Unit 15. Door, package [my_barista_rmf_gazebo] not found error

Course Support Robot Fleet Management in ROS2 Remake
1

Hi~ all,

In the Unit 15. Door,

When I executed command, “$ ros2 launch doors_unit start_world_doors.launch.py”

the following error logs are printed.

user:~/ros2_ws$ ros2 launch doors_unit start_world_doors.launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-11-15-07-47-44-433863-1_xterm-3384
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [py]: “package ‘my_barista_rmf_gazebo’ not found, searching: [‘/home/user/ros2_ws/install/starbots_workcell’, ‘/home/user/ros2_ws/install/rmf_trafficeditor_unit’, ‘/home/user/ros2_ws/install/rmf_map_tranforms_pkg’, ‘/home/user/ros2_ws/install/my_custom_task_rmf’, ‘/home/user/ros2_ws/install/my_box_bot_fleet_adapter’, ‘/home/user/ros2_ws/install/doors_unit’, ‘/home/user/ros2_ws/install/default_tasks_rmf’, ‘/home/user/ros2_ws/install/custom_adapter_multifleet_unit’, ‘/home/user/ros2_ws/install/rmf_building_map_tools’, ‘/home/simulations/ros2_sims_ws/install/theconstruct_rmf_demos’, ‘/home/simulations/ros2_sims_ws/install/rmf_workcell_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos_gz_classic’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos_gz’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos_fleet_adapter’, ‘/home/simulations/ros2_sims_ws/install/fleet_adapter_r3_scrub’, ‘/home/simulations/ros2_sims_ws/install/rmf_fleet_adapter_python’, ‘/home/simulations/ros2_sims_ws/install/rmf_fleet_adapter’, ‘/home/simulations/ros2_sims_ws/install/rmf_task_ros2’, ‘/home/simulations/ros2_sims_ws/install/rmf_websocket’, ‘/home/simulations/ros2_sims_ws/install/rmf_visualization’, ‘/home/simulations/ros2_sims_ws/install/rmf_visualization_schedule’, ‘/home/simulations/ros2_sims_ws/install/rmf_visualization_rviz2_plugins’, ‘/home/simulations/ros2_sims_ws/install/rmf_visualization_obstacles’, ‘/home/simulations/ros2_sims_ws/install/rmf_visualization_navgraphs’, ‘/home/simulations/ros2_sims_ws/install/rmf_visualization_floorplans’, ‘/home/simulations/ros2_sims_ws/install/rmf_visualization_fleet_states’, ‘/home/simulations/ros2_sims_ws/install/rmf_visualization_building_systems’, ‘/home/simulations/ros2_sims_ws/install/rmf_visualization_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_traffic_ros2’, ‘/home/simulations/ros2_sims_ws/install/rmf_traffic_examples’, ‘/home/simulations/ros2_sims_ws/install/rmf_task_sequence’, ‘/home/simulations/ros2_sims_ws/install/rmf_task’, ‘/home/simulations/ros2_sims_ws/install/rmf_battery’, ‘/home/simulations/ros2_sims_ws/install/rmf_traffic’, ‘/home/simulations/ros2_sims_ws/install/rmf_utils’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos_bridges’, ‘/home/simulations/ros2_sims_ws/install/rmf_traffic_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_traffic_editor_test_maps’, ‘/home/simulations/ros2_sims_ws/install/rmf_traffic_editor_assets’, ‘/home/simulations/ros2_sims_ws/install/rmf_traffic_editor’, ‘/home/simulations/ros2_sims_ws/install/rmf_to_nav’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos_tasks’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos_panel’, ‘/home/simulations/ros2_sims_ws/install/rmf_task_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_building_map_tools’, ‘/home/simulations/ros2_sims_ws/install/rmf_site_map_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_scheduler_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_robot_sim_gz_plugins’, ‘/home/simulations/ros2_sims_ws/install/rmf_robot_sim_gz_classic_plugins’, ‘/home/simulations/ros2_sims_ws/install/rmf_robot_sim_common’, ‘/home/simulations/ros2_sims_ws/install/rmf_obstacle_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_building_sim_gz_plugins’, ‘/home/simulations/ros2_sims_ws/install/rmf_building_sim_gz_classic_plugins’, ‘/home/simulations/ros2_sims_ws/install/rmf_building_sim_common’, ‘/home/simulations/ros2_sims_ws/install/rmf_lift_msgs’, ‘/home/simulations/ros2_sims_ws/install/barista_delivery’, ‘/home/simulations/ros2_sims_ws/install/rmf_ingestor_msgs’, ‘/home/simulations/ros2_sims_ws/install/free_fleet_server_ros2’, ‘/home/simulations/ros2_sims_ws/install/free_fleet_client_ros2’, ‘/home/simulations/ros2_sims_ws/install/rmf_fleet_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_door_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_dispenser_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos_maps’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos_dashboard_resources’, ‘/home/simulations/ros2_sims_ws/install/rmf_demos_assets’, ‘/home/simulations/ros2_sims_ws/install/rmf_charger_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_building_map_msgs’, ‘/home/simulations/ros2_sims_ws/install/rmf_api_msgs’, ‘/home/simulations/ros2_sims_ws/install/r3_scrub_rmf’, ‘/home/simulations/ros2_sims_ws/install/r3_scrub_lionsbot_description’, ‘/home/simulations/ros2_sims_ws/install/pymoveit2’, ‘/home/simulations/ros2_sims_ws/install/pybind11_json_vendor’, ‘/home/simulations/ros2_sims_ws/install/path_planner_server’, ‘/home/simulations/ros2_sims_ws/install/my_panda_moveit_config’, ‘/home/simulations/ros2_sims_ws/install/panda_robot_bringup’, ‘/home/simulations/ros2_sims_ws/install/panda_moveit_py’, ‘/home/simulations/ros2_sims_ws/install/panda_action_msgs’, ‘/home/simulations/ros2_sims_ws/install/object_teleporter_pkg’, ‘/home/simulations/ros2_sims_ws/install/object_teleport_msgs’, ‘/home/simulations/ros2_sims_ws/install/nlohmann_json_schema_validator_vendor’, ‘/home/simulations/ros2_sims_ws/install/nav2_system_tests’, ‘/home/simulations/ros2_sims_ws/install/nav2_bringup’, ‘/home/simulations/ros2_sims_ws/install/navigation2’, ‘/home/simulations/ros2_sims_ws/install/nav2_smoother’, ‘/home/simulations/ros2_sims_ws/install/nav2_dwb_controller’, ‘/home/simulations/ros2_sims_ws/install/nav2_controller’, ‘/home/simulations/ros2_sims_ws/install/dwb_plugins’, ‘/home/simulations/ros2_sims_ws/install/dwb_critics’, ‘/home/simulations/ros2_sims_ws/install/dwb_core’, ‘/home/simulations/ros2_sims_ws/install/nav_2d_utils’, ‘/home/simulations/ros2_sims_ws/install/dwb_msgs’, ‘/home/simulations/ros2_sims_ws/install/nav_2d_msgs’, ‘/home/simulations/ros2_sims_ws/install/nav2_waypoint_follower’, ‘/home/simulations/ros2_sims_ws/install/nav2_theta_star_planner’, ‘/home/simulations/ros2_sims_ws/install/nav2_smac_planner’, ‘/home/simulations/ros2_sims_ws/install/nav2_rotation_shim_controller’, ‘/home/simulations/ros2_sims_ws/install/nav2_regulated_pure_pursuit_controller’, ‘/home/simulations/ros2_sims_ws/install/nav2_planner’, ‘/home/simulations/ros2_sims_ws/install/nav2_navfn_planner’, ‘/home/simulations/ros2_sims_ws/install/nav2_mppi_controller’, ‘/home/simulations/ros2_sims_ws/install/nav2_constrained_smoother’, ‘/home/simulations/ros2_sims_ws/install/nav2_bt_navigator’, ‘/home/simulations/ros2_sims_ws/install/nav2_behaviors’, ‘/home/simulations/ros2_sims_ws/install/nav2_core’, ‘/home/simulations/ros2_sims_ws/install/nav2_collision_monitor’, ‘/home/simulations/ros2_sims_ws/install/costmap_queue’, ‘/home/simulations/ros2_sims_ws/install/nav2_costmap_2d’, ‘/home/simulations/ros2_sims_ws/install/nav2_voxel_grid’, ‘/home/simulations/ros2_sims_ws/install/nav2_velocity_smoother’, ‘/home/simulations/ros2_sims_ws/install/nav2_rviz_plugins’, ‘/home/simulations/ros2_sims_ws/install/nav2_map_server’, ‘/home/simulations/ros2_sims_ws/install/nav2_lifecycle_manager’, ‘/home/simulations/ros2_sims_ws/install/nav2_behavior_tree’, ‘/home/simulations/ros2_sims_ws/install/nav2_amcl’, ‘/home/simulations/ros2_sims_ws/install/nav2_util’, ‘/home/simulations/ros2_sims_ws/install/nav2_simple_commander’, ‘/home/simulations/ros2_sims_ws/install/nav2_msgs’, ‘/home/simulations/ros2_sims_ws/install/nav2_common’, ‘/home/simulations/ros2_sims_ws/install/my_box_bot_rmf’, ‘/home/simulations/ros2_sims_ws/install/main_navigation’, ‘/home/simulations/ros2_sims_ws/install/localization_server’, ‘/home/simulations/ros2_sims_ws/install/dummybot_description’, ‘/home/simulations/ros2_sims_ws/install/dummy_gazebo’, ‘/home/simulations/ros2_sims_ws/install/dummy_barista_description’, ‘/home/simulations/ros2_sims_ws/install/dock_charger_station’, ‘/home/simulations/ros2_sims_ws/install/cartographer_slam’, ‘/home/simulations/ros2_sims_ws/install/box_bot_tutorials’, ‘/home/simulations/ros2_sims_ws/install/box_bot_photo’, ‘/home/simulations/ros2_sims_ws/install/box_bot_gazebo’, ‘/home/simulations/ros2_sims_ws/install/box_bot_description’, ‘/home/simulations/ros2_sims_ws/install/barista_table_finder’, ‘/home/simulations/ros2_sims_ws/install/barista_rmf_course’, ‘/home/simulations/ros2_sims_ws/install/barista_interfaces’, ‘/home/simulations/ros2_sims_ws/install/barista_gazebo’, ‘/home/simulations/ros2_sims_ws/install/barista_extra_models’, ‘/home/simulations/ros2_sims_ws/install/barista_dock_charger_station’, ‘/home/simulations/ros2_sims_ws/install/barista_description’, ‘/home/simulations/ros2_sims_ws/install/barista_alignment’, ‘/home/simulations/ros2_sims_ws/install/animated_actors’, ‘/home/simulations/ros2_sims_ws/install/ament_cmake_catch2’, ‘/opt/ros/humble’]”

where is the my_barista_rmf_gazebo package?

2

Let me check to see what might be wrong there

3

There was an error in the launch file that we missed, sorry about that. We will dpeloy teh fix as sonn as possible, for the moment here you have the correct laucnh file:

#!/usr/bin/python3

-- coding: utf-8 --

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_prefix

def generate_launch_description():

pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
doors_unit_path = get_package_share_directory(
    'doors_unit')

# Where the dummy barista description models of the robots are
description_package_name = "box_bot_description"
install_dir = get_package_prefix(description_package_name)

# Add to the path the models for Ingestors and Digestors
extra_models_package = "doors_unit"
extra_models_package_path = get_package_share_directory(
    extra_models_package)
extra_models_path = os.path.join(
    extra_models_package_path, 'maps', 'passage', 'models')

# Plugins
gazebo_plugins_name = "gazebo_plugins"
gazebo_plugins_name_path_install_dir = get_package_prefix(
    gazebo_plugins_name)

gazebo_plugins_name = "gazebo_plugins"
gazebo_plugins_name_path_install_dir = get_package_prefix(
    gazebo_plugins_name)

# The slot car plugin is inside here
plugin_pkg = "rmf_robot_sim_gz_classic_plugins"
plugin_dir = get_package_prefix(plugin_pkg)

plugin_building_pkg = "rmf_building_sim_gz_classic_plugins"
plugin_building_dir = get_package_prefix(plugin_building_pkg)

if 'GAZEBO_MODEL_PATH' in os.environ:
    os.environ['GAZEBO_MODEL_PATH'] = os.environ['GAZEBO_MODEL_PATH'] + ':' + install_dir + \
        '/share' + ':' + extra_models_path
else:
    os.environ['GAZEBO_MODEL_PATH'] = install_dir + \
        "/share" + ':' + extra_models_path

if 'GAZEBO_PLUGIN_PATH' in os.environ:
    os.environ['GAZEBO_PLUGIN_PATH'] = os.environ['GAZEBO_PLUGIN_PATH'] + ':' + install_dir + '/lib' + ':' + \
        gazebo_plugins_name_path_install_dir + '/lib' + ':' + \
        plugin_dir + '/lib' + '/rmf_robot_sim_gz_classic_plugins' + ':' + \
        plugin_building_dir + '/lib' + '/rmf_building_sim_gz_classic_plugins'
else:
    os.environ['GAZEBO_PLUGIN_PATH'] = install_dir + '/lib' + ':' + gazebo_plugins_name_path_install_dir + \
        '/lib' + ':' + plugin_dir + '/lib' + '/rmf_robot_sim_gz_classic_plugins' + \
        ':' + plugin_building_dir + '/lib' + '/rmf_building_sim_gz_classic_plugins'

print("GAZEBO MODELS PATH=="+str(os.environ["GAZEBO_MODEL_PATH"]))
print("GAZEBO PLUGINS PATH=="+str(os.environ["GAZEBO_PLUGIN_PATH"]))

# Gazebo launch
gazebo = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py'),
    )
)

return LaunchDescription([
    DeclareLaunchArgument(
        'world',
        default_value=[os.path.join(
            doors_unit_path, 'worlds', 'passage.world'), ''],
        description='SDF world file'),
    DeclareLaunchArgument(
        'verbose', default_value='true',
        description='Set "true" to increase messages written to the terminal.'
    ),
    gazebo
])
4

We just deployed the corrected doc for the unit. If you refresh the page clearing up the cache just in case it stays with the old version, you should see now the corrected version

Sorry again for the inconvenience

5

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