ROS Jazzy + Ubuntu 24.04

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Sergei G

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Jun 12, 2024, 10:51:27 AMJun 12
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My dive into the latest LTS versions of ROS and Ubuntu was cut short - mostly because the old HP Pavillion desktop I've chosen isn't up to the task.

Some observations:
  1. Ubuntu 24.04 Desktop ISO volume is 5+ GB and won't fit on a standard 4.7 GB DVD. I had to use smaller Server ISO and then install GNOME - not a big deal. USB install should work too.
  2. ROS Jazzy install went smoothly, talker/listener and turtle sim worked right away
  3. Gazebo sim crashes and doesn't recognize "export DISPLAY=<>:0.0". Very strange.
  4. VS Code installed ok, but hangs when I open PX4 code tree (unrelated to ROS). It opens ROS samples all right.

I searched through the club mail for any mentioning of Jazzy - none found.

So, the question - did anybody try (or is working with) the latest official LTS ROS Jazzy? Any luck with it?

Best Regards,
-- Sergei

Sergei G

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Jul 9, 2024, 2:59:12 PMJul 9
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Well, not a lot of responses here... Nobody trying ROS2 Jazzy?

Meanwhile, being totally frustrated with Gazebo + Humble combo, I decided to take another stab at ROS Jazzy, fixing the problems I had with my machine before. I replaced a video card there (Radeon 6450 for Nvidia GeForce GTX560, both very old).

VSCode no longer crashes, and the #2 problem with Gazebo crashing was cured by a proper setting: "export QT_QPA_PLATFORM=xcb"

For the brave souls I logged my setup here:

Let me know if you are also trying Jazzy - we might be able to fight that dragon together.

Best Regards,
-- Sergei

From: rssc...@googlegroups.com <rssc...@googlegroups.com> on behalf of Sergei G <msg...@hotmail.com>
Sent: Wednesday, June 12, 2024 9:51 AM
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Subject: [RSSC-List] ROS Jazzy + Ubuntu 24.04
 
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Chris Albertson

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Jul 9, 2024, 3:22:58 PMJul 9
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I am slowly working on standing up a virtual machine with current versions of ROS2 and Ubuntu.   I bought a new external SSD to hold the VM.  But other projects keep comming up.

BTW in the Jazzy docs it says: "Starting with Jazzy Jalisco, we are streamlining how ROS 2 and Gazebo integrate. For every ROS 2 release, there will be a recommended, supported Gazebo release that goes along with that release. For Jazzy Jalisco, the recommended Gazebo release will be Harmonic”






Sergei Grichine

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Jul 9, 2024, 3:35:08 PMJul 9
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Well, streamlined or not, I am very happy with the way Gazebo Harmonic works on my Jazzy machine. Night and day compared to Humble (which worked alright without Gazebo).

Note that I always install from binaries - IMHO this is the only way to avoid making a big mess of the machine. Humble+Garden had binaries, or prescribed some source builds, and still didn't work right no matter what I did.

ROS2 has to mature, especially on the documentation side. We are not far from that. I am just wishing that all the old versions' stuff (and other lies) could be deleted from the Internet ;-)

To view this discussion on the web visit https://groups.google.com/d/msgid/rssc-list/8FFA5423-4245-481C-8A71-6EE1BAE7FBAE%40gmail.com.


--
Best Regards,
-- Sergei

Jeremy Williams

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Jul 9, 2024, 3:35:12 PMJul 9
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Frustrating to be sure. 

I have not tried Jazzy. But might wade in next week. 

Following your GitHub. 

😊

Gmail

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Jul 9, 2024, 4:49:14 PMJul 9
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I’ve only used the version that Camp uses. 



Thomas

-  

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-

Need a great hardworking engineer? I am currently looking for a new job opportunity in robotics and/ or AI. 

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On Jul 9, 2024, at 11:59 AM, Sergei G <msg...@hotmail.com> wrote:



camp .

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Jul 9, 2024, 6:03:02 PMJul 9
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> I’ve only used the version that Camp uses. 

That would be "Humble." I was moving to Jazzy to try and overcome my "/scan" topic problem but discovered the problem was which package I ran slam_toolbox from (slam_toolbox package or turtlebot4_navigation). They use different parameters. Also (maybe different now) Jazzy didn't have a Debian install of nav2.

- Camp

Sergei G

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Jul 10, 2024, 11:27:27 AMJul 10
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If you are trying Jazzy, spend quality time on this short (12 minutes) video:


The code there builds and works fine, and the robot code is clean and well explained. Worth studying closely.

As for my Dragger/Sim project and the "clean machine" setup - the recipe is often updated as I keep finding new info:


BTW, does Ubuntu 24.04 works for anybody on Raspberry Pi 5? I am considering upgrading...

Best Regards,
-- Sergei

From: rssc...@googlegroups.com <rssc...@googlegroups.com> on behalf of camp . <ca...@camppeavy.com>
Sent: Tuesday, July 9, 2024 5:02 PM
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Subject: Re: [RSSC-List] Re: ROS Jazzy + Ubuntu 24.04
 

Sergei G

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Jul 11, 2024, 8:53:16 PMJul 11
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At this point my Dragger sim can be driven from a joystick and seems to work fine.


If you are following this thread, this is a good point to try the sim.


Best Regards,
-- Sergei

Sent: Wednesday, July 10, 2024 10:27 AM
To: RSSC-list <rssc...@googlegroups.com>; camp . <ca...@camppeavy.com>

Chris Albertson

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Jul 12, 2024, 12:27:35 PMJul 12
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Your posts are helpful.    I just installed Ubuntu 24.04 on a virtual machine and then Gazabo. The same versions as you.  I think dependencies are all corredct now.  Next is to get some example robot running in it.

The goal is to be able to run experiments with quadruped controllers.   Almost none of them run in ROS2.  One of them I just found, or rather it was pointed out to me, was written at ETH in Zurich and it use MPC.   You would not need MPC for you lawn mower unless you wanted to automatically parallel park it into a tight spot.   But it helps a walking robot to plan foot locations to not step in gopher holes and climb stairs.



On Jul 11, 2024, at 5:53 PM, Sergei G <msg...@hotmail.com> wrote:

At this point my Dragger sim can be driven from a joystick and seems to work fine.


If you are following this thread, this is a good point to try the sim.

<image.png>

Sergei G

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Jul 12, 2024, 2:04:21 PMJul 12
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Thanks for the feedback, Chris!

At the moment my Dragger sim is probably the most current and easy to follow example of a "controller-driven" architecture (credits to Articulated Robotics by Josh Newans, of course). And I want to validate my instructions - so, it comes with my pesonal support commitment for now. Limited time offer 😉. Any comments/corrections greatly appreciated.

The project I referred previosly (https://www.youtube.com/watch?v=b8VwSsbZYn0) offers a custom controller, capable of driving articulated wheels (many joints) - excellent example, very clean code, I had it run under Jazzy quite easily. 

As for the Lawnmower - it is actually a workhorse, it does what I wanted it to do (mowes the lawn) - and is quite happy under PX4 autopilot. I'll talk about it on the 17th.

Dragger is a ROS toy (I let ROS beat me up once in a while). Dragger's next challenge will be finding red cones on the lawn, avoiding trees. Maybe, chasing people. As always with ROS, sky is the limit, but it always ends as a Turtlebot ;-(

MPC is a nice idea, but not practical for my slow diff drive bots. Best luck with it, keep us posted! 

Best Regards,
-- Sergei

From: Chris Albertson <alberts...@gmail.com>
Sent: Friday, July 12, 2024 11:27 AM
To: Sergei G <msg...@hotmail.com>
Cc: RSSC-list <rssc...@googlegroups.com>
Subject: Re: [RSSC-List] ROS Jazzy + Ubuntu 24.04
 

Chris Albertson

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Jul 12, 2024, 3:19:22 PMJul 12
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MPC is mostly overkill for most situations, the parallel parking example is good exception.   Even walking, it might not be needed most of the time.   I think I use a completely different control algorithm if I am climbing a ladder then if walking on a hardwood floor.  Robots need to be able to switch the way they work.

It is the same with language.  Most of the time only a very simple keyword finder is enough but other times an LLM is needed.

So with that said, take a look at the overall structure of the controller they developed.   They use a switch.  

Sergei G

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Jul 16, 2024, 4:45:03 PMJul 16
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I switched for a couple of days to making the physical Dragger run. It got a new "head" - a Raspberry Pi 5 (8GB ) under Ubuntu 24.04 Server and ROS Jazzy base. I also put the new BE-880/M10 GPS to work (u-blox M10 chip inside):


There are some changes in the build process, all reflected now here:


The sim is left at a good point, quite operational and with Rviz reflecting joints appropriately.

So far, ROS Jazzy has been kind to me, most of my troubles with it were due to my lack of experience with ROS in general - especially on the Gazebo side.

BTW, RPi 5 is a beast, but don't run it for longer than several minutes without a cooler.

Best Regards,
-- Sergei

Sent: Thursday, July 11, 2024 7:53 PM
To: RSSC-list <rssc...@googlegroups.com>

Jeremy Williams

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Jul 16, 2024, 11:58:22 PMJul 16
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Hey Sergei,

I thought you might find this video interesting. Yes you can run 24.04 on a 5.

Cheers, Jeremy 

Jeremy Williams

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Jul 16, 2024, 11:58:38 PMJul 16
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My bad lol. Here’s the link:

 

Sergei Grichine

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Jul 17, 2024, 11:35:35 AMJul 17
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Thanks, Jeremy, good info.

I actually used "Raspberry Pi Imager" - it has Ubuntu Server as an option. It messed up my WiFi password and didn't configure eth0 at all, didn't configure swap, but otherwise all went very smoothly.

 ROS Jazzy also installed nicely with "apt". There were several minor problems, which I documented in my log under the "[Ubuntu 24.04 only]" tag:


Physical Dragger is fully alive now and is waiting for the Desktop companion nodes (Nav2 etc.) to be tried. So is the sim version.

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To view this discussion on the web visit https://groups.google.com/d/msgid/rssc-list/CAJHxCZEC2eevMySrz6G6u9_XDFUs67_ZJtnkXsbhFhX_6BxOsA%40mail.gmail.com.

Sergei G

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Aug 1, 2024, 3:16:40 PMAug 1
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Jazzy gave me a hard time on the Gazebo side, but now all issues are resolved, and sim works fine with Cartographer. The physical robots - Create_1 and Dragger are also working fine under Jazzy.

Here are full instructions for a desktop machine - from Ubuntu 24.04 setup to making maps and navigating in Gazebo sim (no physical robot needed):


Best Regards,
-- Sergei

Sent: Tuesday, July 16, 2024 3:44 PM

Sergei G

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Sep 14, 2024, 3:31:41 PMSep 14
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I checked in my latest code with GPS working is Gazebo SIM.

Thanks to Jim DiNunzio for providing information and James H Phelan for verifying my setup instructions.

When it comes to GPS, I was basically following the docs Jim DiNunzio recommended: 



At some point soon the code will be deployed to the physical Dragger robot and will roll outdoors.

Instructions are, as usual, here:
Sent: Thursday, August 1, 2024 2:16 PM

Sergei G

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Sep 29, 2024, 10:39:51 AMSep 29
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For those who followed this thread, I am moving this conversation here, for the convenience of Home Brew Robotics group and its ROS SIG:


Please chime in there, if interested.

Thank you,
-- Sergei


Sent: Saturday, September 14, 2024 2:31 PM
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