Reproducing same results as per ReadME's videos?

[HappySamuel]

Hi

I have successfully installed rmf_obstacle_detectors on ROS2 Humble. Although i have added obstacles into the simulation, but i still can't reproduce the lane closing as per the video attached in the ReadME. I believe i must have missing some package to run, as i read through the office.launch.xml from RMF Demos, there isn't any package that can do the lane closure. Do you know where can i find it?

Best
Samuel

[Yadunund]

You'll need to run the lane_blocker executable that is available in this branch of rmf_ros2.

[HappySamuel]

Hi @Yadunund

Thanks for the guidance. I have git clone this feature/rmf_obstacle branch of rmf_ros2 and tried colcon build --symlink-install it. However, the package building seems like taking forever, it keep on building at rmf_obstacle_ros2 package. Any idea why the colcon build seems stuck building rmf_obstacle_ros2 pacakge?

Best,
Samuel

[Yadunund]

if you run top, is the ld processing active/running indefinitely?

If so, we've also noticed this behavior with slow performance of the ld linker. As a result, our recommendation has been to switch to lld linker and optionally clang compiler.
Instructions are already available in the open-rmf/rmf page
https://github.com/open-rmf/rmf#compiling-instructions

[HappySamuel]

Hi @Yadunund

This is the screenshot of top on this ld. Is that what you mean of active/running indefinitely? as it's running 100% CPU since compilation start, even if i only run colcon build --symlink-install --packages-select rmf_obstacle_ros2

Ok, i will go and try the method you suggest. Do i need to do both lld linker and clang compiler? or just lld ?

Best,
Samuel

[HappySamuel]

Hi @Yadunund

I followed the in and installed lld and clang, but when i compile it, these 2 errors popped out and compilation stopped.

How shall i resolved this issue?

Best,
Samuel

[Yadunund]

I think you might also need to switch to the branch in this PR
open-rmf/rmf_internal_msgs#55

[HappySamuel]

Hi @Yadunund

I have successfully compiled after following your latest instructions. However, i couldn't get it running, and i faced following issues when i ros2 launch it.

Here's how i setup the launch file.

Any suggestions for resolving this issue?

Best,
Samuel

[Yadunund]

Based on your other ticket, I assume this issue has been resolved?

[HappySamuel]

Hi @Yadunund

So far compiling issue resolved. But for reproducing same result as per video attached in ReadME, not yet. Especially when using human_detector_node, I am still struggling to get it up to work. Need your guidance.

Best
Samuel