ros-controls/ros2_control_demos

example 2 does not have odom frame

patrickwasp opened this issue · 1 comments

patrickwasp commented

example 2 does not have odom frame and cannot be teleoperated

To Reproduce
Steps to reproduce the behavior:

  1. git clone https://github.com/ros-controls/ros2_control_demos.git
  2. git switch humble
  3. rm -R example_8 (this fails to build but not the current issue)
  4. colcon build
  5. source install/setup.bash
  6. ros2 launch ros2_control_demo_example_2 diffbot.launch.py
  7. See screenshot

Expected behavior
the robot should have colors and respond to move commands

Screenshots
Screenshot from 2023-09-21 15-17-20

Environment (please complete the following information):

  • OS: ubuntu 22.04 (docker)
  • Version: humble
patrickwasp commented

I didn't read all the documentation, I should have started with https://github.com/ros-controls/ros2_control_demos/blob/master/doc/index.rst.

installing dependencies fixed the demo

rosdep update --rosdistro=$ROS_DISTRO
sudo apt-get update
sudo rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO}

after that odom was published and the robot worked as expected, teleoperation with the following command.

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/diffbot_base_controller/cmd_vel_unstamped