Perception stack and ROS-Python Interface in Gazebo on a remote computer

[bkesari1998]

Hello,

Can the perception stack and ROS-Python interface be used for a simulated locobot in Gazebo? I am trying to run the perception stack on a remote computer (installation done with xslocobot_remote_install.sh), and am running into an error regarding the interbotix_perception_modules package. This package does not seem to exist in the interbotix_ws.

Thanks!

[lukeschmitt-tr]

The Interbotix Python-ROS interface is not currently compatible with the Gazebo simulation.

To install the interbotix_perception_modules package on a remote install, delete the CATKIN/COLCON_IGNORE file located in the ~/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_perception_toolboxes directory, run rosdep to install any missing dependencies, and rebuild the workspace.

[bkesari1998]

the interbotix_ros_toolboxes package is not included in the interbotix_ws after remote install. The only things that are in the interbotix_ws/src directory are interbotix_ros_rovers and create3_sim_ros1 packages. Should I clone the interbotix_ros_toolboxes package from github?

[lukeschmitt-tr]

Yes, for ROS 1 remote installations, the interbotix_ros_toolboxes repo is not cloned. You should clone it to the workspace's src directory, delete the IGNORE file for any toolboxes you need, install dependencies, and rebuild your workspace.

[bkesari1998]

I deleted the CATKIN_IGNORE file in interbotix_perception_toolboxes and ran rosdep install --from-paths src --ignore-src -r -y from ~/interbotix_ws and am getting this error:

When I try to catkin_make, I get this error

Do you know how to resolve? Thanks for your help so far

[lukeschmitt-tr]

Seems like distutils imports in some packages' setup.py file is causing this issue.

See if the changes in Interbotix/interbotix_ros_toolboxes@45cc26d and Interbotix/interbotix_ros_rovers@1186ce7 fix this issue. You should also clone the interbotix_ros_core repo's noetic branch interbotix/interbotix_ros_core@noetic and remove interbotix_ros_core/interbotix_ros_xseries/CATKIN_IGNORE.

[bkesari1998]

Thank you, I was able to build the workspace. I needed to delete the catkin_ignore files from a couple more of the packages (which were listed by the rosdep command) and then everything worked fine.