Gazebo Simulation Error - Running Visualize the URDF, missing 'macro' file

[Ross Lunan]

Performing install on Linux Desktop: after  following manual install, 2. Host Machine / Development Computer - Gazebo Simulation (Optional) which finished OK, selecting echo "export LINOROBOT2_BASE=2wd" >> ~/.bashrc , source .bashrc. printenv|grep LINOROBOT2 showed LINOROBOT2_BASE=2wd. Then URDF Section: 2. Visualize the newly created URDF, running ros2 launch linorobot2_description description.launch.py rviz:=true resulted in error due missing "joint_state_publisher". Doing a ros2 pkg list|grep joint_state_publisher indeed does not list that package. So I installed ros-foxy-joint-state-publisher-gui which did install that missing package, However, running the launch file again with , error 'no such file or directory: 'macro'. Appreciate troubleshooting steps.

[Ross Lunan]

My original Desktop Host installation 1) running simulated URDF Visualization using Gazebo and 2) Missing micro_ros_agent errors solved.

1) Launch error solved by rerunning the linorobot2 repository clone, rosdep and build commands in the colcon workspace. However to avoid a launch error, revise the command in 1.1b Using Gazebo to "~$ ros2 launch linorobot2_gazebo gazebo.launch.py. The gazebo.launch script is in the "linorobot2_gazebo" package.

The linorobot2 Gazebo and RVIZ Simulation with teleop works great and will now try a simulated XV11 Lidar (which I have the hardware for the Robot) & Depth Sensor simulation only, but will pursue getting my Oak-D-Lite to work. Hope the above is OK.