Installing issue on ubuntu 22.04 with Ros humble

[miguimag]

Hello,

I just installed ubuntu 22.04 and Ros 2 humble following these instructions: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html . I can run the talker and listener test so I assume my installation is succesful.

I am trying to install open-rmf following these instructions: https://github.com/open-rmf/rmf

However when I get to this step it fails.

sudo apt install ros-humble-rmf-demos-gz-classic

The error I get is:
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-humble-rmf-demos-gz-classic

I have run the command
apt-cache search ros-humble-rmf

And I cannot see any demos-gz-classic nor demos-gz.

How should I proceed?. Please be as specific as possible since I am not an expert on linux.

[Yadunund]

Thanks for highlighting this issue.
The binary packages for rmf-demos-gz-classic and rmf-demos-gz are not available yet.

If you would like to run the demos by using the rest of the Open-RMF binaries, you can do the following

1. Create a workspace with only rmf_demos source pkgs

mkdir ~/ws_rmf_demos/src -p
cd ~/ws_rmf_demos/src
git clone https://github.com/open-rmf/rmf_demos.git

2. Install system dependencies for demos

sudo apt update && sudo apt install \
  git cmake python3-vcstool curl \
  -y
python3 -m pip install flask-socketio fastapi uvicorn datamodel_code_generator
sudo apt-get install python3-colcon*

3. Install rest of Open-RMF binaries via rosdep

cd ~/ws_rmf_demos
rosdep install --from-paths src --ignore-src --rosdistro humble -y

4. Build workspace

cd ~/ws_rmf_demos
source /opt/ros/humble/setup.bash
colcon build

5. Run a demo

cd ~/ws_rmf_demos
source install/setup.bash
ros2 launch rmf_demos_gz_classic office.launch.xml

Alternatively, you can build the entire Open-RMF and the demos from source following the instructions here

We will update the README shortly. Let us know if you face any issues.

[Yadunund]

More information on the reason for not having binary releases of these pkgs is documented here. We'll make sure to update the README accordingly.
open-rmf/rmf_demos#166

[orensbruli]

I think this PR is related #255 and this #270

[Steven-NYP]

Hi I am following the instructions above and received the following errors

~/ws_rmf_demos$ colcon build
Starting >>> rmf_demos_dashboard_resources
Starting >>> rmf_demos_assets
Starting >>> rmf_demos_fleet_adapter
Starting >>> rmf_demos_maps
Starting >>> rmf_demos_tasks
Starting >>> rmf_demos_bridges
Finished <<< rmf_demos_dashboard_resources [2.04s]                                                                                                  
Starting >>> rmf_demos_panel
Finished <<< rmf_demos_assets [2.08s]
--- stderr: rmf_demos_tasks                                                                                                       
/home/steven/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()
---
Finished <<< rmf_demos_tasks [3.31s]
--- stderr: rmf_demos_fleet_adapter                                                                                                 
/home/steven/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()
---
Finished <<< rmf_demos_fleet_adapter [3.45s]
--- stderr: rmf_demos_bridges                                                                                           
/home/steven/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()
---
Finished <<< rmf_demos_bridges [3.76s]
--- stderr: rmf_demos_panel
/home/steven/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()
---
Finished <<< rmf_demos_panel [1.81s]
Finished <<< rmf_demos_maps [6.02s]                      
Starting >>> rmf_demos
Finished <<< rmf_demos [0.29s]                   
Starting >>> rmf_demos_gz
Starting >>> rmf_demos_gz_classic
Finished <<< rmf_demos_gz [0.26s]                                                                     
Finished <<< rmf_demos_gz_classic [0.26s]

Summary: 10 packages finished [7.21s]
  4 packages had stderr output: rmf_demos_bridges rmf_demos_fleet_adapter rmf_demos_panel rmf_demos_tasks

May I know did I missed out anything?

[aaronchongth]

Hello @Steven-NYP! These are just build warnings regarding setup.py's imminent deprecation from setuptools, as you can see the packages are built fine and the instructions are still valid.

We will look into migrating out of setup.py in the meantime, thanks for bringing this up!

[01fpcrd]

Sorry , I followed the above steps, but encountered the following error:

aoi@aoi:~/Documents/rmf_ws$ source /opt/ros/humble/setup.bash
aoi@aoi:~/Documents/rmf_ws$ colcon build
Starting >>> rmf_demos_dashboard_resources
Starting >>> rmf_demos_assets
Starting >>> rmf_demos_fleet_adapter
Starting >>> rmf_demos_maps
Starting >>> rmf_demos_tasks
Starting >>> rmf_demos_bridges
Finished <<< rmf_demos_assets [1.45s]                                                                                                                      
Finished <<< rmf_demos_dashboard_resources [1.74s]                                                                                                         
Starting >>> rmf_demos_panel
Finished <<< rmf_demos_tasks [3.89s]                                                                                              
Finished <<< rmf_demos_bridges [3.96s]                                                                                                                   
Finished <<< rmf_demos_fleet_adapter [4.19s]                                                                                  
Finished <<< rmf_demos_panel [3.38s]                                                         
--- stderr: rmf_demos_maps                                 
BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/airport_terminal/airport_terminal.building.yaml /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/airport_terminal/airport_terminal.world /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/airport_terminal/models
DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/airport_terminal/airport_terminal.building.yaml
BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/battle_royale/battle_royale.building.yaml /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/battle_royale/battle_royale.world /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/battle_royale/models
DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/battle_royale/battle_royale.building.yaml
BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/campus/campus.building.yaml /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/campus/campus.world /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/campus/models
DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/campus/campus.building.yaml
BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/clinic/clinic.building.yaml /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/clinic/clinic.world /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/clinic/models
DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/clinic/clinic.building.yaml
BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/hotel/hotel.building.yaml /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/hotel/hotel.world /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/hotel/models
DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/hotel/hotel.building.yaml
BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/office/office.building.yaml /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/office/office.world /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/office/models
DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/office/office.building.yaml
BUILDING WORLDFILE WITH COMMAND: ros2 run rmf_building_map_tools building_map_generator gazebo /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/triple_H/triple_H.building.yaml /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/triple_H/triple_H.world /home/aoi/Documents/rmf_ws/build/rmf_demos_maps/maps/triple_H/models
DOWNLOADING MODELS WITH COMMAND: ros2 run rmf_building_map_tools building_map_model_downloader /home/aoi/Documents/rmf_ws/src/rmf_demos/rmf_demos_maps/maps/triple_H/triple_H.building.yaml
---
Finished <<< rmf_demos_maps [27.0s]
Starting >>> rmf_demos
Finished <<< rmf_demos [1.24s]                  
Starting >>> rmf_demos_gz
Starting >>> rmf_demos_gz_classic
Finished <<< rmf_demos_gz [1.39s]                                                                    
Finished <<< rmf_demos_gz_classic [1.42s]                    

Summary: 10 packages finished [30.5s]
  1 package had stderr output: rmf_demos_maps

[arjo129]

I don't see anything wrong with the build. It looks like it built correctly. Those error messages are not errors they are just logs telling you that the models are being fetched from the server.

[01fpcrd]

@arjo129
Sorry, doesn't it mean that the model was not successfully downloaded .. ？

[arjo129]

No. It is expected output. If there was an error it would have said "build failed". Have you tried running the simulation. The specific error message comes from the following lines.

https://github.com/open-rmf/rmf_demos/blob/41d10f10152069c128dedfef31eea6526a7fa3da/rmf_demos_maps/CMakeLists.txt#L32

[01fpcrd]

@arjo129
I got it, thank you very much for your reply.
I’m a beginner trying to use RMF, and I’m currently facing quite challenges.

[arjo129]

No worries! Keep trying and feel free to reach out on any of our open channels.

[SatishSurya1]

I'm trying to install dependencies for the rmf package using rosdep, but it fails to locate definitions for the following Gazebo-related vendor packages:

~/rmf_ws$ rosdep install --from-paths src --ignore-src --rosdistro humble -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rmf_building_map_tools: Cannot locate rosdep definition for [gz_fuel_tools_vendor]
rmf_demos_gz: Cannot locate rosdep definition for [gz_sim_vendor]
rmf_building_sim_gz_plugins: Cannot locate rosdep definition for [gz_transport_vendor]
rmf_robot_sim_gz_plugins: Cannot locate rosdep definition for [gz_transport_vendor]

does anybody know why this error is showing up?

[aaronchongth]

These packages are only available from Jazzy onwards, https://index.ros.org/p/gz_fuel_tools_vendor/#jazzy

[SatishSurya1]

@aaronchongth I'm currently following the instructions given by yadunund (#267 (comment)) to use Open RMF with ROS 2 Humble. However, I've encountered an error related to missing packages, as I mentioned earlier. Can I continue using ROS 2 Humble for Open RMF, or should I migrate to ROS 2 Jazzy? If ROS 2 Humble is compatible, could you provide clarity on the solution or steps to resolve this issue?

[aaronchongth]

Gotcha, you'll need to checkout to the humble branch for rmf_demos. Note that the comment you linked to was 3 years ago, hence at that time rmf_demos:main was targetting humble and therefore no missing dependencies.