I am following the instruction on how to setup Husky in Kinetic. However, when I start gazebo and RViz, Husky wheels appear display correctly in gazebo but fail in RViz. 4 wheels missing and wheel_link is giving error:
front_left_wheel_link No transform from [front_left_wheel_link] to [odom]

I don't find any problem in husky.urdf.xacro or wheel.urdf.xacro. What could cause this bug?

Hi @TheDash
The stow scripts for our UR5s are not working, it waits forever for the server to come up. We are running firmware version 3.2.18744 and the same issue has been reported upstream (ros-industrial/ur_modern_driver#27 (comment)).

Have you run the stow script on the robot and do you have any idea why it may be "waiting for server" forever?

For now we are using our own planning and motion execution pipeline to stow the arms to a desired configuration but it would be great to know why it's not working.

Thanks,
Wolfgang

Hello, I am using Husky Clearpath A200 with LiDAR velody VLP-16 Velodyne. I am trying run simple command for move base in navigation stack. Because of my laser scanner is 3D, I use the package pointcloud_to_lasercan to convert it to 2D scan. I ran command to run the move base and here is the errors I got:
In move_base command terminal
roslaunch husky_navigation move_base_mapless_demo.launch

In rviz command terminal, I can see the laser around but the 2D Nav Goal didn't work,

I followed this tutorial https://github.com/MengGuo/Jackal_Velodyne_Duke/tree/master/navigation for convert Velodyne 3D to 2D laser scanner. I look at the navgiation stack of jackal and found some odom_navigation_demo.launch file which husky navigation stack didn't have, I wonder if we missing anything in move_base.launch file ?

Hi,

I am simulating husky_ur5_moveit package in ROS indigo following this tutorial but its inertial parameters are not stable. Whenever I start the simulation with the ur5 arm the husky always tips over as you can see in this image.

I also tried to move the husky in its natural position (its four wheels on the ground) and then run the stow script to home the arm but then the husky again tipped over.

It is not the first time someone reported this behavior. As you can see here

Please let me know if you need more information.

I'm using the newest version.

Best,

After catkin making and trying to run this roslaunch husky_gazebo husky_empty_world.launch

i get the following error:

while processing /home/john/husky_indigo_ws/src/husky/husky_control/launch/control.launch:
Invalid tag: Invalid left parenthesis '(' in substitution args [$(eval optenv('HUSKY_CONFIG_EXTRAS', find('husky_control') + '/config/empty.yaml'))].

Can you check if the latest version works or what else is the issue here?

Hello,

I followed the documentation on ROS WIKI to run the frontire exploration. Whenever I run the pacakge I am getting the follwing error:

[ WARN] [1498586157.959931982, 1836.780000000]: Illegal bounds change, was [tl: (-99.975000, -99.975000), br: (100.025003, 100.025003)], but is now [tl: (-100.000000, -100.000000), br: (99.975003, 99.975003)]. The offending layer is explore_costmap/explore_boundary

I tired debugging the error, but i was not able to solve it. Can you guys help me in solving this error?

Thanks

I've noticed some changes from indigo to kinetic devel, like the UR5 argument that disappeared form the description file. Is it possible to launch the ur5 manipulator with the kinetic version?

Extremely minor - typo in URL.

husky/husky_msgs/package.xml (line 15) 
 <url type="repository">https://github.com/husly/husky</url>

"husly"

I'm trying to run the basic move_base stuff using the husky_navigation launch files but move_base is publishing to /cmd_vel. This doesn't make the robot move due to the mux setup. It's happening since the commit below:

5a5f0de

The remap removed above is required, or am I missing something?

We are seeing a yaw drift from the ROS EKF when stationary. Trying to run the calibration as outlined in the Husky instructions doesn't work:

administrator@cpr-ued04:~$ rosrun husky_bringup calibrate_compass
Started rosbag record, duration 60 seconds, pid [23975]
Started motion commands, pid [23976]
[ INFO] [1481042907.095201284]: Subscribing to /imu/data
[ INFO] [1481042907.098019893]: Subscribing to /imu/mag
[ INFO] [1481042907.100714134]: Subscribing to /tf
[ INFO] [1481042907.104380517]: Recording to /tmp/calibrate_compass.WXw7/imu_record.bag.
Test underway.
Time remaining: 0   
Shutting down motion command publisher.
Waiting for rosbag to shut down.
Computing magnetic calibration.
Unable to compute calibration from recorded bag.
Output in /tmp/compute_output.log
administrator@cpr-ued04:~$ cat /tmp/compute_output.log 
Using 0 samples.
Traceback (most recent call last):
  File "/home/administrator/dual_ur5_ws/install/lib/husky_bringup/compute_calibration", line 56, in <module>
    x,y,z = zip(*vecs)
ValueError: need more than 0 values to unpack
administrator@cpr-ued04:~$ 

The Husky is rocking while rotating. Any advice on whether this script should work for the Microstrain IMU on the Dual UR5 Husky?

cc @TheDash

Hi,

I followed this tutorial to use the Husky with the UR5 using Moveit!. Everything works ok so far. Now I want to use Moveit! to load motion planners at runtime. I created a new package to create a new node that will be in charge of execute the planning. This is my code:

#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "lesson_moveit");
  moveit::planning_interface::MoveGroup group("manipulator");

  // start a background "spinner", so our node can process ROS messages
  //  - this lets us know when the move is completed
  ros::AsyncSpinner spinner(1);
  spinner.start();

  // INSERT MOTION COMMANDS HERE
}

I got the following errors when trying to run the node:

andrestoga@andrestoga-RoboLab:~/ros_motion_planning$ rosrun project2 ur5_mover 
[ERROR] [1459832675.112257416]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1459832675.112361080]: Link 'base_laser' is not known to URDF. Cannot disable collisons.
[ERROR] [1459832675.112377176]: Link 'base_laser' is not known to URDF. Cannot disable collisons.
[ERROR] [1459832675.112388309]: Link 'base_laser' is not known to URDF. Cannot disable collisons.
[ERROR] [1459832675.112399055]: Link 'base_laser' is not known to URDF. Cannot disable collisons.
[ERROR] [1459832675.112419331]: Link 'base_laser' is not known to URDF. Cannot disable collisons.
[ERROR] [1459832675.112430294]: Link 'base_laser' is not known to URDF. Cannot disable collisons.
[ INFO] [1459832675.112529966]: Loading robot model 'husky_robot_gazebo'...
[ INFO] [1459832675.112553399]: No root joint specified. Assuming fixed joint
[ERROR] [1459832675.279646657]: Error retrieving file [file:///opt/ros/indigo/share/ur_description/meshes/ur5/collision/upperarm.stl]: Couldn't open file /opt/ros/indigo/share/ur_description/meshes/ur5/collision/upperarm.stl
[ERROR] [1459832675.297248854]: Error retrieving file [file:///opt/ros/indigo/share/ur_description/meshes/ur5/visual/upperarm.dae]: Couldn't open file /opt/ros/indigo/share/ur_description/meshes/ur5/visual/upperarm.dae
[ERROR] [1459832675.333689794, 4214.540000000]: Error retrieving file [file:///opt/ros/indigo/share/ur_description/meshes/ur5/collision/wrist1.stl]: Couldn't open file /opt/ros/indigo/share/ur_description/meshes/ur5/collision/wrist1.stl
[ERROR] [1459832675.352395002, 4214.560000000]: Error retrieving file [file:///opt/ros/indigo/share/ur_description/meshes/ur5/visual/wrist1.dae]: Couldn't open file /opt/ros/indigo/share/ur_description/meshes/ur5/visual/wrist1.dae
[ERROR] [1459832675.370355017, 4214.570000000]: Error retrieving file [file:///opt/ros/indigo/share/ur_description/meshes/ur5/collision/wrist2.stl]: Couldn't open file /opt/ros/indigo/share/ur_description/meshes/ur5/collision/wrist2.stl
[ERROR] [1459832675.388504851, 4214.590000000]: Error retrieving file [file:///opt/ros/indigo/share/ur_description/meshes/ur5/visual/wrist2.dae]: Couldn't open file /opt/ros/indigo/share/ur_description/meshes/ur5/visual/wrist2.dae
[ERROR] [1459832675.406530003, 4214.610000000]: Error retrieving file [file:///opt/ros/indigo/share/ur_description/meshes/ur5/collision/wrist3.stl]: Couldn't open file /opt/ros/indigo/share/ur_description/meshes/ur5/collision/wrist3.stl
[ERROR] [1459832675.424788651, 4214.630000000]: Error retrieving file [file:///opt/ros/indigo/share/ur_description/meshes/ur5/visual/wrist3.dae]: Couldn't open file /opt/ros/indigo/share/ur_description/meshes/ur5/visual/wrist3.dae
[ERROR] [1459832675.499274924, 4214.700000000]: The kinematics plugin (ur5_arm) failed to load. Error: According to the loaded plugin descriptions the class ur_kinematics/UR5KinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are  kdl_kinematics_plugin/KDLKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1459832675.499357300, 4214.700000000]: Kinematics solver could not be instantiated for joint group ur5_arm.
[FATAL] [1459832675.499436556, 4214.700000000]: Group 'manipulator' was not found.
terminate called after throwing an instance of 'std::runtime_error'
  what():  Group 'manipulator' was not found.
Aborted (core dumped)

I don't know why it couldn't open the files and load the kinematics plugin for the ur5 arm. Any advice in how to resolve it will be helpful.

Best,

Hi
I have husky-ur5 robot, I am able to control the arm and mobile robot by Moviet and rviz, but I still need to control the ur5 based on the movement of my real hand (i.e object tracking with depth sensor)

Anyone can help me how to do object tracking with ur5 arm ???

The mounting bracket connecting the Bumblebee2 to the PTU isn't part of the Dual Arm Husky URDF and the centre of rotation thus offset by the height of the bracket. Could you please add the bracket to the model/repository/URDF?

Thanks

Cf. https://github.com/husky/husky/tree/dual_ur5_husky/husky_description/meshes/accessories and https://github.com/husky/husky/tree/dual_ur5_husky/husky_description/meshes/

Hi, you made me lose sometime until I realized you made this commit:
862fd9c7df6bf3b57f9895f94e59003bcc460426
How do I set back the controller, I'm not being able to set the environment variable.

thank you

Hello, for a real husky, only base,without imu.
If we need to publish its odometry topic from its encoder data alone, should i modify the enable_odom_tf to true from ./husky/husy_control/config/control.yaml ? and it will produce the transform between odom and base_link ?

Hello guys,
I am trying to use husky_gazebo in ROS-Lunar. However, when I run the husky_empty_world.launch I get the error which is shown in the attached screenshot (for all of the four wheels). After searching through internet I have found the solution, which is to add pid_gains manually in control.yaml file.

I am still wondering why it happened?

Thank you for your help.

Hello,

I am running Ubuntu 16.04 + ROS Kinetic.

When I run the husky gmapping demo, I get this purple overlay in rviz (see attached image). I have ran the same demo in ROS Indigo with Ubuntu 14.04 and there wasn't any purple overlay.

Can someone explain what this is? How do I get rid of it?

Thanks,
Aaron

Setup

• Ubuntu 14.04
• ROS Indigo

Cannot control Husky througth cmd_vel by teleop_twist_keyboard

• I would like to import Husky model into a Pixhawk controller-based((https://github.com/PX4/Firmware/blob/master/launch/gazebo_ardrone_house_world.launch) world to do some research about UAV-UGB cooperation.
• I add the husky_description and husky_controller into the rotors_simulator folder and run the launch file.

<launch>
  <arg name="enable_logging" default="false"/>
  <arg name="enable_ground_truth" default="true"/>
  <arg name="log_file" default="ardrone"/>
  <arg name="headless" default="false"/>
  <arg name="gui" default="true"/>

  <env name="GAZEBO_MODEL_PATH" value="$(find rotors_gazebo)/models"/>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find rotors_gazebo)/worlds/house.world"/>
    <!-- <arg name="debug" value="true" /> -->
    <arg name="headless" value="$(arg headless)"/>
    <arg name="gui" value="$(arg gui)"/>
  </include>

  <group ns="ardrone">
    <include file="$(find rotors_gazebo)/launch/spawn_ardrone.launch">
      <arg name="enable_logging" value="$(arg enable_logging)" />
      <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
      <arg name="log_file" value="$(arg log_file)"/>
    </include>
  </group>


  <arg name="laser_enabled" default="false"/>
  <arg name="ur5_enabled" default="false"/>
  <arg name="kinect_enabled" default="false"/>

  <include file="$(find rotors_gazebo)/launch/spawn_husky.launch">
    <arg name="laser_enabled" value="$(arg laser_enabled)"/>
    <arg name="ur5_enabled" value="$(arg ur5_enabled)"/>
    <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
  </include>

  <!--node name="gazebo_pose_publisher" pkg="rotors_gazebo" type="gazebo_pose_publisher" args="ardrone /ardrone/pose"/-->
</launch>

• Both ardrone and Husky could import the Gazebo correctly, however, only ardrone could control by mavros package. The Husky model has no response after sending cmd_vel through teleop_twist_keyboard package. There was a warning at terminal
  

process[ekf_localization-7]: started with pid [3286]
process[twist_marker_server-8]: started with pid [3382]
[ INFO] [1444662155.685565964]: [twist_marker_server] Initialized.
process[twist_mux-9]: started with pid [3446]
spawn_model script started
process[spawn_husky_model-10]: started with pid [3503]
process[ardrone/joy_node-11]: started with pid [3508]
process[ardrone/manual_input-12]: started with pid [3569]
[INFO] [WallTime: 1444662155.966920] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1444662155.973443] [0.000000] Waiting for service /gazebo/spawn_urdf_model
process[ardrone/commander-13]: started with pid [3626]
process[ardrone/mc_mixer-14]: started with pid [3685]
process[ardrone/attitude_estimator-15]: started with pid [3812]
[INFO] [WallTime: 1444662156.277059] [0.000000] Calling service /gazebo/spawn_urdf_model
process[ardrone/position_estimator-16]: started with pid [3845]
process[ardrone/mc_att_control-17]: started with pid [3884]
[ INFO] [1444662156.491325069, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
process[ardrone/mc_pos_control-18]: started with pid [3973]
process[ardrone/mavlink-19]: started with pid [4069]
[INFO] [WallTime: 1444662156.725853] [0.210000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1444662157.284540944, 0.640000000]: Physics dynamic reconfigure ready.
[ardrone/spawn_ardrone-4] process has finished cleanly
log file: /home/amax/.ros/log/44259bf6-70f2-11e5-bcdf-002590fdcfd6/ardrone-spawn_ardrone-4*.log
[spawn_husky_model-10] process has finished cleanly
log file: /home/amax/.ros/log/44259bf6-70f2-11e5-bcdf-002590fdcfd6/spawn_husky_model-10*.log
[WARN] [WallTime: 1444662186.163395] [29.510000] Controller Spawner couldn't find the expected controller_manager ROS interface.

It seems that the contorller was not working.

• The published topics are shown as below
  

Hi,
I suspect that the wheel inertias in the description (husky_description/urdf/wheel.urdf.xacro) have their axes flipped.

As far as I understood, the wheels are rotating around their respective y-axes. Hence ixx and izz should be identical. Here it seems like the wheels axis is around z.

Best,
Jan

Hello,

I have a question about the initiation process of the AMCL Demo.
In the tutorial, it mentions to do: "Use the 2D Pose Estimate tool in the top toolbar to give amcl an initial pose estimate. Without an initial estimate, the Monte Carlo localization approach is unlikely to converge the correct pose. "

I am wondering, for simulation - is this as simple as using the 2D Pose Estimate arrow and select the husky's initial location in RVIZ and point the arrow in the direction of the heading angle? How does this process work for physical experimentation?

Thank you,
Aaron

Is there a plan to produce ROS Kinetic packages e.g. ros-kinetic-husky-description?
Or is it assumed people will compile from source?

• thanks!

On running

roslaunch husky_gazebo husky_empty_world.launch
I get the following error
... logging to /home/abhilesh/.ros/log/7779b0f2-d4c0-11e8-9d77-bc8556ce29bb/roslaunch-abhilesh-Ubuntu-30317.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
resource not found: lms1xx
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/abhilesh/husky/src
ROS path [2]=/opt/ros/melodic/share
when processing file: /home/abhilesh/husky/src/husky_description/urdf/accessories/sick_lms1xx_mount.urdf.xacro
included from: /home/abhilesh/husky/src/husky_description/urdf/husky.urdf.xacro
RLException: while processing /home/abhilesh/husky/src/husky_gazebo/launch/spawn_husky.launch:
while processing /home/abhilesh/husky/src/husky_control/launch/control.launch:
while processing /home/abhilesh/husky/src/husky_description/launch/description.launch:
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/melodic/lib/xacro/xacro '/home/abhilesh/husky/src/husky_description/urdf/husky.urdf.xacro' --inorder robot_namespace:=/ laser_enabled:=true kinect_enabled:=false urdf_extras:= ] returned with code [2].

Param xml is
The traceback for the exception was written to the log file

Any leads on a way around these errors ?

The build of these packages were 100% successful

PS: I know there has been no official release for melodic. But I would still like to get it working

I believe that by odometry_filtered i am accessing only the corrected values. I also want to have access to the measured ones from GPS, etc. Is that possible and how/where?
Thank you

Hello,
I have a mounted pepperl&fuchs laser on my husky top plate.
My laser launch file:

<?xml version="1.0"?>
<launch>
  <arg name="frame_id" default="base_laser"/>
  <arg name="scanner_ip" default="192.168.131.12"/>
  <arg name="scan_frequency" default="35"/>
  <arg name="samples_per_scan" default="2880"/>

  <!-- R2000 Driver -->
  <node pkg="pepperl_fuchs_r2000" type="r2000_node" name="r2000_node" respawn="true" output="screen">
    <param name="frame_id" value="$(arg frame_id)"/>
    <param name="scanner_ip" value="$(arg scanner_ip)"/>
    <param name="scan_frequency" value="$(arg scan_frequency)"/>
    <param name="samples_per_scan" value="$(arg samples_per_scan)"/>
    <param name="target_frame" value="base_link"/>
 </node>

  <!-- RVIZ -->
  <node pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find pepperl_fuchs_r2000)/rviz/rviz.rviz"/>


 <!--- Run gmapping -->
 <include file="$(find husky_navigation)/launch/gmapping.launch" />
<!-- <node pkg="tf" type="static_transform_publisher" name="robot_state" args="0.35 0 0.15 0 0 0 base_link base_laser  10" /> -->

<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find husky_description)/urdf/husky.urdf.xacro'" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</launch>

I am trying to launch the gmapping in husky_navigation (not the gmapping demo):

The launch file is:

<launch>

  <arg name="scan_topic" default="/r2000_node/scan"/> 

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
  
    <rosparam>
      odom_frame: odom
      base_frame: base_link
 

      map_update_interval: 0.5 # Publish new map

      maxUrange: 6.0 # Should be just less than sensor range
      maxRange: 8.0 # Should be just greater than sensor range
      particles: 100 # Increased from 80

      # Update frequencies
      linearUpdate: 0.3
      angularUpdate: 0.5
      temporalUpdate: 2.0
      resampleThreshold: 0.5

      # Initial Map Size
      xmin: -100.0
      ymin: -100.0
      xmax: 100.0
      ymax: 100.0
      delta: 0.05

      # All default
      sigma: 0.05
      kernelSize: 1
      lstep: 0.05
      astep: 0.05
      iterations: 5
      lsigma: 0.075
      ogain: 3.0
      lskip: 0
      llsamplerange: 0.01
      llsamplestep: 0.01
      lasamplerange: 0.005
      lasamplestep: 0.005

    </rosparam>
  <remap from="base_laser" to="/r2000_node/scan"/>
  </node>
</launch>

In rviz:

My tf tree:

However in my rqt_graph my scan node is not connected to slam: I dont know how to solve that.

roswtf output:

Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 3 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /twist_marker_server:
   * /twist_marker_server/feedback
 * /rviz_rosi_22466_1268566178727141000:
   * /map_updates
 * /ekf_localization:
   * /set_pose
 * /gps/nmea_topic_driver:
   * /gps/nmea_sentence
 * /twist_mux:
   * /cmd_vel
   * /e_stop
 * /slam_gmapping:
   * /scan
 * /r2000_node:
   * /r2000_node/control_command

WARNING These nodes have died:
 * robot_state_publisher-6

WARNING Received out-of-date/future transforms:
 * receiving transform from [/ekf_localization] that differed from ROS time by -16.91218543s
 * receiving transform from [/robot_state_publisher] that differed from ROS time by -16.896256031s


Found 1 error(s).

ERROR The following nodes should be connected but aren't:
 * /slam_gmapping->/ekf_localization (/tf)
 * /r2000_node->/rosout (/rosout)
 * /robot_state_publisher->/imu_manager (/tf)
 * /slam_gmapping->/navsat_transform (/tf)
 * /slam_gmapping->/rosout (/rosout)
 * /robot_state_publisher->/slam_gmapping (/tf)
 * /robot_state_publisher->/navsat_transform (/tf_static)
 * /robot_state_publisher->/ekf_localization (/tf_static)
 * /rviz_rosi_22466_1268566178727141000->/rosout (/rosout)
 * /robot_state_publisher->/ekf_localization (/tf)
 * /robot_state_publisher->/navsat_transform (/tf)
 * /slam_gmapping->/imu_manager (/tf)
 * /robot_state_publisher->/imu_manager (/tf_static)
 * /robot_state_publisher->/rosout (/rosout)

Any pointers why is it not receiving a map?

hi i followed this demo:
http://wiki.ros.org/husky_navigation/Tutorials/Husky%20Move%20Base%20Demo
but when i put in navigation goal husky does not move
i am running indigo

in rviz there is robot model error e.g.
front_left_wheel_link
No transform from [front_left_wheel_link] to [odom]

rear_right_wheel_link
No transform from [rear_right_wheel_link] to [odom]

Not sure why, as it is in fact in a deb package and has been released and can be installed. Is there something I'm missing? Per https://travis-ci.org/husky/husky/jobs/242931316 travis we're missing it for Kinetic.

Hi,
Again opening an issue here as @DualUR5Husky repositories do not have ability to open issues:

The robotiq fork in DualUR5Husky is not working - it is missing some commits, including the crucial change we discovered with @tonybaltovski to make the FT driver work (changing to CLang):

DualUR5Husky/robotiq@2296738

The commit is not part of the branch or repository (I assume as the ft_300 branch from the other private forks got removed?).

Can we cherry-pick 22967385fc265ef284930e112e5c458f56963b22 on top of indigo-devel and perhaps sync the robotiq upstream? There are also changes to messages (SModelOutput, adding a field) that make it incompatible with other forks and upstream.

Thanks,
Wolfgang

Hi

I run Husky gmapping_demo file with gazebo, everything is fine. However, I am getting different results when I run it with real husky (physical experiment). When I run gmapping_demo asking husky to move forward, husky move forward for short distance then starts to rotate around itself, navigation process is not good.

Based on this Clearpath tutorial. It says

To adapt this demo to your own Husky, you may need to clone the husky_navigation repository, and modify the relevant parameters

But I have no idea what are these relevant parameters that I need to change ??!!

This is the error that appears after running gmapping
DWA planner failed to produce path

Any suggestions please ??

I am a new learner to husky . I install the Kinetic and husky pacakge from this git.I meet following errors.Could you help me ?
`roslaunch husky_gazebo husky_empty_world.launch
... logging to /home/robot/.ros/log/82c86086-6a98-11e7-945c-000c29977d69/roslaunch-ubuntu-10295.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/init.py", line 307, in main
p.start()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
self._start_infrastructure()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
self._load_config()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
loader.load(f, config, verbose=verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 746, in load
self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 718, in _load_launch
self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 682, in _recurse_load
val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 625, in _include_tag
default_machine, is_core, verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 652, in _recurse_load
default_machine, is_core, verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 652, in _recurse_load
default_machine, is_core, verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 682, in _recurse_load
val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 625, in _include_tag
default_machine, is_core, verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 682, in _recurse_load
val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 587, in _include_tag
inc_filename = self.resolve_args(tag.attributes['file'].value, context)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args
return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 370, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 383, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 151, in _find
source_path_to_packages=source_path_to_packages)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 197, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: multimaster_launch
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/robot/husky/src
ROS path [2]=/opt/ros/kinetic/share
`
Could you help me how to run the kinetic husky pacakage ?

Hello,

When i try to run the husky empty world, i am getting conversion of sensor type depth not supported for the kinect in gazebo. I am also not seeing anything in topic camera/depth/camera_info. I have to have some info there published i believe. Do you know why?

Hi there,
I am writing my own package to spawn a husky and make it do a random walk. I obtained the random walk code from https://raw.githubusercontent.com/ras-sight/hratc2015_entry_template/master/examples/cpp/random_walk_navigation.cpp

When I run the code, I get the following error:
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.100.104
[ INFO] [1439967219.405517496]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439967219.405609058]: Starting Laser Plugin (ns = /)!
[INFO] [WallTime: 1439967219.407472] [0.000000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1439967219.407954641]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
Dbg Plugin model name: -x
[ INFO] [1439967219.438324459, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1439967219.473397073, 0.056000000]: Physics dynamic reconfigure ready.
[spawn_husky_model-4] process has finished cleanly
log file: /home/toshiba/.ros/log/2802f36c-460c-11e5-827c-587f66e212a4/spawn_husky_model-4*.log
[ INFO] [1439967220.436458703, 1.006000000]: Waiting for the move_base action server to come online...
[ WARN] [1439967224.459399804, 5.023000000]: Waiting on transform from base_link to map to become available before running costmap, tf error:

What am I missing here ? All my .yaml files are from the husky_navigation package as it is with no changes and so my husky_urdf where the only thing I changed is adding a hokuyo description to its urdf.

As in the github repo I posted above I want to be able to use Movebase to send a goal position to husky. Please advise how to fix this error to simulate a random walk for a husky.

Hi

I am running husky_ur5 packages with ubuntu 14.04 and ROS indigo, and everything works fine.

Now, I have to switch to use Ubuntu 16.04 with ROS kinetic. Is everything in husky_ur5 compatible with this combination.

Thanks

Pull args repeated in so many files:

<xacro:arg name="laser_enabled" default="false" />
<xacro:arg name="ur5_enabled" default="false" />
<xacro:arg name="kinect_enabled" default="false" />

Into a single xacro 'header' file.

Hi,
Opening this ticket here since the @DualUR5Husky repository doesn't allow the creation of issues.

Problem: The bulkhead CAD model includes the VLP16, i.e. there is no frame information part of the URDF. Thus, no velodyne frame exists and the sensor data which is published cannot be displayed or used otherwise.

Solution: The velodyne frame could be added as a fixed transform from the bulkhead. Happy to do this, could you please pass the correct offsets?

Thank you very much,
Wolfgang

cc @cmower

Clone the repository and check out the branch "kinetic-devel". Run the Husky AMCL Demo on ROS kinetic given at http://wiki.ros.org/husky_navigation/Tutorials/Husky%20AMCL%20Demo. Due to the absence of LiDAR in the simulated husky, AMCL doesn't work.

The root cause is that since the flag "multimaster" is false, husky_description/description.launch is launched twice: first from husky_gazebo/spawn_husky,launch with laser_enabled being true and then from husky_control/control.launch being false. Will soon submit a pull request for fixing this issue.

@TheDash,

I ran across your posts (ros-industrial/universal_robot#155, ros-industrial/universal_robot#184 and ros-industrial/universal_robot#202), as well as a few others in ros-industrial/universal_robot in which portions of ur_kimematic/UR5KinematicsPlugin were rewritten to allow the ur5_arm to plan and execute.

However, the main topic was RVIZ. RVIZ to the best of my knowledge is using forward kinematics due to the fact it already knows the ending joint angles. Have you ever attempt inverse kinematic planning using Moveit!’s C++ or Python interfaces as is done in the code below.

# Initialize the move group for the arm
ur5_arm = moveit_commander.MoveGroupCommander("ur5_arm")
# Get the name of the end-effector link
end_effector_link = ur5_arm.get_end_effector_link()
# Set the reference frame for pose targets
 reference_frame = "/base_link"
# Set the arm reference frame accordingly
ur5_arm.set_pose_reference_frame(reference_frame)
# Allow replanning to increase the odds of a solution
ur5_arm.allow_replanning(True)
# Allow some leeway in position (meters) and orientation (radians)
ur5_arm.set_goal_position_tolerance(0.01)
ur5_arm.set_goal_orientation_tolerance(0.05)
#Move the end effecor to the x , y, z positon
#Set the target pose in the base_link frame
target_pose = PoseStamped()
target_pose.header.frame_id = reference_frame
target_pose.header.stamp = rospy.Time.now()
target_pose.pose.position.x = 1.0 #hole_pose.position.x
target_pose.pose.position.y = .1 #hole_pose.position.y
target_pose.pose.position.z = .7 #hole_pose.position.z
target_pose.pose.orientation.x = 0 #hole_pose.orientation.x
target_pose.pose.orientation.y = 0 #hole_pose.orientation.y
target_pose.pose.orientation.z = 0 #hole_pose.orientation.z
target_pose.pose.orientation.w = 1 #hole_pose.orientation.w
# Set the start state to the current state
ur5_arm.set_start_state_to_current_state()
# Set the goal pose of the end effector to the stored pose
ur5_arm.set_pose_target(target_pose, end_effector_link)
# Plan the trajectory to the goal
traj = ur5_arm.plan()
# Execute the planned trajectory
ur5_arm.execute(traj)
# Pause for a second
rospy.sleep(1)

However, the code gives the following errors:

[ERROR] [1467334302.962946004, 615.710000000]: Kin chain provided in model doesn't contain standard UR joint 'shoulder_lift_joint'.
[ERROR] [1467334302.963030369, 615.710000000]: Kinematics solver of type 'ur_kinematics/UR5KinematicsPlugin' could not be initialized for group 'ur5_arm'
[ERROR] [1467334302.963234727, 615.710000000]: Kinematics solver could not be instantiated for joint group ur5_arm.
[ INFO] [1467334303.757624243, 616.500000000]: Ready to take MoveGroup commands for group ur5_arm.
[ INFO] [1467334303.757756298, 616.500000000]: Replanning: yes
[ WARN] [1467334307.237704997, 619.980000000]: Fail: ABORTED: No motion plan found. No execution attempted.

The prefix errors do not seem to affect the planner in solving forward kinematic motion problem. As I have used similar code to go to group states set in the srdf, as well as other random valid joint configurations. However, when specifying a Cartesian point, the planner always fails. After reading the posts regarding ur_kimematic/UR5KinematicsPlugin, I think the problem is more likely that my code is not using the same configuration in regards to using limited joint angles when planning and not setting up the same namespace as husky_ur5_planning_execution.launch rather than the planner not being very good.

Should setting up a launch file like https://github.com/husky/husky/blob/indigo-devel/husky_ur5_moveit_config/launch/moveit_rviz.launch solve the issue. If so, are all the lines necessary and I just need to replace the RVIZ node with my appropriate node? Or is the issue more likely caused by the planner itself? If the latter, have you heard of trac_ik from TRAClabs. Their website quotes a 99.55 % success rate with an average time of .42ms, with similar performance for the UR10. Is this planner more likely to work?

Thanks for any help you are able to give.

Best,
CMobley7

Hello,

I am willing to run Husky Robot on my Gazebo. However, I'm using Kinetic, and current stable version of Husky in repo is still Indigo. So I tried to cloned this repo to my new catkin workspace, compiled it using catkin_make and run roslaunch husky_gazebo husky_empty_world.launch .

However, I got this error:
Invalid parameter "robot_namespace"
XacroException('Invalid parameter "robot_namespace"',)
when instantiating macro: sick_lms1xx (/opt/ros/kinetic/share/lms1xx/urdf/sick_lms1xx.urdf.xacro)
in file: /home/myuserame/myworkspace/src/husky/husky_description/urdf/husky.urdf.xacro
while processing /home/myuserame/myworkspace/src/husky/husky_gazebo/launch/spawn_husky.launch:
while processing /home/myuserame/myworkspace/src/husky/husky_description/launch/description.launch:
Invalid < param > tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro '/home/myuserame/myworkspace/src/husky/husky_description/urdf/husky.urdf.xacro' --inorder robot_namespace:=/ laser_enabled:=true kinect_enabled:=false urdf_extras:= ] returned with code [2].

Param xml is < param command="$(find xacro)/xacro '$(find husky_description)/urdf/husky.urdf.xacro' --inorder robot_namespace:=$(arg robot_namespace) laser_enabled:=$(arg laser_enabled) kinect_enabled:=$(arg kinect_enabled) urdf_extras:=$(arg urdf_extras) " name="robot_description"/ >
The traceback for the exception was written to the log file

Is something missing?

Thanks

@tonybaltovski there have been a lot of questions online regarding the stability of the kinetc branch of software in regards to both the simulation and hardware environments. When pulling from the repository and building from source there aren't any issues, however, there are tons of issues during execution. Is the kinetic branch stable or is there another preferred branch? Is there a gazebo version that these branches have been developed against?

You have this line on the launch file from control.launch in kinetic-devel. It looks like a mistake..

<arg name="kinect_enabled" default="$(optenv HUSKY_UR5_ENABLED false)"/>`

See #12

Waiting on moveit/moveit_ros#584

As an effort to release husky for kinetic, I am planning on moving all UR5 related bringup to a separate package to break the dependency on UR and moveit.

This will be a good chance to get a stable config for single/dual UR5 husky into a main branch. The problem will be with any outstanding PRs. I will do my best to blitz through anything outstanding, and keep anything that looks sane.

FYI @tonybaltovski @TheDash @andrestoga @wxmerkt @k-okada

Hi,
I took your husky packages (husky_description, husky_gazbeo, and husky_control) as reference to build my working packages, but use my own model and world.

I could get command news from my velocity_controller (which should be directly subscribed by gazebo), but my mobile robot just do not move and actually no reaction.

There were no errors reported, so I could not find out why it does not work.

I hope to get some instructions here.

Or, Is there any way that I can check the news received by gazebo?

Looking forward to your answers.
I would be really grateful.

Hi,

I am using husky_gazebo package for simulating multi husky robots by launching "multi_husky_playpen.launch". The simulation is running and the environment and all the topics are created but noting happens when I write into /husky_velocity_controller/cmd_vel topic of each robot.

Hi,

Now amcl will not avoid obstacles if there are new obstacle in the workspace that does not log in gmapping maps.

How should we modify this pkg ?

I couldn't find multimaster_launch package when i launched husky empty world launch.

After search on google and ros wiki , i found one package named multimaster, but it doesn't seem like the right one. http://wiki.ros.org/multimaster

I am using ROS kinetic. I have a package which launches the husky robot in gazebo, however the gazebo figure launched looks like this:

Please let me know if editing any particular urdf files would fix this issue or not ?

Hi,

I just want to ask if it is possible to integrate the ikfast plugin for Moveit! to the ur5 in the Husky following this tutorial?

Best,

Hi,

I was giving a go to gazebo simulated husky by running roslaunch husky_gazebo husky_playpen.launch and roslaunch husky_control teleop.launch. I have noticed a strange behaviour when I command the robot to turn in place but also in movement.

Basically the robot would not turn in place most of the times and it would slide slow or faster towards one random direction. This is with linear velocity 0 and any amount of angular velocity (with twist message). Note that this appears only when I either disable the laser or I set kinect_enabled to true. In the case I only use the model with the laser_enabled to true the husky is able to turn in place and his navigation behaviour is normal/as expected.

1. When I run the husky_playpen.launch with only the laser enabled (i.e. when husky behaviour is as expected) I get the following warning which might have something to do with it:

Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].

2. When I run gazebo with both laser and kinect I get the warning twice and the robot does not move as expected. It seems to me some correct settings are over written:

Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].

3. If I run gazebo without kinect and laser the strange behaviour is still there but I do not get any of the above messages.

I also get regardless of the laser enabled or disabled the following:

[ WARN] [1539887432.825685562, 1298.690000000]: updateConfig() called on a dynamic_reconfigure::Server that provides its own mutex. This can lead to deadlocks if updateConfig() is called during an update. Providing a mutex to the constructor is highly recommended in this case. Please forward this message to the node author.

Please advice, as this behaviour really messes with teleoperation or autonomous navigation.

edit 1: Basically it is not the kinect itself. It is the sensor arch mount that couses the problem. Once I disable this and I only have kinect and the laser (but without the sensor arch), the husky model behaves as expected.

thanks for you time,
Manolis

Hi guys,

I am addressing a problem controlling the husky robot in the gazebo simulator.
I just spawn a husky robot in an empty gazebo world. I am trying to rotate on the place ( I suppose that I am able to do with this platform since it has a differential traction ). For this reason, I just published a geometry_msgs::Twist message filling the .angular.z field with a fixed velocity (let's say 0.3 rad/s).
Sadly, what's happen is that the robot start to glide in the lateral directions. After 3 complete rotation on the place the robot is far of 1, 1.5 meters from the starting position...

Is this a common behaviour of this platform for this kind of motion??

Thank you,
Cheers.

Hi,

I am simulating Husky on ROS Kinetic on Ubuntu 16.04.2. I was trying to make some controllers in order to find the velocities that drive the Husky to a desired point in space, but I started to get different results on differents computers (my notebook and my desktop). I found out that odometry/filtered change a lot from one computer to the other and I can't figure out why is that happening.

I made a Python script that sends fixed controls to the Husky. While the odometry/filtered is fairly correct on the notebook, on the desktop I get that the real position [x,y,yaw] is [10.254782; 8.853166; 0.748164] while odometry/filtered publishes [7.7668092; 11.26777496; 1.01970051].

You can try to download the script I used to get the results from http://github.com/gmsanchez/husky_mpc and run apply_fixed_controls.py.

Thanks in advance, any help will be appreciated.