Initializing esmini_adapter #570
Description
Hi,
I am trying to run a simple esmini example. However, when I click on initialize, I see the following error message.
[INFO] [launch]: All log files can be found below /home/munganeren/.ros/log/2023-05-08-11-39-27-485216-ubuntu-27769 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [atos_base-1]: process started with pid [27778] [INFO] [rosbridge_websocket-2]: process started with pid [27780] [INFO] [rosapi_node-3]: process started with pid [27782] [INFO] [object_control-4]: process started with pid [27784] [INFO] [journal_control-5]: process started with pid [27796] [INFO] [osi_adapter-6]: process started with pid [27804] [INFO] [esmini_adapter-7]: process started with pid [27808] [INFO] [mqtt_bridge-8]: process started with pid [27818] [INFO] [pointcloud_publisher-9]: process started with pid [27820] [atos_base-1] Environment variable ATOS_TEST_DIR unset: defaulting to directory /home/munganeren/.astazero/ATOS [mqtt_bridge-8] [INFO] [1683535168.072563529] [atos.mqtt_bridge]: No Broker IP provided in configuration. Shutting down... [object_control-4] [INFO] [1683535168.103853114] [atos.object_control]: Opened journal file /home/munganeren/.astazero/ATOS/journal/object_control-2023-05-08.jnl [atos_base-1] [INFO] [1683535168.127604246] [atos.atos_base]: Data dictionary successfully initialized [INFO] [mqtt_bridge-8]: process has finished cleanly [pid 27818] [object_control-4] [INFO] [1683535168.139126953] [atos.object_control]: Data dictionary successfully initialized [rosbridge_websocket-2] [INFO] [1683535168.875522986] [ros_bridge]: Rosbridge WebSocket server started on port 9090 [object_control-4] [INFO] [1683535175.720701413] [atos.object_control]: Handling initialization request [object_control-4] [INFO] [1683535175.720918164] [atos.object_control]: Loading scenario [esmini_adapter-7] [INFO] [1683535175.720752422] [atos.esmini_adapter]: Initializing esmini with scenario file /home/munganeren/.astazero/ATOS/osc/ALKS_Scenario_4.4_1_CutInNoCollision_TEMPLATE.xosc [esmini_adapter-7] [INFO] [1683535175.720936018] [atos.esmini_adapter]: InitializeEsmini ERENNNN [object_control-4] [INFO] [1683535175.721123089] [atos.object_control]: Transitioning to state AbsoluteKinematics::Initialized [object_control-4] [INFO] [1683535175.721165291] [atos.object_control]: Absolute control mode enabled [atos_base-1] [INFO] [1683535175.722578473] [atos.atos_base]: Received object ID information request [object_control-4] [INFO] [1683535175.723311880] [atos.object_control]: Received 0 configured object ids [esmini_adapter-7] terminate called after throwing an instance of 'std::runtime_error' [esmini_adapter-7] what(): Failed to initialize esmini with scenario file /home/munganeren/.astazero/ATOS/osc/ALKS_Scenario_4.4_1_CutInNoCollision_TEMPLATE.xosc [ERROR] [esmini_adapter-7]: process has died [pid 27808, exit code -6, cmd '/home/munganeren/atos_ws/install/atos/lib/atos/esmini_adapter --ros-args -r __node:=esmini_adapter -r __ns:=/atos --params-file /home/munganeren/.astazero/ATOS/conf/params.yaml']. [object_control-4] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [object_control-4] what(): failed to publish message: cannot publish data, at /tmp/binarydeb/ros-foxy-rmw-fastrtps-shared-cpp-1.3.1/src/rmw_publish.cpp:55, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/publisher.c:319 [ERROR] [object_control-4]: process has died [pid 27784, exit code -6, cmd '/home/munganeren/atos_ws/install/atos/lib/atos/object_control --ros-args -r __node:=object_control -r __ns:=/atos --params-file /home/munganeren/.astazero/ATOS/conf/params.yaml'].
I tested it with different OSC files, but I always get this error message.
Additionally, I also tried to use esmini libraries directly from its folder. I have changed esminiadapter's include file paths for esmini but this didn't solve my issue either.
I kindly need your support to find the issue.