Troubleshooting Limo Robots

Here is a list of possible issues or unpleasant situations when working with LIMO robots and how to solve them.

1. I am in the docker container and I need to install a package, however, the agx password is not recognised.

That's right, the password for the user within the container is ros.

2. If you try to launch Rviz or rqt on your robot and you get a Qt error, you need to set the display correctly.

In the same terminal, export DISPLAY:=1 and then re-run the command generating the error again. It should be fixed now.

3. When opening rqt_tf_tree there are two trees and the camera sensor has its own tree not connected to the base_link. Is this normal?

Generally speaking, this is not correct and it should not be the case. This has been addressed through the recent updates to the repository.

4. I've cloned the repo and pull the latest changes, however I incurred this compilation error regarding the astra_camera:

--- stderr: astra_camera                                 
CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438     (message):
The package name passed to `find_package_handle_standard_args` (JPEG) does
not match the name of the calling package (JpegPkg).  This can lead to
problems in calling code that expects `find_package` result variables
(e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
   /usr/local/lib/cmake/libuvc/FindJpegPkg.cmake:58 (find_package_handle_standard_args)
   /usr/local/lib/cmake/libuvc/libuvcConfig.cmake:13 (find_package)
   CMakeLists.txt:27 (find_package)
   This warning is for project developers.  Use -Wno-dev to suppress it.
 ---

This seems to be a recent error due to the incompatibility with a system-level dependencies. It can be solved by installing sudo apt install libjepg9 and invoking colcon build twice (the first time you will still see the error, the second time should be error-free).