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Check transforms in ROS2 #749
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Hi! I just checked this there's a couple of things you need to do to get things running.
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Thanks! (coming back to this after a while). Running the simulation as stated above shows up the robot correctly in Rviz. I have a question on the current capabilities of Astrobee in ROS2. For instance, I can see that there are actions available to command the robot to move the arm and to move it itself (/mob/motion /beh/arm). When I try using these, their respective components die. For instance, when trying to send a MOVE command to /mob/motion, I get:
Is there a list of services/actions that are expected to work? I was going to dig deeper into this error, but figured to ask first, in case these actions are not fully supported to work in ROS2 (if they are, then I can search for the bug). Thanks! PS.- Using the latest ubuntu-ros-rolling-20.04 docker for testing this |
Hi Ana! Sorry I haven't have time to test this, I'll prob have time in the next couple of weeks. All the actions are still very experimental, I don't think anything is properly tested yet |
It was reported by @ana-GT that the transform between world/rviz and body is not showing up in Rviz when running:
ros2 launch astrobee sim.launch.p dds:=false rviz:=true
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