[Bug]: parser error Couldn't parse parameter override rule: '--param robot_description #81
Description
What happened?
I'm trying to load a locobot in gazebo with this command:
ros2 launch interbotix_xslocobot_sim xslocobot_gz_classic.launch.py robot_model:=locobot_px100 base_type:=create3
I get the following error:
asaoines@ros2-humble-vm:/locobot/workspace$ ros2 launch interbotix_xslocobot_sim xslocobot_gz_classic.launch.py robot_model:=locobot_px100 base_type:=create3
[INFO] [launch]: All log files can be found below /home/asaoines/.ros/log/2024-11-08-22-30-20-623563-ros2-humble-vm-48567
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [48569]
[INFO] [gzclient-2]: process started with pid [48571]
[INFO] [spawn_entity.py-3]: process started with pid [48573]
[INFO] [robot_state_publisher-4]: process started with pid [48575]
[INFO] [rviz2-5]: process started with pid [48577]
[gzserver-1] xcb_connection_has_error() returned true
[gzserver-1] xcb_connection_has_error() returned true
[ERROR] [rviz2-5]: process has died [pid 48577, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /locobot/workspace/install/interbotix_xslocobot_sim/share/interbotix_xslocobot_sim/rviz/xslocobot_gz_classic.rviz -f locobot/base_link --ros-args -r __node:=rviz2 -r __ns:=/locobot --params-file /tmp/launch_params_v54x4flz'].
[gzserver-1] [INFO] [1731105023.827951106] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1731105023.833508752] [locobot.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /locobot
[gzserver-1] [INFO] [1731105023.833818578] [locobot.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1731105023.838555252] [locobot.gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1731105023.839792022] [locobot.gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1731105023.839864951] [locobot.gazebo_ros2_control]: Loading parameter files /locobot/workspace/install/interbotix_xslocobot_sim/share/interbotix_xslocobot_sim/config/create3_version/locobot_px100_controllers.yaml
[gzserver-1] [rcutils|error_handling.c:65] an error string (message, file name, or formatted message) will be truncated
[gzserver-1] [ERROR] [1731105023.841246228] [locobot.gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ?>
[gzserver-1] <!-- =================================================================================== -->
[gzserver-1] <!-- | This document was autogenerated by xacro from /locobot/workspace/install/interbotix_xslocobot_descriptions/share/interbotix_xslocobot_descriptions/urdf/locobot.urdf.xacro | -->
[gzserver-1] <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
[gzserver-1] <!-- =================================================================================== -->
[gzserver-1] <robot name="locobot">
[gzserver-1] <material name="interbotix_black">
[gzserver-1] <texture filename="package://interbotix_common_sim/media/materials/textures/interbotix_black.png"/>
[gzserver-1] </material>
[gzserver-1] <!-- kobuki -->
[gzserver-1] <!-- Much of, at ./src/rcl/arguments.c:343
[gzserver-1]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 48573]
Robot Model
locobot_px100 but with gazebo so it's a bit moot
Operating System
Ubuntu 22.04
ROS Distro
ROS 2 Humble
Steps To Reproduce
No response
Relevant log output
No response
Additional Info
It works if I edit DeclareInterbotixXSLoCoBotRobotDescriptionLaunchArgument in xs_launch.py to have the default robot_description be sourced from a URDF file (via Command(['cat'...])) that I generated with this command, which strips out comments from the URDF:
sh -c "/opt/ros/humble/bin/xacro /locobot/workspace/install/interbotix_xslocobot_descriptions/share/interbotix_xslocobot_descriptions/urdf/locobot.urdf.xacro arm_model:=mobile_px100 robot_name:=locobot base_model:=create3 robot_model:=locobot_px100 robot_name:=locobot use_gripper:=true show_ar_tag:=true show_gripper_bar:=true show_gripper_fingers:=true use_lidar:=false external_urdf_loc:= hardware_type:=gz_classic" | sed -e '/<\!--/,/-->/d'
I tried to edit that function to automatically strip out comments after generating the URDF from Xacro but I couldn't get it to work.
This approach was inspired by ros-controls/gazebo_ros2_control#295