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

• Clearpath_common Github
• Clearpath docs
• Custom planer plugin in ROS2 Nav
  • ROS Nav2 Sample code
• Clearpath Nav2 Tutorial
  • Clearpath nav2 demos github

ROS Troubleshooting

• Robostack (Mac) packages for Humble: https://robostack.github.io/humble.html

• AttributeError: module 'pkgutil' has no attribute 'ImpImporter'. Did you mean: 'zipimporter'?

  • https://stackoverflow.com/questions/77364550/attributeerror-module-pkgutil-has-no-attribute-impimporter-did-you-mean

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