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Notes for multi robot SLAM simulation with Jackal Robots

Swarm-SLAM

Docker installation

Following their instructions, I built the docker container. Simply running these commands leads to error, because some requirements are not met?

git clone https://github.com/lajoiepy/cslam_experiments.git
cd cslam_experiments/docker
make build
make gpu_run
make swarmslam-lidar

attempting to run the cslam_experiments launch file, we get errors. We have to install Zenoh now:

echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
sudo apt update 
sudo apt install zenoh-bridge-ros2dds

seemed to work. Zenoh must be used the way it is used in cslam_experiments/launch/robot_experiments/experiment_lidar.launch.py also we have to downgrade numpy:

pip install "numpy<2.0"

The problem is now that the docker container does not have access to Xserver, and I cannot run rviz or any other visualization. It is possible to do it when building the image with:

version: "3"services:
  app:
    image: my-app:latest
    build: .
    environment:
      - DISPLAY=${DISPLAY}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
    network_mode: host

or by running the container with the following command:

docker run -it \
  -e DISPLAY=$DISPLAY \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  container_name /bin/bash

inside the package, I run:

apt-get install xauth 
apt-get install xorg

also I did:

apt install ros-humble-rviz2

This should enable you to launch the experiment_lidar.launch.py file. Attempting to launch kitti_lidar.launch.py results in error because rtabmap is missing. Therefore:

sudo apt install ros-humble-rtabmap*

Finally, I commited this container into a new image called x11swarmslam, which can be used to run containers with the above changes implemented. Run this command:

sudo docker run -itd --gpus all -v /dev:/dev -e NVIDIA_DRIVER_CAPABILITIES=all --rm --ipc host --net host --pid host --name x11swarmslam x11swarmslam

and then

sudo docker exec -it x11swarmslam bash

In order to visualize the map using rerun, it is suggested to use docker. To avoid running a docker container as a child of another docker container, read this post

An alternative to RTAB-MAP is FAST_LIO. Example of how to use FAST_LIO on the GrAco dataset is given here.

Help with running the datasets: MISTLab/Swarm-SLAM#2

Debugging Instructions for ROS2 Nodes

Jackal

Jackal with ROS2 and Isaac Sim

Installing Jackal Desktop Software (from source)

Instructions I made the jackal_ws directory in / and added source /jackal_ws/install/setup.bash to ~/.bashrc

I commited this container to x11swarmjackal

Attempting to launch jackal_gazebo jackal_world.launch.py leads to this error: executable 'spawner.py' not found on the libexec directory '/opt/ros/humble/lib/controller_manager' so I installed gazebo for ros humble (edit: not the best approach, refer to a few lines down)

sudo apt-get install ros-humble-ros-gz

That did not fix the error. The problem seems to be because spawner does not have the .py extension in humble. Let's try to navigate to the launch file that is trying to run the spawner.

At first I thought the launch file is in the Gazebo package. We cannot navigate to the package, because it was built from binary. Let's circle back and build Gazebo Fortress from source. I exited and stopped the docker container, and ran it again from the x11swarmjackal image that DOES not have gazebo installed yet. Following the gazebo installation from source, I added the source setup.bash of this workspace to ~/.bashrc:

source /workspace/install/setup.bash

It turns out that we have to edit /jackal_ws/src/jackal/jackal_control/launch/control.launch.py to change instances of spawner.py to spawner. Problem solved! (so installing gazebo from source was not required... at least so far!)

so... launching jackal with

ros2 launch jackal_gazebo jackal_world.launch.py

is successful, with some errors. First error is [gzserver-1] [Err] [OpenAL.cc:84] Unable to open audio device[default] [gzserver-1] Audio will be disabled. Second error is [gzserver-1] [Err] [Sensor.cc:510] Get noise index not valid with discussions on a possible fix here. And I am not sure about the following:

[gzserver-1] [rcutils|error_handling.c:65] an error string (message, file name, or formatted message) will be truncated
[gzserver-1] [ERROR] [1730926730.377621476] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ?>
[gzserver-1] <!-- =================================================================================== -->
[gzserver-1] <!-- |    This document was autogenerated by xacro from /jackal_ws/install/jackal_description/share/jackal_description/urdf/jackal.urdf.xacro | -->
[gzserver-1] <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
[gzserver-1] <!-- =================================================================================== -->
[gzserver-1] <robot name="jackal">
[gzserver-1]   <material name="dark_grey">
[gzserver-1]     <color rgba="0.2 0.2 0.2 1.0"/>
[gzserver-1]   </material>
[gzserver-1]   <material name="light_grey">
[gzserver-1]     <color rgba="0.4 0.4 0.4 1.0"/>
[gzserver-1]   </material>
[gzserver-1]   <material name="yellow">
[gzserver-1]     <color rgba="0.8 0.8 0.0 1.0"/>
[gzserver-1]   <, at ./src/rcl/arguments.c:343
[gzserver-1] 
[imu_filter_madgwick_node-6] [INFO] [1730926730.387032402] [imu_filter_node]: First IMU message received.
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 322106]

followed by these warnings:

[spawner-8] [WARN] [1730926739.032171794] [spawner_jackal_velocity_controller]: Could not contact service /controller_manager/list_controllers
[spawner-8] [INFO] [1730926739.033102827] [spawner_jackal_velocity_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [WARN] [1730926739.035220524] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-7] [INFO] [1730926739.036111111] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...

I am committing this container once again to x11swarmjackal

jackal_multi_robot package

clone the repo into /jackal_ws/src, then go back into jackal_ws and run

rosdep install --from-paths src -r -y
colcon build
source ~/.bashrc

Errors with gzserver might be fixed by

killall gzclient && killall gzserver

if killall is not there, install it by

sudo apt-get update
sudo apt-get install psmisc

Facing errors when loading "gazebo_ros2_control": [gzserver-1] [INFO] [1731356611.586901413] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin I think we need to replace the gazebo_ros2_control plugin with gz_ros2_control plugin, which is compatible with non-classic versions of gazebo...