launch configuration 'use_sim_time' does not exist

[ShangqunYu]

Hi,
Thank you so much for sharing the great library, we have been using the previous elevation_mapping for a while and it works great.
Recently we have been trying to switch to ros2, and after installing the ros2_py branch, I am getting following error when I tried to run the example. ros2 launch elevation_mapping_cupy turtlesim_semantic_pointcloud_example.launch.py
Here is the error.

simon@simonLaptop:~/ros2_ws$ ros2 launch elevation_mapping_cupy turtlesim_semantic_pointcloud_example.launch.py
[INFO] [launch]: All log files can be found below /home/simon/.ros/log/2024-12-21-22-38-24-858596-simonLaptop-15897
[INFO] [launch]: Default logging verbosity is set to INFO
elevation_mapping_cupy_dir: /home/simon/ros2_ws/install/elevation_mapping_cupy/share/elevation_mapping_cupy
gazebo_ros_dir: /opt/ros/foxy/share/gazebo_ros
turtlebot3_gazebo_dir: /opt/ros/foxy/share/turtlebot3_gazebo
turtlebot3_description_dir: /opt/ros/foxy/share/turtlebot3_description
rviz_config: <launch.actions.declare_launch_argument.DeclareLaunchArgument object at 0x7f279544f160>
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure("launch configuration 'use_sim_time' does not exist")>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 4 more times]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/set_launch_configuration.py", line 74, in execute
    perform_substitutions(context, self.value)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/launch_configuration.py", line 98, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: launch configuration 'use_sim_time' does not exist

[ShangqunYu]

I fixed the above issue by uncomment use_sim_time = LaunchConfiguration('use_sim_time') in the turtlesim_init.launch.py, now I encountered following issue:

simon@simonLaptop:~/ros2_ws$ ros2 launch elevation_mapping_cupy turtlesim_semantic_pointcloud_example.launch.py
[INFO] [launch]: All log files can be found below /home/simon/.ros/log/2024-12-21-23-09-52-690709-simonLaptop-19503
[INFO] [launch]: Default logging verbosity is set to INFO
elevation_mapping_cupy_dir: /home/simon/ros2_ws/install/elevation_mapping_cupy/share/elevation_mapping_cupy
gazebo_ros_dir: /opt/ros/foxy/share/gazebo_ros
turtlebot3_gazebo_dir: /opt/ros/foxy/share/turtlebot3_gazebo
turtlebot3_description_dir: /opt/ros/foxy/share/turtlebot3_description
rviz_config: <launch.actions.declare_launch_argument.DeclareLaunchArgument object at 0x7fb58e185040>
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure('executed command failed. Command: cat /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_waffle_camera.urdf')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 3 more times]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 444, in execute
    self._perform_substitutions(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 399, in _perform_substitutions
    evaluated_parameters = evaluate_parameters(context, self.__parameters)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 164, in evaluate_parameters
    output_params.append(evaluate_parameter_dict(context, param))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 71, in evaluate_parameter_dict
    evaluated_value = perform_substitutions(context, list(value))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/command.py", line 116, in perform
    raise SubstitutionFailure(f'executed command failed. Command: {command_str}')
launch.substitutions.substitution_failure.SubstitutionFailure: executed command failed. Command: cat /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_waffle_camera.urdf
Task exception was never retrieved
future: <Task finished name='Task-12' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
    raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [gzserver-1]: process started with pid [19506]
[INFO] [gzclient   -2]: process started with pid [19508]
[INFO] [gzserver-1]: sending signal 'SIGINT' to process[gzserver-1]
[ERROR] [gzclient   -2]: process[gzclient   -2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzclient   -2]: sending signal 'SIGTERM' to process[gzclient   -2]
[INFO] [gzserver-1]: sending signal 'SIGTERM' to process[gzserver-1]
[ERROR] [gzclient   -2]: process has died [pid 19508, exit code -15, cmd 'gzclient   '].
[ERROR] [gzserver-1]: process has died [pid 19506, exit code -15, cmd 'gzserver /opt/ros/foxy/share/turtlebot3_gazebo/worlds/turtlebot3_world.world                                                                      -s libgazebo_ros_init.so   -s libgazebo_ros_factory.so   -s libgazebo_ros_force_system.so       '].

the issue is Command: cat /opt/ros/foxy/share/turtlebot3_description/urdf/turtlebot3_waffle_camera.urdf'
I don't think there is turtlebot3_waffle_camera.urdf in the turtlebot3.
thanks~