]
#7 1.179 Ign:13 https://ftp.u-picardie.fr/mirror/ubuntu/ubuntu focal/multiverse amd64 Packages
#7 1.229 Get:16 http://miroir.univ-lorraine.fr/ubuntu focal/restricted amd64 Packages [33.4 kB]
#7 1.366 Get:13 http://mirrors.ircam.fr/pub/ubuntu/archive focal/multiverse amd64 Packages [177 kB]
#7 1.758 Get:18 http://security.ubuntu.com/ubuntu focal-security/multiverse amd64 Packages [27.5 kB]
#7 1.852 Get:19 http://security.ubuntu.com/ubuntu focal-security/universe amd64 Packages [883 kB]
#7 1.892 Get:20 http://security.ubuntu.com/ubuntu focal-security/restricted amd64 Packages [1351 kB]
#7 2.371 Reading package lists...
#7 2.956 W: GPG error: http://dl.google.com/linux/chrome/deb stable InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 4EB27DB2A3B88B8B
#7 2.956 E: The repository 'http://dl.google.com/linux/chrome/deb stable InRelease' is not signed.
------
executor failed running [/bin/sh -c apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget         curl         git         build-essential         vim         sudo         gnupg2         lsb-release         locales         bash-completion         tzdata         gosu         python3-argcomplete         python3-pip     && rm -rf /var/lib/apt/lists/*]: exit code: 100

sensor_msgs/image doesn't open in build

Hi,

I am publishing an image via the ros tcp endpoint.
In the Unity editor the picture shows up with no problem. But when I build the project, the image windows does not show up (not even a "waiting for message"). The connection arrows also don't react to the publication of the image (when set at an interval of e.g. 2 sec).

Anybody got some idea how to debug this, since this problem only shows up in the build version (tested Linux AND Windows), not in the editor (other topic types are sent/received fine)

Cannot change topic names and where are the topic names defined

Hi I want to change topic names. I changed topic names on Unity like in below image. However when I opened Rviz or check topic names, the topic name is still same as "/map"

Secondly where are the topic names defined? I want to check general topic names predefined inside of the project

An error occurred while resolving packages

As you can see,an error occurred while resolving packages.It At first, it was prompted that ros-tcp-connector was missing, but now it becomes URDF-Importer.I've tried unsetting and resetting my git proxy, but to no avail.Here is my Editor log Editor.log.I used to open the project successfully but everything is green when I open the SimpleWarehouseScene as I mentioned in #57.So is this also related to the previous error? If yes, how should I solve this problem, I would be very grateful if anyone can give me some advice

Can't pull request from git in step 1. Configuring Your Development Environment

I installed the git cli

I entered the code: git clone --recurse-submodule [email protected]:Unity-Technologies/Robotics-Nav2-SLAM-Example.git

here is the response I got
git clone --recurse-submodule [email protected]:Unity-Technologies/Robotics-Nav2-SLAM-Example.git
Cloning into 'Robotics-Nav2-SLAM-Example'...
[email protected]: Permission denied (publickey).
fatal: Could not read from remote repository.

Please make sure you have the correct access rights

What OS is recommended for this project

Unity and ROS 2 should be able to run on Windows, Mac and Linux. What is the preferred (or tested) setup for this project? E.g. Can I run everything on one Linux machine?

LookupError: Could not find the resource 'nav2_bringup' of type 'packages'

when i try to Start RViz,it said:

[INFO] [launch]: All log files can be found below /home/axin/.ros/log/2022-05-25-06-40-00-383023-axin-vpc-3298
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('py')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
content, package_prefix = get_resource('packages', package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
raise LookupError(
LookupError: Could not find the resource 'nav2_bringup' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file
return loader(launch_file_path)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
return getattr(launch_file_module, 'generate_launch_description')()
File "/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example/share/unity_slam_example/unity_slam_example.py", line 31, in generate_launch_description
os.path.join(get_package_share_directory('nav2_bringup'), 'launch', 'navigation_launch.py')
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 70, in get_package_share_directory
return os.path.join(get_package_prefix(package_name), 'share', package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'nav2_bringup' not found, searching: ['/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example', '/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/ros_tcp_endpoint', '/opt/ros/foxy']"

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 130, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
return get_launch_description_from_any_launch_file(location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: "package 'nav2_bringup' not found, searching: ['/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example', '/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/ros_tcp_endpoint', '/opt/ros/foxy']"

Failed to resolve: process...

@LAPTOP-DNCQ5AAC:/mnt/d/ros/Robotics-Nav2-SLAM-Example/ros2_docker$ docker build -t unity-robotics:nav2-slam-example ./
[+] Building 210.4s (10/15)
 => [internal] load .dockerignore                                                                                                                                                      0.0s
 => => transferring context: 2B                                                                                                                                                        0.0s
 => [internal] load build definition from Dockerfile                                                                                                                                   0.1s
 => => transferring dockerfile: 3.42kB                                                                                                                                                 0.0s
 => [internal] load metadata for docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal                                                                                                        1.8s
 => [auth] dorowu/ubuntu-desktop-lxde-vnc:pull token for registry-1.docker.io                                                                                                          0.0s
 => [internal] load build context                                                                                                                                                      0.6s
 => => transferring context: 4.04kB                                                                                                                                                    0.6s
 => [ 1/10] FROM docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal@sha256:07e51eafb6e0923759105eeb8cfc8f0d19be77a212b19f116313153f1272ff1b                                                0.0s
 => CACHED [ 2/10] RUN echo "Set disable_coredump false" >> /etc/sudo.conf                                                                                                             0.0s
 => [ 3/10] RUN wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | sudo apt-key add -                                                                                    1.0s
 => [ 4/10] RUN apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget         curl         git         build-essential         vim         sudo       205.8s
 => ERROR [ 5/10] RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 &&     curl -s https://raw.githubusercontent.com/ro  1.6s
------
 > [ 5/10] RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 &&     curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&     echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" >         /etc/apt/sources.list.d/ros2-latest.list &&     apt-get update -q &&     apt-get install -y --no-install-recommends       ros-galactic-ros-base       python3-rosdep       python3-colcon-common-extensions       python3-vcstool     && rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list:
#0 0.573 Warning: apt-key output should not be parsed (stdout is not a terminal)
#0 0.590 Executing: /tmp/apt-key-gpghome.0P79lPfsDS/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
#0 1.567 gpg: CRC error; 69B924 - 6C9712
#0 1.567 gpg: read_block: read error: Invalid keyring
#0 1.567 gpg: Total number processed: 0
------
Dockerfile:38
--------------------
  37 |     # Install the immutable components BEFORE we copy in build context stuff to keep the rebuild process manageable
  38 | >>> RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
  39 | >>>     curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
  40 | >>>     echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > \
  41 | >>>         /etc/apt/sources.list.d/ros2-latest.list && \
  42 | >>>     apt-get update -q && \
  43 | >>>     apt-get install -y --no-install-recommends \
  44 | >>>       ros-${ROS_DISTRO}-ros-base \
  45 | >>>       python3-rosdep \
  46 | >>>       python3-colcon-common-extensions \
  47 | >>>       python3-vcstool \
  48 | >>>     && rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list
  49 |
--------------------
ERROR: failed to solve: process "/bin/sh -c apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 &&     curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&     echo \"deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main\" >         /etc/apt/sources.list.d/ros2-latest.list &&     apt-get update -q &&     apt-get install -y --no-install-recommends       ros-${ROS_DISTRO}-ros-base       python3-rosdep       python3-colcon-common-extensions       python3-vcstool     && rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list" did not complete successfully: exit code: 2

My edited Dockerfile after adding a line from another issue on this repo:

# adapted from: https://github.com/Tiryoh/docker-ros2-desktop-vnc
FROM dorowu/ubuntu-desktop-lxde-vnc:focal
LABEL maintainer="Unity Robotics <[email protected]>"

ENV DEBIAN_FRONTEND noninteractive
ENV DEV_NAME=rosdev
ENV ROS_DISTRO=galactic
ENV GROUP_NAME=ros
ENV WS_NAME=colcon_ws



RUN echo "Set disable_coredump false" >> /etc/sudo.conf
#https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example/issues/48#issuecomment-1182130058

RUN wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | sudo apt-key add -

RUN apt-get update -q && \
    apt-get upgrade -yq && \
    apt-get install -yq \
        wget \
        curl \
        git \
        build-essential \
        vim \
        sudo \
        gnupg2 \
        lsb-release \
        locales \
        bash-completion \
        tzdata \
        gosu \
        python3-argcomplete \
        python3-pip \
    && rm -rf /var/lib/apt/lists/*

# Install the immutable components BEFORE we copy in build context stuff to keep the rebuild process manageable
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
    echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > \
        /etc/apt/sources.list.d/ros2-latest.list && \
    apt-get update -q && \
    apt-get install -y --no-install-recommends \
      ros-${ROS_DISTRO}-ros-base \
      python3-rosdep \
      python3-colcon-common-extensions \
      python3-vcstool \
    && rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list

RUN useradd --create-home --home-dir /home/${DEV_NAME} --shell /bin/bash --user-group --groups adm,sudo ${DEV_NAME} && \
    echo "$DEV_NAME:$DEV_NAME" | chpasswd && \
    echo "$DEV_NAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
COPY --chown=${DEV_NAME} colcon_ws /home/${DEV_NAME}/colcon_ws
COPY ros2-setup.bash /bin/ros2-setup.bash
# Doing a second fetch of sources & apt-get update here, because these ones depend on the state of the build context
# in our repo
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
    echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > \
        /etc/apt/sources.list.d/ros2-latest.list && \
    apt-get update -q && \
    rosdep init && \
    chmod +x /bin/ros2-setup.bash && \
    gosu ${DEV_NAME} /bin/ros2-setup.bash && \
    runuser -u ${DEV_NAME} ros2-setup.bash && \
    rm /bin/ros2-setup.bash && \
    rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list

RUN echo ". /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${DEV_NAME}/.bashrc && \
    echo ". /home/${DEV_NAME}/${WS_NAME}/install/local_setup.bash" >> /home/${DEV_NAME}/.bashrc

ENV TURTLEBOT3_MODEL=waffle_pi

# To bring up tb3 simulation example (from https://navigation.ros.org/tutorials/docs/navigation2_with_slam.html)
# cd catkin_ws && source install/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True

# Informs the environment that the default user is not root, but instead DEV_NAME
ENV USER ${DEV_NAME}

Topic '/goal_pose; is not registered problem

I'm trying to making a click to navigation function , already referenced the WaypointIntergrationTest.cs .
My code look like this:

The object setup are same as the testing script provide in the example.

//ROS Config
    ROSConnection ROS;
    const string k_RobotTag = "robot";
    const string k_RobotBaseName = "base_footprint/base_link";
    const string k_GoalPoseFrameId = "map";
    const string k_GoalPoseTopic = "/goal_pose";
    static readonly string k_GoalPoseMessageName = MessageRegistry.GetRosMessageName<RosMessageTypes.Geometry.PoseStampedMsg>();
    const float k_Nav2InitializeTime = 5.0f;
    const float k_SleepBetweenWaypointsTime = 2.0f;
    const float k_MinimumSpeedExpected = 0.15f;
    const float k_DistanceSuccessThreshold = 0.4f;

Here's the parameter setup.

void Start()
    {
        //Init ROS
        print("init ROS");
        ROS = ROSConnection.instance;
        ROS.ConnectOnStart = true;
        ConnectionCheck();
        ROS.RegisterPublisher(k_GoalPoseTopic, k_GoalPoseMessageName);   
      
        //Init button
        Button btn = GameObject.Find("Navi_Button").GetComponent<Button>();
        btn.onClick.AddListener(Onclick);
    }

Here's the update function , include the ROS message sending.

void Update()
    {
        if (Input.GetMouseButtonDown(0) && pass)
        {
            Plane plane = new Plane(Vector3.up, 0);
            float distance;
            Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
            if (plane.Raycast(ray, out distance))
            {
                worldPosition = ray.GetPoint(distance);
            }
            pass = false;
            worldPosition.y = 0.0f;
            print(worldPosition);
            GoalObj.transform.position = worldPosition;     
            ROS.Send(k_GoalPoseTopic, ToRosMsg(GoalObj.transform));
        }
    }

Using the codes above , got the Topic '/goal_pose' is not registered! Known topics are: dict_keys(['cmd_vel', '/tf', 'clock', '/scan']) error , and the navigation to the point where I click only works randomly

Am I missing something?

Could not find the resource 'ros_tcp_endpoint" of type 'packages'

To whom it may concerned.

I followed Roboitcs-Nav2-SLAM-Example (https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example/blob/main/readmes/run_example.md)

Everything was fine except commands "ros2 launch unity_slam_example unity_slam_example.py"

Could you let me how to solve this problem?

Error on generating docker image

Hello, i'm getting this error when Building the Docker container
cd ros2_docker docker build -t unity-robotics:nav2-slam-example ./

--- stderr: ros_tcp_endpoint
CMake Error at CMakeLists.txt:4 (find_package):
By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "catkin", but
CMake did not find one.

Could not find a package configuration file provided by "catkin" with any
of the following names:

catkinConfig.cmake
catkin-config.cmake

Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set
catkin_DIR" to a directory containing one of the above files. If "catkin"
provides a separate development package or SDK, be sure it has been
installed.

i'm following the steps but get this error, i'm searching for a solution with de catkin config, if you can help me, i appreciate it

i'm running this on windows 10, docker version 3.6

I can't colcon build the workspace

Starting >>> ros_tcp_endpoint
Starting >>> unity_slam_example
--- stderr: ros_tcp_endpoint
CMake Error at CMakeLists.txt:4 (find_package):
By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "catkin", but
CMake did not find one.

Could not find a package configuration file provided by "catkin" with any
of the following names:

catkinConfig.cmake
catkin-config.cmake

Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set
"catkin_DIR" to a directory containing one of the above files. If "catkin"
provides a separate development package or SDK, be sure it has been
installed.

Failed <<< ros_tcp_endpoint [0.35s, exited with code 1]
Aborted <<< unity_slam_example [0.75s]

Summary: 0 packages finished [0.96s]
1 package failed: ros_tcp_endpoint
1 package aborted: unity_slam_example
1 package had stderr output: ros_tcp_endpoint

Compatible with ROS?

Hi there,

On the info for this tutorial it mentions that this works with docker or ROS2. My environment is configured to ROS1. Will this tutorial work with ROS as well?

Thanks for your time!

New type How to add a message

I want to use Navigation2 to display the path information on the Unity screen.
How can I communicate message classes other than Odometry and Scan with each other?

docker building error

how to sove this problem

Make tutlebot from urdf file by urdf importer, but it's not running.

Thanks for this project.

I have some trouble about AVG controller.

I made from turtlebot from this turtlebot3 model by urd fimporter.
https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example/blob/main/Nav2SLAMExampleProject/Assets/turtlebot3/model.urdf
After that, I attached AGV controller and set up like this.

However, this turtlebot was not running by ros cmd_vel topic.
ROS can receive /scan topic and I checked cmd_vel was received in Unity by Debug.Log function, but turtlebot3 was not running.

Could someone give me some advice? Thanks.

"ros2: command not found" after I source install/local_setup.bash

Hi,

I'm ruuning the Nav2 + slam_toolbox Example, and I'm at "Start RViz in the Docker container" - "(Optional) Launching ROS2 components manually" stage.

After I $ source ros2_docker/colcon_ws/install/local_setup.bash(or $ source ros2_docker/colcon_ws/iinstall/local_setup.sh or $ source ros2_docker/colcon_ws/iinstall/setup.bash), and try $ ros2 launch unity_slam_example unity_slam_example.py, the terminal shows: "ros2: command not found".

Or after I $ colcon build in the directory: ros2_docker/colcon_ws, and try $ ros2 launch unity_slam_example unity_slam_example.py, the terminal also shows: "ros2: command not found".

My environment: Ubuntu 20.04, Ros2-foxy

Anyone could help me with this?

Thank you so much!

Problem with Start RViz in the Docker container

I have run the command

sudo docker run -it --rm -p 6080:80 -p 10000:10000 --shm-size=1024m unity-robotics:nav2-slam-example

in my terminal, but got this:

* enable custom user: rosdev
useradd: user 'rosdev' already exists
  set default password to "ubuntu"
cp: cannot stat '/root/.config': No such file or directory

where claiming
cp: cannot stat '/root/.config': No such file or directory

Error with the Rviz

Hi, I am getting errors where running ros2 launch unity_slam_example unity_slam_example.py in the terminal.

How can I fix it?

Thank you!

Everything is green when I open the SimpleWarehouseScene

As the title described，the SimpleWarehouseScene is green when I open it in the Editor,but I didn't change any configuration of the project:

So does anyone know why this happens and please give me some advice

How to edit the params of ROS2 Navigation

I add a dynamic obstacle which will be moved when mouse is clicked on the ground. However, the global costmap will not be fresh correctly when the obstacle was moved. The old costmap will be still there for a long time.

I followed the nav2 package introduction to edit the param of global costmap and rerun "colon build", it doesn't work. So I want to know how to edit the params of ROS2 Navigation properly.

How to use Nav2-SLAM-Example in a real turtlebot3?

Thanks for your excellent contribution! Now we have finished the example of Robotics-Nav2-SLAM, and we want to drive a real turtlebot3(burger)in an empty place using SLAM in Unity, and navigate the turtlebot to someplace set in Unity's Scene.Do you have any way to achieve this goal?

Can I not use the ROS-TCP-Endpoint cpp branch to build Docker images?

Can I not use the ROS-TCP-Endpoint cpp branch to build Docker images? How can I modify it to accommodate? An error occurs when using the cpp branch：

[+] Building 0.0s (0/0)  docker:default
2024/05/13 17:06:12 http2: server: error reading preface from client //./pipe/docker_engine: file has already been close[+] Building 0.0s (0/0)  docker:default
2024/05/13 17:06:13 http2: server: error reading preface from client //./pipe/docker_engine: file has already been close[+] Building 57.1s (15/16)                                                                               docker:default
 => [internal] load build definition from Dockerfile                                                               0.1s
 => => transferring dockerfile: 3.20kB                                                                             0.1s
 => [internal] load metadata for docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal                                    1.3s
 => [internal] load .dockerignore                                                                                  0.1s
 => => transferring context: 2B                                                                                    0.0s
 => [ 1/12] FROM docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal@sha256:07e51eafb6e0923759105eeb8cfc8f0d19be77a212  0.0s
 => [internal] load build context                                                                                  0.3s
 => => transferring context: 929.87kB                                                                              0.2s
 => CACHED [ 2/12] RUN wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | apt-key add -              0.0s
 => CACHED [ 3/12] RUN echo "Set disable_coredump false" >> /etc/sudo.conf                                         0.0s
 => CACHED [ 4/12] RUN apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget        0.0s
 => CACHED [ 5/12] RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -                                    0.0s
 => CACHED [ 6/12] RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&   0.0s
 => CACHED [ 7/12] RUN useradd --create-home --home-dir /home/rosdev --shell /bin/bash --user-group --groups adm,  0.0s
 => [ 8/12] COPY --chown=rosdev colcon_ws /home/rosdev/colcon_ws                                                   0.1s
 => [ 9/12] COPY ros2-setup.bash /bin/ros2-setup.bash                                                              0.1s
 => [10/12] RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -                                           1.4s
 => ERROR [11/12] RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&   53.6s
------
 > [11/12] RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&     echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" >         /etc/apt/sources.list.d/ros2-latest.list &&     apt-get update -q &&     rosdep init &&     chmod +x /bin/ros2-setup.bash &&     gosu rosdev /bin/ros2-setup.bash &&     runuser -u rosdev ros2-setup.bash &&     rm /bin/ros2-setup.bash &&     rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list:
0.518 Warning: apt-key output should not be parsed (stdout is not a terminal)
1.468 OK
2.347 Get:1 http://dl.google.com/linux/chrome/deb stable InRelease [1825 B]
2.672 Get:2 http://dl.google.com/linux/chrome/deb stable/main amd64 Packages [1083 B]
3.023 Get:3 http://packages.ros.org/ros2/ubuntu focal InRelease [4685 B]
3.217 Get:4 http://mirrors.ubuntu.com/mirrors.txt Mirrorlist [3362 B]
3.554 Get:8 http://security.ubuntu.com/ubuntu focal-security InRelease [114 kB]
4.391 Get:7 http://mirrors.xmission.com/ubuntu focal-backports InRelease [108 kB]
4.495 Get:9 http://packages.ros.org/ros2/ubuntu focal/main amd64 Packages [1192 kB]
4.621 Get:6 http://mirror.brightridge.com/ubuntuarchive focal-updates InRelease [114 kB]
4.816 Get:5 http://mirror.uoregon.edu/ubuntu focal InRelease [265 kB]
4.960 Get:16 http://security.ubuntu.com/ubuntu focal-security/multiverse amd64 Packages [29.8 kB]
5.540 Get:10 http://plug-mirror.rcac.purdue.edu/ubuntu focal-backports/main amd64 Packages [55.2 kB]
5.579 Get:11 http://mirrors.advancedhosters.com/ubuntu focal-backports/universe amd64 Packages [28.6 kB]
5.779 Get:14 http://mirror.uoregon.edu/ubuntu focal-updates/multiverse amd64 Packages [32.5 kB]
6.304 Get:15 https://mirror.servaxnet.com/ubuntu focal-updates/restricted amd64 Packages [3721 kB]
6.398 Get:21 http://security.ubuntu.com/ubuntu focal-security/universe amd64 Packages [1203 kB]
6.417 Get:18 https://mirror.d.umn.edu/ubuntu focal/main amd64 Packages [1275 kB]
6.730 Get:13 http://mirror.math.ucdavis.edu/ubuntu focal-updates/universe amd64 Packages [1500 kB]
7.353 Get:12 http://mirror.cogentco.com/pub/linux/ubuntu focal-updates/main amd64 Packages [4104 kB]
8.228 Get:17 http://mirrors.liquidweb.com/ubuntu focal/multiverse amd64 Packages [177 kB]
8.328 Get:22 http://security.ubuntu.com/ubuntu focal-security/main amd64 Packages [3629 kB]
10.34 Get:20 http://mirror.cogentco.com/pub/linux/ubuntu focal/universe amd64 Packages [11.3 MB]
10.43 Get:19 http://mirror.vcu.edu/pub/gnu+linux/ubuntu focal/restricted amd64 Packages [33.4 kB]
10.50 Get:23 http://security.ubuntu.com/ubuntu focal-security/restricted amd64 Packages [3571 kB]
11.61 Fetched 32.5 MB in 10s (3243 kB/s)
11.61 Reading package lists...
14.57 Wrote /etc/ros/rosdep/sources.list.d/20-default.list
14.57 Recommended: please run
14.57
14.57   rosdep update
14.57
17.16 Collecting ipython
18.22   Downloading ipython-8.12.3-py3-none-any.whl (798 kB)
19.51 Collecting prompt-toolkit!=3.0.37,<3.1.0,>=3.0.30
19.72   Downloading prompt_toolkit-3.0.43-py3-none-any.whl (386 kB)
20.21 Collecting backcall
20.43   Downloading backcall-0.2.0-py2.py3-none-any.whl (11 kB)
20.80 Collecting decorator
21.02   Downloading decorator-5.1.1-py3-none-any.whl (9.1 kB)
21.39 Collecting typing-extensions; python_version < "3.10"
21.61   Downloading typing_extensions-4.11.0-py3-none-any.whl (34 kB)
21.98 Collecting jedi>=0.16
22.20   Downloading jedi-0.19.1-py2.py3-none-any.whl (1.6 MB)
23.18 Collecting pickleshare
23.40   Downloading pickleshare-0.7.5-py2.py3-none-any.whl (6.9 kB)
23.77 Collecting pygments>=2.4.0
23.99   Downloading pygments-2.18.0-py3-none-any.whl (1.2 MB)
24.56 Collecting matplotlib-inline
24.80   Downloading matplotlib_inline-0.1.7-py3-none-any.whl (9.9 kB)
25.18 Collecting traitlets>=5
25.40   Downloading traitlets-5.14.3-py3-none-any.whl (85 kB)
25.78 Collecting stack-data
26.00   Downloading stack_data-0.6.3-py3-none-any.whl (24 kB)
26.34 Collecting pexpect>4.3; sys_platform != "win32"
26.54   Downloading pexpect-4.9.0-py2.py3-none-any.whl (63 kB)
26.66 Requirement already satisfied: wcwidth in /usr/lib/python3/dist-packages (from prompt-toolkit!=3.0.37,<3.1.0,>=3.0.30->ipython) (0.1.8)
26.91 Collecting parso<0.9.0,>=0.8.3
27.11   Downloading parso-0.8.4-py2.py3-none-any.whl (103 kB)
27.44 Collecting executing>=1.2.0
27.64   Downloading executing-2.0.1-py2.py3-none-any.whl (24 kB)
27.95 Collecting asttokens>=2.1.0
28.16   Downloading asttokens-2.4.1-py2.py3-none-any.whl (27 kB)
28.46 Collecting pure-eval
28.66   Downloading pure_eval-0.2.2-py3-none-any.whl (11 kB)
28.94 Collecting ptyprocess>=0.5
29.14   Downloading ptyprocess-0.7.0-py2.py3-none-any.whl (13 kB)
29.19 Requirement already satisfied: six>=1.12.0 in /usr/local/lib/python3.8/dist-packages (from asttokens>=2.1.0->stack-data->ipython) (1.12.0)
29.49 Installing collected packages: prompt-toolkit, backcall, decorator, typing-extensions, parso, jedi, pickleshare, pygments, traitlets, matplotlib-inline, executing, asttokens, pure-eval, stack-data, ptyprocess, pexpect, ipython
32.01 Successfully installed asttokens-2.4.1 backcall-0.2.0 decorator-5.1.1 executing-2.0.1 ipython-8.12.3 jedi-0.19.1 matplotlib-inline-0.1.7 parso-0.8.4 pexpect-4.9.0 pickleshare-0.7.5 prompt-toolkit-3.0.43 ptyprocess-0.7.0 pure-eval-0.2.2 pygments-2.18.0 stack-data-0.6.3 traitlets-5.14.3 typing-extensions-4.11.0
52.00 reading in sources list data from /etc/ros/rosdep/sources.list.d
52.00 Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
52.00 Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
52.00 Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
52.00 Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
52.00 Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
52.00 Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
52.00 Skip end-of-life distro "ardent"
52.00 Skip end-of-life distro "bouncy"
52.00 Skip end-of-life distro "crystal"
52.00 Skip end-of-life distro "dashing"
52.00 Skip end-of-life distro "eloquent"
52.00 Skip end-of-life distro "foxy"
52.00 Skip end-of-life distro "galactic"
52.00 Skip end-of-life distro "groovy"
52.00 Add distro "humble"
52.00 Skip end-of-life distro "hydro"
52.00 Skip end-of-life distro "indigo"
52.00 Add distro "iron"
52.00 Skip end-of-life distro "jade"
52.00 Add distro "jazzy"
52.00 Skip end-of-life distro "kinetic"
52.00 Skip end-of-life distro "lunar"
52.00 Skip end-of-life distro "melodic"
52.00 Add distro "noetic"
52.00 Add distro "rolling"
52.00 updated cache in /home/rosdev/.ros/rosdep/sources.cache
52.33 #All required rosdeps installed successfully
52.33 ERROR: the following packages/stacks could not have their rosdep keys resolved
52.33 to system dependencies:
52.33 unity_slam_example: Cannot locate rosdep definition for [rviz2]
52.33 ros_tcp_endpoint: Cannot locate rosdep definition for [message_runtime]
52.33 Continuing to install resolvable dependencies...
52.77 Starting >>> ros_tcp_endpoint
52.78 Starting >>> unity_slam_example
53.30 --- stderr: ros_tcp_endpoint
53.30 CMake Error at CMakeLists.txt:4 (find_package):
53.30   By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
53.30   asked CMake to find a package configuration file provided by "catkin", but
53.30   CMake did not find one.
53.30
53.30   Could not find a package configuration file provided by "catkin" with any
53.30   of the following names:
53.30
53.30     catkinConfig.cmake
53.30     catkin-config.cmake
53.30
53.30   Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set
53.30   "catkin_DIR" to a directory containing one of the above files.  If "catkin"
53.30   provides a separate development package or SDK, be sure it has been
53.30   installed.
53.30
53.30
53.30 ---
53.30 Failed   <<< ros_tcp_endpoint [0.53s, exited with code 1]
53.34 Aborted  <<< unity_slam_example [0.56s]
53.36
53.36 Summary: 0 packages finished [0.77s]
53.36   1 package failed: ros_tcp_endpoint
53.36   1 package aborted: unity_slam_example
53.36   1 package had stderr output: ros_tcp_endpoint
------
Dockerfile:55
--------------------
  54 |     RUN curl http://repo.ros2.org/repos.key | sudo apt-key add -
  55 | >>> RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
  56 | >>>     echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > \
  57 | >>>         /etc/apt/sources.list.d/ros2-latest.list && \
  58 | >>>     apt-get update -q && \
  59 | >>>     rosdep init && \
  60 | >>>     chmod +x /bin/ros2-setup.bash && \
  61 | >>>     gosu ${DEV_NAME} /bin/ros2-setup.bash && \
  62 | >>>     runuser -u ${DEV_NAME} ros2-setup.bash && \
  63 | >>>     rm /bin/ros2-setup.bash && \
  64 | >>>     rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list
  65 |
--------------------
ERROR: failed to solve: process "/bin/sh -c curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&     echo \"deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main\" >         /etc/apt/sources.list.d/ros2-latest.list &&     apt-get update -q &&     rosdep init &&     chmod +x /bin/ros2-setup.bash &&     gosu ${DEV_NAME} /bin/ros2-setup.bash &&     runuser -u ${DEV_NAME} ros2-setup.bash &&     rm /bin/ros2-setup.bash &&     rm -rf /var/lib/apt/lists/* && rm /etc/apt/sources.list.d/ros2-latest.list" did not complete successfully: exit code: 1

Thank you.

docker build runs into GPG error

While running docker build -t- as instructed here in Powershell I get the following error message:

> docker build -t unity-robotics:nav2-slam-example ./
> [+] Building 4.9s (7/13)
>  => [internal] load build definition from Dockerfile                                                               0.0s
>  => => transferring dockerfile: 3.23kB                                                                             0.0s
>  => [internal] load .dockerignore                                                                                  0.0s
>  => => transferring context: 2B                                                                                    0.0s
>  => [internal] load metadata for docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal                                    1.2s
>  => [internal] load build context                                                                                  0.0s
>  => => transferring context: 91.34kB                                                                               0.0s
>  => [1/9] FROM docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal@sha256:07e51eafb6e0923759105eeb8cfc8f0d19be77a212b1  0.0s
>  => CACHED [2/9] RUN echo "Set disable_coredump false" >> /etc/sudo.conf                                           0.0s
>  => ERROR [3/9] RUN apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget           3.6s
> ------
>  > [3/9] RUN apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget         curl         git         build-essential         vim         sudo         gnupg2         lsb-release         locales         bash-completion         tzdata         gosu         python3-argcomplete         python3-pip     && rm -rf /var/lib/apt/lists/*:
> #6 0.356 Get:1 http://dl.google.com/linux/chrome/deb stable InRelease [1811 B]
> #6 0.365 Get:2 http://security.ubuntu.com/ubuntu focal-security InRelease [114 kB]
> #6 0.370 Get:3 http://mirrors.ubuntu.com/mirrors.txt Mirrorlist [1061 B]
> #6 0.398 Get:5 http://ftp.nluug.nl/os/Linux/distr/ubuntu focal-updates InRelease [114 kB]
> #6 0.405 Get:4 http://nl.archive.ubuntu.com/ubuntu focal InRelease [265 kB]
> #6 0.411 Get:6 http://osmirror.rug.nl/ubuntu focal-backports InRelease [108 kB]
> #6 0.441 Err:1 http://dl.google.com/linux/chrome/deb stable InRelease
> #6 0.441   The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 4EB27DB2A3B88B8B
> #6 0.513 Get:7 http://security.ubuntu.com/ubuntu focal-security/main amd64 Packages [2018 kB]
> #6 0.689 Get:9 https://mirrors.xtom.nl/ubuntu focal-backports/main amd64 Packages [54.2 kB]
> #6 0.735 Get:13 http://mirror.amsiohosting.net/archive.ubuntu.com focal/universe amd64 Packages [11.3 MB]
> #6 0.735 Get:8 http://mirror.serverius.net/ubuntu focal-backports/universe amd64 Packages [27.1 kB]
> #6 0.742 Get:14 http://security.ubuntu.com/ubuntu focal-security/universe amd64 Packages [883 kB]
> #6 0.752 Get:12 http://mirror.hostnet.nl/ubuntu/archive focal/main amd64 Packages [1275 kB]
> #6 0.806 Get:11 http://mirror.nforce.com/pub/linux/ubuntu focal/multiverse amd64 Packages [177 kB]
> #6 0.821 Get:10 http://mirror.eu.kamatera.com/ubuntu focal/restricted amd64 Packages [33.4 kB]
> #6 0.857 Get:15 http://security.ubuntu.com/ubuntu focal-security/multiverse amd64 Packages [27.5 kB]
> #6 0.862 Get:16 http://security.ubuntu.com/ubuntu focal-security/restricted amd64 Packages [1386 kB]
> #6 0.959 Ign:18 https://nl.mirrors.clouvider.net/ubuntu focal-updates/multiverse amd64 Packages
> #6 1.316 Get:17 http://ftp.nluug.nl/os/Linux/distr/ubuntu focal-updates/universe amd64 Packages [1161 kB]
> #6 1.470 Get:20 http://ftp.tudelft.nl/archive.ubuntu.com focal-updates/main amd64 Packages [2456 kB]
> #6 1.584 Get:18 http://mirror.amsiohosting.net/archive.ubuntu.com focal-updates/multiverse amd64 Packages [30.2 kB]
> #6 1.896 Get:19 http://ftp.nluug.nl/os/Linux/distr/ubuntu focal-updates/restricted amd64 Packages [1487 kB]
> #6 2.882 Reading package lists...
> #6 3.469 W: GPG error: http://dl.google.com/linux/chrome/deb stable InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 4EB27DB2A3B88B8B
> #6 3.469 E: The repository 'http://dl.google.com/linux/chrome/deb stable InRelease' is not signed.
> ------
> executor failed running [/bin/sh -c apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget         curl         git         build-essential         vim         sudo         gnupg2         lsb-release         locales         bash-completion         tzdata         gosu         python3-argcomplete         python3-pip     && rm -rf /var/lib/apt/lists/*]: exit code: 100

ROS settings broken

When trying to switch the protocol in the ROS settings it gets stuck at recompiling and gives some errors. This project also becomes broken afterwards and have to start it in safe mode idk if this message is for here or the TCP connector itself

Any solution for the simulation of the free-rolling caster wheels

I am facing the same issue described in the read me:

"Since the free-rolling caster wheels are particularly difficult to simulate accurately, we've temporarily replaced them with a single, frictionless sphere on a tightly constrained spring joint, called caster_center_manual_config."

I created the same object in my project, it solved the balancing problem but still when trying to move the Turtlebot in a straight line it turns slightly right.

When checking the SlamExample project I found the same issue.

anyone know how to solve this problem?

fatal error: windows.h: No such file or directory

Hi, When I tried to compile using colcon build, a fatal error occurred: windows h: No such file or directory。

How can I solve it?

Thank you!

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