Hello ,
i am trying to open the project in ros2
./run_docker.sh -r go1 -w empty -d keyboard -g -t jammy
it pulls the image i execute it but it wont open like the focal . Below is what i get.
~/wolf-setup$ ./run_docker.sh -r go1 -w empty -d keyboard -g -t jammy
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WoLF
https://github.com/graiola/wolf-setup
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non-network local connections being added to access control list
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-02-23-12-21-57-123899-main-1
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [45]
[INFO] [gzclient-2]: process started with pid [47]
[INFO] [description_loader-3]: process started with pid [49]
[INFO] [description_loader-4]: process started with pid [51]
[INFO] [description_loader-5]: process started with pid [53]
[INFO] [go0-6]: process started with pid [55]
[INFO] [robot_state_publisher-7]: process started with pid [57]
[INFO] [spawner-8]: process started with pid [59]
[INFO] [spawner-9]: process started with pid [61]
[INFO] [keyboard_node-10]: process started with pid [64]
[INFO] [rqt_reconfigure-11]: process started with pid [73]
[robot_state_publisher-7] [WARN] [1740313318.287807369] [kdl_parser]: Converting unknown joint type of joint 'floating_base_joint' into a fixed joint
[robot_state_publisher-7] [INFO] [1740313318.287932175] [robot_state_publisher]: got segment base_link
[robot_state_publisher-7] [INFO] [1740313318.288020691] [robot_state_publisher]: got segment lf_foot
[robot_state_publisher-7] [INFO] [1740313318.288028721] [robot_state_publisher]: got segment lf_hip
[robot_state_publisher-7] [INFO] [1740313318.288033673] [robot_state_publisher]: got segment lf_hip_shoulder
[robot_state_publisher-7] [INFO] [1740313318.288038093] [robot_state_publisher]: got segment lf_lowerleg
[robot_state_publisher-7] [INFO] [1740313318.288042165] [robot_state_publisher]: got segment lf_upperleg
[robot_state_publisher-7] [INFO] [1740313318.288046291] [robot_state_publisher]: got segment lh_foot
[robot_state_publisher-7] [INFO] [1740313318.288050361] [robot_state_publisher]: got segment lh_hip
[robot_state_publisher-7] [INFO] [1740313318.288054551] [robot_state_publisher]: got segment lh_hip_shoulder
[robot_state_publisher-7] [INFO] [1740313318.288058711] [robot_state_publisher]: got segment lh_lowerleg
[robot_state_publisher-7] [INFO] [1740313318.288062839] [robot_state_publisher]: got segment lh_upperleg
[robot_state_publisher-7] [INFO] [1740313318.288066735] [robot_state_publisher]: got segment lidar_mount
[robot_state_publisher-7] [INFO] [1740313318.288070612] [robot_state_publisher]: got segment rf_foot
[robot_state_publisher-7] [INFO] [1740313318.288074458] [robot_state_publisher]: got segment rf_hip
[robot_state_publisher-7] [INFO] [1740313318.288078699] [robot_state_publisher]: got segment rf_hip_shoulder
[robot_state_publisher-7] [INFO] [1740313318.288082893] [robot_state_publisher]: got segment rf_lowerleg
[robot_state_publisher-7] [INFO] [1740313318.288087064] [robot_state_publisher]: got segment rf_upperleg
[robot_state_publisher-7] [INFO] [1740313318.288090996] [robot_state_publisher]: got segment rh_foot
[robot_state_publisher-7] [INFO] [1740313318.288095103] [robot_state_publisher]: got segment rh_hip
[robot_state_publisher-7] [INFO] [1740313318.288099152] [robot_state_publisher]: got segment rh_hip_shoulder
[robot_state_publisher-7] [INFO] [1740313318.288103186] [robot_state_publisher]: got segment rh_lowerleg
[robot_state_publisher-7] [INFO] [1740313318.288107114] [robot_state_publisher]: got segment rh_upperleg
[robot_state_publisher-7] [INFO] [1740313318.288111228] [robot_state_publisher]: got segment trunk_imu
[robot_state_publisher-7] [INFO] [1740313318.288115274] [robot_state_publisher]: got segment world
[robot_state_publisher-7] [INFO] [1740313318.288122974] [robot_state_publisher]: Floating joint. Not adding segment from world to base_link.
[description_loader-3] [INFO] [1740313318.451002144] [robot_description_semantic]: Description successfully processed.
[description_loader-5] [INFO] [1740313318.582609721] [gazebo_robot_description]: Description successfully processed.
[description_loader-4] [INFO] [1740313318.624060415] [robot_description]: Description successfully processed.
[rqt_reconfigure-11] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[spawner-9] [INFO] [1740313318.762841599] [broadcaster_spawner]: waiting for service /controller_manager/list_controllers to become available...
[go0-6] [INFO] [1740313318.771237552] [spawn_robot]: robot_model: go1
[go0-6] [INFO] [1740313318.777009206] [spawn_robot]: robot_name:
[go0-6] [INFO] [1740313318.778242266] [spawn_robot]: initial_xyz: [0, 0, 0]
[go0-6] [INFO] [1740313318.778499227] [spawn_robot]: initial_rpy: [0, 0, 0]
[spawner-8] [INFO] [1740313318.784034277] [wolf_controller_spawner]: waiting for service /controller_manager/list_controllers to become available...
[keyboard_node-10] [ERROR] [1740313324.065016354] [keyboard_node]: /reset_base service not available after 5 seconds.
[spawner-9] [WARN] [1740313328.780052576] [broadcaster_spawner]: Could not contact service /controller_manager/list_controllers
[spawner-9] [INFO] [1740313328.781657248] [broadcaster_spawner]: waiting for service /controller_manager/list_controllers to become available...
[spawner-8] [WARN] [1740313328.801813644] [wolf_controller_spawner]: Could not contact service /controller_manager/list_controllers
[spawner-8] [INFO] [1740313328.803419160] [wolf_controller_spawner]: waiting for service /controller_manager/list_controllers to become available...
[keyboard_node-10] [ERROR] [1740313329.074486296] [keyboard_node]: /switch_posture service not available after 5 seconds.
[keyboard_node-10] [ERROR] [1740313334.084441787] [keyboard_node]: /emergency_stop service not available after 5 seconds.
[spawner-9] [WARN] [1740313338.799058467] [broadcaster_spawner]: Could not contact service /controller_manager/list_controllers
[spawner-9] [INFO] [1740313338.800688430] [broadcaster_spawner]: waiting for service /controller_manager/list_controllers to become available...
[spawner-8] [WARN] [1740313338.819384967] [wolf_controller_spawner]: Could not contact service /controller_manager/list_controllers
[spawner-8] [INFO] [1740313338.820948187] [wolf_controller_spawner]: waiting for service /controller_manager/list_controllers to become available...
[keyboard_node-10] [ERROR] [1740313339.093748299] [keyboard_node]: /switch_gait service not available after 5 seconds.
[keyboard_node-10] [ERROR] [1740313344.103896337] [keyboard_node]: /activate_push_recovery service not available after 5 seconds.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-7] [INFO] [1740313345.966270702] [rclcpp]: signal_handler(signum=2)
[rqt_reconfigure-11] [INFO] [1740313345.966278327] [rclcpp]: signal_handler(signum=2)
[keyboard_node-10] pygame 2.1.2 (SDL 2.0.20, Python 3.10.12)
[keyboard_node-10] Hello from the pygame community. https://www.pygame.org/contribute.html
[keyboard_node-10] Traceback (most recent call last):
[keyboard_node-10] File "/opt/ros/humble/lib/wolf_controller/keyboard_node", line 208, in
[keyboard_node-10] main()
[keyboard_node-10] File "/opt/ros/humble/lib/wolf_controller/keyboard_node", line 200, in main
[keyboard_node-10] node = WolfKeyboardController()
[keyboard_node-10] File "/opt/ros/humble/lib/wolf_controller/keyboard_node", line 129, in init
[keyboard_node-10] self.increase_step_service = TriggerService(self, '/increase_step_height')
[keyboard_node-10] File "/opt/ros/humble/lib/wolf_controller/keyboard_node", line 62, in init
[keyboard_node-10] if not self.__service.wait_for_service(timeout_sec=timeout):
[keyboard_node-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 177, in wait_for_service
[keyboard_node-10] time.sleep(sleep_time)
[keyboard_node-10] KeyboardInterrupt
[go0-6] Traceback (most recent call last):
[go0-6] File "/opt/ros/humble/lib/wolf_description_utils/go0", line 208, in
[go0-6] main()
[go0-6] File "/opt/ros/humble/lib/wolf_description_utils/go0", line 190, in main
[go0-6] spawn_model(node, model_name, model_xml, initial_pose, "world", gazebo_namespace)
[go0-6] File "/opt/ros/humble/lib/wolf_description_utils/go0", line 72, in spawn_model
[go0-6] client.wait_for_service()
[go0-6] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 177, in wait_for_service
[go0-6] time.sleep(sleep_time)
[go0-6] KeyboardInterrupt
[gzserver-1] [INFO] [1740313345.968131090] [rclcpp]: signal_handler(signum=2)
[description_loader-3] [INFO] [1740313345.969558413] [robot_description_semantic]: Shutting down description loader node.
[description_loader-3] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389
[ERROR] [gzclient-2]: process has died [pid 47, exit code -2, cmd 'gzclient'].
[description_loader-5] [INFO] [1740313345.969694901] [gazebo_robot_description]: Shutting down description loader node.
[description_loader-5] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389
[description_loader-4] [INFO] [1740313345.970026304] [robot_description]: Shutting down description loader node.
[description_loader-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389
[description_loader-4] Traceback (most recent call last):
[description_loader-4] File "/opt/ros/humble/lib/wolf_description_utils/description_loader", line 85, in
[description_loader-4] main()
[description_loader-4] File "/opt/ros/humble/lib/wolf_description_utils/description_loader", line 81, in main
[description_loader-4] rclpy.shutdown()
[description_loader-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 130, in shutdown
[description_loader-4] _shutdown(context=context)
[description_loader-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
[description_loader-4] return context.shutdown()
[description_loader-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
[description_loader-4] self.__context.shutdown()
[description_loader-4] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241
[description_loader-5] Traceback (most recent call last):
[description_loader-5] File "/opt/ros/humble/lib/wolf_description_utils/description_loader", line 85, in
[description_loader-5] main()
[description_loader-5] File "/opt/ros/humble/lib/wolf_description_utils/description_loader", line 81, in main
[description_loader-5] rclpy.shutdown()
[description_loader-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 130, in shutdown
[description_loader-5] _shutdown(context=context)
[description_loader-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
[description_loader-5] return context.shutdown()
[description_loader-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
[description_loader-5] self.__context.shutdown()
[description_loader-5] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241
[description_loader-3] Traceback (most recent call last):
[description_loader-3] File "/opt/ros/humble/lib/wolf_description_utils/description_loader", line 85, in
[description_loader-3] main()
[description_loader-3] File "/opt/ros/humble/lib/wolf_description_utils/description_loader", line 81, in main
[description_loader-3] rclpy.shutdown()
[description_loader-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 130, in shutdown
[description_loader-3] _shutdown(context=context)
[description_loader-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
[description_loader-3] return context.shutdown()
[description_loader-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
[description_loader-3] self.__context.shutdown()
[description_loader-3] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241
[ERROR] [go0-6]: process has died [pid 55, exit code -2, cmd '/opt/ros/humble/lib/wolf_description_utils/go0 --ros-args -r _node:=spawn_robot --params-file /tmp/launch_params_cmykhhdr --params-file /tmp/launch_params_2qqvdu1 --params-file /tmp/launch_params_rmrgl5mr --params-file /tmp/launch_params_nmxcw1ce --params-file /tmp/launch_params_tmmzq5je --params-file /tmp/launch_params_ov2yq629'].
[ERROR] [keyboard_node-10]: process has died [pid 64, exit code -2, cmd '/opt/ros/humble/lib/wolf_controller/keyboard_node --ros-args -r __node:=keyboard_node --params-file /tmp/launch_params_0ezl4c1f'].
[INFO] [robot_state_publisher-7]: process has finished cleanly [pid 57]
[ERROR] [description_loader-3]: process has died [pid 49, exit code 1, cmd '/opt/ros/humble/lib/wolf_description_utils/description_loader --ros-args -r __node:=robot_description_semantic --params-file /tmp/launch_params_m6mj57jm --params-file /tmp/launch_params_8ytuor_x'].
[ERROR] [description_loader-4]: process has died [pid 51, exit code 1, cmd '/opt/ros/humble/lib/wolf_description_utils/description_loader --ros-args -r __node:=robot_description --params-file /tmp/launch_params_ygxacha9 --params-file /tmp/launch_params_qlbclgqm --params-file /tmp/launch_params_v3k3xf86 --params-file /tmp/launch_params_8i09vwfg --params-file /tmp/launch_params_h_6bu8lh --params-file /tmp/launch_params_1pvxf_f6 --params-file /tmp/launch_params_l29unxf4 --params-file /tmp/launch_params_bwsl15hy'].
[ERROR] [description_loader-5]: process has died [pid 53, exit code 1, cmd '/opt/ros/humble/lib/wolf_description_utils/description_loader --ros-args -r _node:=gazebo_robot_description --params-file /tmp/launch_params_4wg819gk --params-file /tmp/launch_params_4i8t_fx4 --params-file /tmp/launch_params_71j60f8b --params-file /tmp/launch_params_mk47zha5 --params-file /tmp/launch_params_h2mtxn7f --params-file /tmp/launch_params__lc2y5q --params-file /tmp/launch_params_4wvlc0re --params-file /tmp/launch_params_l_e7g06j'].
[INFO] [spawner-9]: process has finished cleanly [pid 61]
[INFO] [spawner-8]: process has finished cleanly [pid 59]
[INFO] [rqt_reconfigure-11]: process has finished cleanly [pid 73]
[ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzserver-1]: sending signal 'SIGTERM' to process[gzserver-1]
[gzserver-1] [INFO] [1740313350.997550961] [rclcpp]: signal_handler(signum=15)
[ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [gzserver-1]: sending signal 'SIGKILL' to process[gzserver-1]
[ERROR] [gzserver-1]: process has died [pid 45, exit code -9, cmd 'gzserver /opt/ros/humble/share/wolf_gazebo_resources/worlds/empty.world -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
Hello, the ROS2 docker is still a WiP. I let you know as soon as it works ;)
I wish and look forward on completion ... you project teaches a lot to us /me, as new comers/er ... thank you .. :)
the ros2 humble debian packages should be available
graiola
