Linorobot2 Jazzy Updates

[chazyman]

Updates to

• urdf xacro to remove tag warning for imu &depth sensor
• match linorobot starting orientation with gazebo and Navigation
• added launch files linorobot pose parameters navigation and slam launch files.
• remove problematical navigation nodes from slam launch file>

[grassjelly]

thanks @chazyman

[PaulBouchier]

@chazyman @grassjelly Was this tested against a background of a system that had been apt update/upgraded recently? AFICT simulation is totally broken again, so navigation in simulation shouldn't have been possible. I checked out the version before this merge and same thing, so the environment is what has broken simulation. In short, I am unable to verify that this fix is good (other than the warnings are gone) until simulation as a whole is fixed.

A likely culprit is the periodic backports of nav2 rolling into jazzy, but this is unproven at present. I went to test this update and I get collision-related errors and the robot doesn't move from its initial position and navigation stops immediately.

I ran the docker image which I have not rebuilt since it last worked, and it worked fine (but it doesn't have this change in it).

I would love to know if you guys see simulation run and are able to navigate the robot on a system that has been apt update/upgraded - maybe I'm doing something stupid (which is not uncommon :-( )

[chazyman]

Thanks for testing Paul. I did test my changes but only in Gazebo virtual environment both Slam and Navigation. You are rigth that my approach is to upgrade my Ubuntu 2024.04 on a weekly basis. I DID remove two of the warning tags on the IMU and generic sensor. I am not sure if i impacted the non gazebo side but maybe we can talk about it today at my Sunday meeting. I should understand better the regression you mention. Thanks, Charles Envoyé à partir de Outlook pour Android<https://aka.ms/AAb9ysg>

…

________________________________ From: Paul Bouchier ***@***.***> Sent: Sunday, September 28, 2025 5:37:32 AM To: linorobot/linorobot2 ***@***.***> Cc: c.demontaigu centiasoftware.com ***@***.***>; Mention ***@***.***> Subject: Re: [linorobot/linorobot2] Linorobot2 Jazzy Updates (PR #186) [https://avatars.githubusercontent.com/u/2617681?s=20&v=4]PaulBouchier left a comment (linorobot/linorobot2#186)<#186 (comment)> @chazyman<https://github.com/chazyman> @grassjelly<https://github.com/grassjelly> Was this tested against a background of a system that had been apt update/upgraded recently? AFICT simulation is totally broken again, so navigation in simulation shouldn't have been possible. A likely culprit is the periodic backports of nav2 rolling into jazzy, but this is unproven at present. I went to test this update and I get collision-related errors and the robot doesn't move from its initial position and navigation stops immediately. — Reply to this email directly, view it on GitHub<#186 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AD5PJEFCQZZ5SSK7XV2FSR33U5JXZAVCNFSM6AAAAACHDCKZJGVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTGNBSGI2DCMJSGA>. You are receiving this because you were mentioned.Message ID: ***@***.***>

[PaulBouchier]

Thanks for the reply @chazyman . OK - maybe I'm being stupid and there isn't a regression. The failure I saw was on updated Ubuntu 24.04 running in Gazebo doing navigation. Good to know it worked for you - it's likely my mistake then. We'll talk in a few hours.

[PaulBouchier]

I was being stupid. I forgot to add the sim:=true parameter when running navigation. Thanks for the help @chazyman - all good now.