How to use Nimbro now that "nimbro.launch" was deleted

[MartinSegaert]

Hello,
Some month ago we used nimbro network to do some collision avoidance between UAV's. At that time, it worked okay.
In the session.yml we used the following:

- nimbro: layout: tiled panes: - waitForRos; roslaunch mrs_uav_general nimbro.launch custom_config_uav_names:=custom_configs/uav_names.yaml

which contains "nimbro.launch".

Now, I want to use nimbro for some other application. I tested nimbro again for the collision avoidance some weeks ago (files were not modified for a long time), but it did not work. Now I just saw that the file "nimbro.launch" was deleted in the mrs_workspace in octobre 2022.

My question is: How should I adapt my files/codes to use nimbro like before, now that "nimbro.launch" does not exist anymore ?

Thanks for your help.

Martin

[klaxalk]

Hey, we are now running nimbro using this script: https://github.com/ctu-mrs/mrs_uav_general/blob/master/scripts/run_nimbro.py

[klaxalk]

And we run it now as

waitForRos; rosrun mrs_uav_general run_nimbro.py custom_configs/nimbro.yaml custom_configs/uav_names.yaml

[MartinSegaert]

@klaxalk
Thanks for your quick response. I tried to make it work this morning. "run_nimbro.py" gave me some errors, which at first I was able to solve.
But now, I have an error I can't solve:

ERROR: cannot launch node of type [nimbro_topic_transport/sender]: Cannot locate node of type [sender] in package [nimbro_topic_transport]. Make sure file exists in package path and permission is set to executable (chmod +x)

I have the package "nimbro_network" in my workspace, which contains "nimbro_topic_transport", but I can't see any "Sender".

Do you have any idea what I can do to solve this issue ?

[spurnvoj]

Hi @MartinSegaert , check that you have the up-to-date version of uav_modules https://github.com/ctu-mrs/uav_modules.

[MartinSegaert]

Hi @spurnvoj,

This Wednesday I did a fresh install of the "mrs_uav_system" and the system of our own research department which additionally installs the up-to-date versions of "mrs_gazebo_extras_resources", "trajectory_loader", "mrs_serial" and "nimbro_network", But not the whole "uav_modules".

Do I need the whole uav_modules ? If not, the required modules are up-to-date as I installed them Wednesday.
Furthermore, the build status of uav_modules is failing.

Thanks again for your help so far,

martin

[spurnvoj]

Hi @MartinSegaert, we are using develop branch for the nimbro_network repository (see https://github.com/ctu-mrs/uav_modules/blob/master/.gitman.yml#L3-L5). The default branch of this repo was master until now. I just changed it to develop to be sure that people will use the right branch if they clone it separately, as you did. So please checkout the develop branch and let me know if it works.

[MartinSegaert]

Hi @spurnvoj ,
Now it works !!
I simply did a checkout to the develop branch in the folder nimbro_network as you said, and it works fine.

Thanks a lot for your help @spurnvoj and @klaxalk .