Unable to pick object properly by open manipulator arm in gazebo ROS2 about gazebo-pkgs

[JenniferBuehler]

Hi,
The humble branch is actually still the master state. I recently created it for a PR that was meant to be coming, see #57. You can try the code in https://github.com/kongoncharuk/gazebo-pkgs/tree/humble

[mayank0621]

Thanks @JenniferBuehler for your reply.
I've tried above plugin in ROS2 humble but its not working for me. I'm attaching some screenshot. Any help would be great for me.

Here I have added plugin

This the path of "libgazebo_grasp_fix.so" file

Logs of terminal when I'm executing launch file

Gazebo contact topic:

This is the behavior of my arm

[Aki1608]

Hi, The humble branch is actually still the master state. I recently created it for a PR that was meant to be coming, see #57. You can try the code in https://github.com/kongoncharuk/gazebo-pkgs/tree/humble

Hi @JenniferBuehler, I tried using that humble branch but at the time of build, I am getting the following error:

CMake Error at /home/aki/ws_moveit2/install/gazebo_grasp_plugin/share/gazebo_grasp_plugin/cmake/ament_cmake_export_libraries-extras.cmake:48 (message):
  Package 'gazebo_grasp_plugin' exports the library 'gazebo_grasp_fix' which
  couldn't be found
Call Stack (most recent call first):
  /home/aki/ws_moveit2/install/gazebo_grasp_plugin/share/gazebo_grasp_plugin/cmake/gazebo_grasp_pluginConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)

I assume that without this package, this plugin will not work, right?

Do you have any idea what can be the error here?

[JenniferBuehler]

Hi ,
The plugin is Ros independent (just gazebo), for ros2 only the makefiles changed.
The output you sent are not from the plugin. Maybe it's not loaded. Do you see any GazeboGraspFix output?
Please also refer to the troubleshooting page on the wiki.
I'm not sure when I'll have time to test, but I'll try

[JenniferBuehler]

Did you set the GAZEBO_PLUGIN_PATH?

[Aki1608]

CMake Error at /home/aki/ws_moveit2/install/gazebo_grasp_plugin/share/gazebo_grasp_plugin/cmake/ament_cmake_export_libraries-extras.cmake:48 (message):
Package 'gazebo_grasp_plugin' exports the library 'gazebo_grasp_fix' which
couldn't be found
Call Stack (most recent call first):
/home/aki/ws_moveit2/install/gazebo_grasp_plugin/share/gazebo_grasp_plugin/cmake/gazebo_grasp_pluginConfig.cmake:41 (include)
CMakeLists.txt:15 (find_package)

Hi @JenniferBuehler, changing some file directory solved the issue. But it looks like the plugin is not being loaded. I dont see any logs of this plugin.

[Aki1608]

Also, There are only three packages in humble branch which are converted to ros2. Do I need all the packages for the desired behavior? Or only "gazebo_grasp_plugin" and "gazebo_grasp_plugin_ros" packages which are converted into the ROS2 humble format?

What I want to say is that I am not building other packages, namely, "gazebo_state_plugins", "gazebo_world_plugin_loader", "gazebo_test_tools". So I am hist removing from the directory while building the package. Will that work or these three packages are also important to have to load the plugin?

[Aki1608]

Hi @JenniferBuehler, I was able to solve all errors. Thank you so much for your help. It is working properly in ROS2 humble.

[mayank0621]

Hi @JenniferBuehler I have solved all issues. Error was in the gazebo world file. Also I have to change path of libgazebo_grasp_fix.so file so that it can be detected.
Thanks a lot for your support!!!!!

[JenniferBuehler]

Ah, just as I get around to check the messages, you already solved it. Great, well done :)

[beta1scat]

Hi @JenniferBuehler, I was able to solve all errors. Thank you so much for your help. It is working properly in ROS2 humble.

Hi Aki1608, I am encountering a similar issue with ROS2 Humble. Would you kindly provide me with further details on how to resolve this matter? Your assistance is greatly appreciated.
I also only build three packages:

colcon build --packages-select gazebo_grasp_plugin gazebo_grasp_plugin_ros gazebo_version_helpers

Before build I also modified the gazebo_grasp_plugin:

<!-- <buildtool_depend>catkin</buildtool_depend> -->
  <buildtool_depend>ament_cmake</buildtool_depend>

gazebo_grasp_plugin_ros doesn't build successful and get errors:

CMake Error at /root/ws_host/install/gazebo_grasp_plugin/share/gazebo_grasp_plugin/cmake/ament_cmake_export_libraries-extras.cmake:48 (message):
  Package 'gazebo_grasp_plugin' exports the library 'gazebo_grasp_fix' which
  couldn't be found
Call Stack (most recent call first):
  /root/ws_host/install/gazebo_grasp_plugin/share/gazebo_grasp_plugin/cmake/gazebo_grasp_pluginConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)

[beta1scat]

Hi @JenniferBuehler, I was able to solve all errors. Thank you so much for your help. It is working properly in ROS2 humble.

Hi Aki1608, I am encountering a similar issue with ROS2 Humble. Would you kindly provide me with further details on how to resolve this matter? Your assistance is greatly appreciated. I also only build three packages:

colcon build --packages-select gazebo_grasp_plugin gazebo_grasp_plugin_ros gazebo_version_helpers

Before build I also modified the gazebo_grasp_plugin:

<!-- <buildtool_depend>catkin</buildtool_depend> -->
  <buildtool_depend>ament_cmake</buildtool_depend>

gazebo_grasp_plugin_ros doesn't build successful and get errors:

CMake Error at /root/ws_host/install/gazebo_grasp_plugin/share/gazebo_grasp_plugin/cmake/ament_cmake_export_libraries-extras.cmake:48 (message):
  Package 'gazebo_grasp_plugin' exports the library 'gazebo_grasp_fix' which
  couldn't be found
Call Stack (most recent call first):
  /root/ws_host/install/gazebo_grasp_plugin/share/gazebo_grasp_plugin/cmake/gazebo_grasp_pluginConfig.cmake:41 (include)
  CMakeLists.txt:15 (find_package)

I've successfully resolved the issue by removing the \${PROJECT_NAME} reference from the gazbo_grasp_plugin CMakeLists.txt file. If you're using ROS2 Humble, feel free to give this a try. If it proves helpful, I would greatly appreciate your feedback.