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Vegmap

Proprioceptive Navigation Through Vegetation

Prerequisites

  • ROS 2 Humble
  • Gazebo Fortress
    • Install on mac: brew install ignition-fortress
    • On mac, gazebo installed via homebrew, may need to conda remove --force libignition-gazebo6 to force use of homebrew gazebo.
  • Python 3.10
    • setuptools==77.0.1

Installation

# Install dependencies
rosdep install -r --from-paths src -i -y

# Initial Build
make build
# colcon build --symlink-install


# Source the workspace
source install/setup.bash # For bash
source install/setup.zsh # For zsh

When adding submodules

git submodule add -b humble https://github.com/clearpathrobotics/clearpath_common.git
git submodule update --init --recursive

Usage

  1. Launch the clearpath_gz simulation:
ros2 launch clearpath_gz simulation.launch.py setup_path:=src/setup_path world:=outdoors

Links

ROS Troubleshooting

python -m ensurepip --upgrade
python -m pip install --upgrade setuptools
pip install --upgrade setuptools
python -m ensurepip --upgrade
  • "package 'controller_manager' not found
conda install -c robostack-staging -c conda-forge ros-humble-controller-manager ros-humble-controller-interface ros-humble-controller-manager-msgs
  • Failed to load entry point 'echo': Error importing numpy: you should not try to import numpy from
conda remove --force numpy
conda install -c conda-forge numpy
  • If built bridge from source, need to uninstall conda's bridge
conda remove --force ros-humble-ros-gz-bridge ros-humble-ros-ign-bridge ros-humble-cv-bridge
  • [Wrn] [gz.cc:102] Fuel world download failed because Fetch failed. Other errors Need to set env paths:
export GZ_SIM_RESOURCE_PATH=/path/to/vegmap/install/clearpath_gz/share/clearpath_gz/worlds:$GZ_SIM_RESOURCE_PATH
export IGN_GAZEBO_RESOURCE_PATH=/path/to/vegmap/install/clearpath_gz/share/clearpath_gz/worlds:$IGN_GAZEBO_RESOURCE_PATH


export GZ_SIM_RESOURCE_PATH=/path/to/vegmap/src/gazebo/gazebo-vegetation:$GZ_SIM_RESOURCE_PATH
export IGN_GAZEBO_RESOURCE_PATH=/path/to/vegmap/src/gazebo/gazebo-vegetation:$IGN_GAZEBO_RESOURCE_PATH
export GAZEBO_MODEL_PATH=/path/to/vegmap/src/gazebo/gazebo-vegetation/gazebo_vegetation/models:$GAZEBO_MODEL_PATH
  • libc++abi: terminating due to uncaught exception of type pluginlib::LibraryLoadException: Could not find library corresponding to plugin sdformat_urdf_plugin/SDFormatURDFParser. Make sure that the library 'sdformat_urdf_plugin' actually exists.

In ${CONDA_PREFIX}/lib, run ln -s libsdformat_urdf_plugin.so libsdformat_urdf_plugin.dylib

Source: RoboStack/ros-humble#104 (comment)

  • Starting gazebo on mac In add -s to gz_sim = IncludeLaunchDescription( in gz_sim.launch.py to run server only.
# Set paths to meshes
export GZ_SIM_RESOURCE_PATH=/path/to/vegmap/src/clearpath_common:$GZ_SIM_RESOURCE_PATH
export IGN_GAZEBO_RESOURCE_PATH=/path/to/vegmap/src/clearpath_common:$IGN_GAZEBO_RESOURCE_PATH
# Terminal 1: start gz server
(base) gz sim -v 4 -s src/planner/worlds/outdoors.sdf
# Terminal 2: start gz gui
(base) gz sim -g -v 4 --gui-config src/clearpath_simulator/clearpath_gz/config/gui.config
# Terminal 3: spawn the robot
(ros2) ros2 launch clearpath_gz robot_spawn.launch.py setup_path:=src/setup_path
  • To purge a file from git cache, such as .pyc files, run:
git rm --cached "**/*.pyc"

  • ImportError: The 'nspektr' package is required; normally this is bundled with this package so if you get this warning, consult the packager of your distribution. Run pip install --upgrade setuptools

  • Waiting for '/a200_0000/controller_manager' node to exist Run conda install -c robostack-staging -c conda-forge --no-deps ros-humble-controller-manager ros-humble-ros2-control Remove the conda install: conda uninstall --force ros-humble-controller-manager ros-humble-controller-interface ros-humble-hardware-interface ros-humble-controller-manager-msgs ros-humble-ros2-control Build ros2_control from source: colcon build --cmake-args -DBUILD_TESTING=OFF -DPython3_FIND_VIRTUALENV=ONLY --packages-select controller_interface hardware_interface controller_manager_msgs controller_manager

  • Original error: parameter 'yaml_filename' is not initialized Known bug with map_server yaml_filename: ros-navigation/navigation2#3644 Patch is not in binaries, need to build from source (didn't work) or write your own bringup nodes