Advantech Robotic Suite/Q&A

General 

Nodes missing from ROS2 node list after relaunch

This issue is triggered because rosnode start and close too quickly, ROS2 daemon keeps some nodes as “alive” in the cache, as it takes some time of them being unresponsive before eliminating them.

If run ros2 node list can’t find a specific rosnode, you can try run ros2 node list --no-daemon, then you will get the missing nodes.

Also you can run ros2 daemon stop; ros2 daemon start to restart ROS2 daemon and update the rosnode list.

Disabling shared memory for ROS2

FastDDS allows for providing a configuration XML file at runtime in order to customize several aspects of the middleware. Such as, forcing the transport to use UDPv4. The XML profile is passed through an environment variable:

$ export FASTRTPS_DEFAULT_PROFILES_FILE=myProfileLocation/fastdds_no_shared_memory.xml

The fastdds_no_shared_memory.xml content is as follows.

<?xml version="1.0" encoding="UTF-8" ?>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>CustomUdpTransport</transport_id>
                <type>UDPv4</type>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="participant_profile" is_default_profile="true">
            <rtps>
                <userTransports>
                    <transport_id>CustomUdpTransport</transport_id>
                </userTransports>

                <useBuiltinTransports>false</useBuiltinTransports>
            </rtps>
        </participant>
    </profiles>

OpenGL error when running gazebo

If get OpenGL error when running gazebo.

Can change render-engine to ogre, and try again.

$ ign gazebo tugbot_warehouse.sdf --render-engine ogre

How to convert ROS1 bag file to ROS2 bag file

refer to : https://gitlab.com/ternaris/rosbags
Download and install.

$ git clone https://gitlab.com/ternaris/rosbags.git
$ pip install rosbags

Convert rosbag to ros2bag.
1. Go to convert folder.

$ cd rosbags/src/rosbags/convert

2.Add the following code to the last line of converter.py
convert_1to2("src", "dst", "excluded topics", "included topics")
for example:

...
    try:
        func(src, dst, exclude_topics, include_topics)
    except (ReaderError1, ReaderError2) as err:
        raise ConverterError(f'Reading source bag: {err}') from err
    except (WriterError1, WriterError2) as err:
        raise ConverterError(f'Writing destination bag: {err}') from err
    except Exception as err:
        raise ConverterError(f'Converting rosbag: {err!r}') from err
     
convert_1to2("/home/user/Downloads/dataset.bag", "/home/user/Downloads/dataset", "", "/points_raw /imu_correct")

3. Run convert.

$ python3 converter.py

How to set ROS_DOMAIN_ID

Set ROS_DOMAIN_ID in host
It can set environment variables in the .bashrc file.

$ echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bashrc
$ source ~/.bashrc

Confirm whether the variable is modified successfully.

$ echo $ROS_DOMAIN_ID

Set ROS_DOMAIN_ID in docker container
Step1: Open specified docker-compose.yml

$ cd /usr/local/Advantech/ros/container/docker/docker-compose/<docker_container_name>
$ vim docker-compose.yml

Step2: Set ROS_DOMAIN_ID=<your_domain_id> in docker-compose.yml
Note: If you want to follow the host's ROS_DOMAIN_ID variable, please set ROS_DOMAIN_ID=${ROS_DOMAIN_ID}

.
.
.
   environment:
    - ROS_DOMAIN_ID=<your_domain_id>
.
.
.

Step3: Restart container for update environment variables of docker container

$ cd /usr/local/Advantech/ros/container/docker
$ ./stop.sh <docker_container_name>
$ ./launch.sh <docker_container_name>

Step4: Confirm whether the variable is modified successfully in container

$ docker exec -it <docker_container_name> bash
$ echo $ROS_DOMAIN_ID

How to change port of edge-ros2-container

Step1: Change 8080:8080 to 8081:8080, then save.

$ cd /usr/local/Advantech/ros/container/docker/docker-compose/edge-ros2-foxy
$ sudo gedit docker-compose.yml

Step2: Restart container.

$cd /usr/local/Advantech/ros/container/docker/
./launch.sh edge-ros2-foxy

Known issues of realsense camera

1. IMU issues
If you can't use the D435i's IMU on ROS2, and see "Permission denied" error message.

You can install a patch to resolve this issue.
Reference solution: librealsense patch
2. Pointcloud issues
When using the realsense camera in "NVIDIA Jetson platform", the pointcloud cannot be generated on ROS2.
Reference solution: Pointcloud issues

EPC-R3720 ( NXP i.MX 8M Plus )

How to use RViz on EPC-R3720

RViz supports X11 display but EPC-R3720 (NXP i.MX 8M plus ) only supports Wayland display. So RViz can’t display on the EPC-R3720. You can display RViz on another platform with X Window Server by X11 fordwarding.

Before running rviz2, please make sure libcurl is linked correctly.

/usr/lib/libcurl.so.4 should link to the libcurl.so.4.X.X in /usr/lib/aarch64-linux-gnu folder.

example:

$ ls -la /usr/lib/libcurl.so.4
lrwxrwxrwx 1 root root 43 Dec 27 08:41 /usr/lib/libcurl.so.4 -> /usr/lib/aarch64-linux-gnu/libcurl.so.4.6.0

If /usr/lib/libcurl.so.4 is not linked to the libcurl.so.4.X.X in /usr/lib/aarch64-linux-gnu folder, please run below command to fix it.

sudo rm -f /usr/lib/libcurl.so.4
sudo ln -s $(readlink -f /usr/lib/aarch64-linux-gnu/libcurl.so) /usr/lib/libcurl.so.4

• Prepare a x86_64 Ubuntu 20.04.
• Use ssh -X to enable graphical applications on a remote server. Notice : it is -X not -x

$ ssh -X remote-user@remote-host

 

$ export QT_QPA_PLATFORM=xcb 

• Run RViz2

$ ros2 run rviz2 rviz2

 

How to disable automatic suspend

Step1. Click settings

Step2. Turn off in Automatic Suspend

Installation

Docker container version incompatible issue

In Advantech Robotic Suite v1.2.0 or v1.3.0, if it show client version error during installation.

Please follow the steps below to complete the installation. After completing these steps, there is no need to reinstall the Advantech Robotic Suite.  

$ wget https://iedgeblob.blob.core.windows.net/iedge-public/robotic-sdk-patch/robotic-dev-sdk-patch-1.3.0.run
$ chmod +x robotic-dev-sdk-patch-1.3.0.run
$ sudo ./robotic-dev-sdk-patch-1.3.0.run

License

Category	Name	License	Link
ROS2 Distribution	Foxy	Apache License 2.0	Link
	Humble	Apache License 2.0	Link
Utility	Rviz2	BSD	Link
	RQT	BSD	Link
	rclcpp	Apache License 2.0	Link
	rclpy	Apache License 2.0	Link
	Turtlesim	BSD	Link
	launch	Apache License 2.0	Link
	rosbag2	Apache License 2.0	Link
	rmw_fastrtps	Apache License 2.0	Link
	Gazebo	Apache License 2.0	Link
	MoveIt	BSD	Link