The cob_simulation stack includes packages to work with Care-O-bot within simulation environments, e.g. gazebo.
Home Page: www.care-o-bot.org
License: Apache License 2.0
| Indigo | Jade | Kinetic | Melodic | |
|---|---|---|---|---|
| Branch | indigo_dev |
indigo_dev |
kinetic_dev |
kinetic_dev |
| Status | supported | not supported | supported | supported |
| Version | version | version | version | version |
Status:
| Indigo Source | Indigo Debian | Jade Source | Jade Debian | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian | |
|---|---|---|---|---|---|---|---|---|
| cob_simulation |
This is a repository for Care-O-bot simulation packages.
Installation instructions and tutorials can be found at http://www.care-o-bot.org.
Hello everyone!
I have recently made a new installation of Ubuntu 16.04 and ROS Kinetic. I'm involved in a project that uses the raw3-5 model to achieve autonomous navigation. As I have made before, I downloaded all the ros-kinetic-cob-xxxx package in this new PC. This process has been successfully applied in a couple of installations allowing the spawn of a perfectly controllable robot.
However, surprisingly, in this new installation the robot spawns in the Gazebo world constantly rotating.
There are messages publishing in /base/twist_controller/wheel_commands but there isn't any movement in /base/twist_mux/command_navigation.
I hope someone has an idea of what is the problem.
Thanks in advance!
P.S: In case is helpful, I leave here the output of the terminal but it's very similar to the "old good ones".
roslaunch cob_bringup_sim robot.launch robot:=raw3-5 robot_env:=empty
... logging to /home/irobot-user/.ros/log/a6b0672e-35fc-11e9-a56c-00012e4bb757/roslaunch-irobotuser-MotherBoard-Z77ITX-A-E-9019.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.
started roslaunch server http://irobotuser-MotherBoard-Z77ITX-A-E:35785/
SUMMARY
PARAMETERS
NODES
/base_laser_front/
scan_filter (cob_sick_s300/cob_scan_filter)
/base/
base_controller_spawner (controller_manager/controller_manager)
fake_driver (cob_helper_tools/fake_driver.py)
twist_marker (twist_mux/twist_marker)
twist_mux (twist_mux/twist_mux)
velocity_smoother (cob_base_velocity_smoother/velocity_smoother)
/teleop/
teleop_node_irobotuser_MotherBoard_Z77ITX_A_E_9019_4882686815638388371 (cob_teleop/cob_teleop)
/
battery_monitor (cob_monitoring/battery_monitor.py)
collision_velocity_filter (cob_collision_velocity_filter/collision_velocity_filter)
dashboard_aggregator (cob_dashboard/cob_dashboard_aggregator.py)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
emergency_stop_monitor (cob_monitoring/emergency_stop_monitor.py)
fake_diagnostics_irobotuser_MotherBoard_Z77ITX_A_E_9019_3976842668907155648 (cob_helper_tools/fake_diagnostics.py)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
joy_node_irobotuser_MotherBoard_Z77ITX_A_E_9019_5973522723850412079 (joy/joy_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
script_server (cob_script_server/script_server.py)
spawn_gazebo_model (gazebo_ros/spawn_model)
spawn_urdf_world (gazebo_ros/spawn_model)
voltage_controller (cob_voltage_control/cob_voltage_control)
/base_laser_rear/
scan_filter (cob_sick_s300/cob_scan_filter)
auto-starting new master
process[master]: started with pid [9037]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to a6b0672e-35fc-11e9-a56c-00012e4bb757
process[rosout-1]: started with pid [9050]
started core service [/rosout]
running rosparam delete /objects
ERROR: parameter [/objects] is not set
running rosparam delete /diagnostic_aggregator/diagnostic_aggregator/
ERROR: parameter [/diagnostic_aggregator/diagnostic_aggregator] is not set
process[gazebo-2]: started with pid [9077]
process[gazebo_gui-3]: started with pid [9082]
process[spawn_urdf_world-4]: started with pid [9087]
process[base_laser_front/scan_filter-5]: started with pid [9088]
process[base_laser_rear/scan_filter-6]: started with pid [9089]
process[emergency_stop_monitor-7]: started with pid [9096]
process[voltage_controller-8]: started with pid [9112]
process[battery_monitor-9]: started with pid [9119]
process[base/fake_driver-10]: started with pid [9130]
process[base/base_controller_spawner-11]: started with pid [9139]
process[base/twist_mux-12]: started with pid [9146]
process[base/twist_marker-13]: started with pid [9153]
process[base/velocity_smoother-14]: started with pid [9159]
process[diagnostic_aggregator-15]: started with pid [9185]
process[dashboard_aggregator-16]: started with pid [9192]
process[joy_node_irobotuser_MotherBoard_Z77ITX_A_E_9019_5973522723850412079-17]: started with pid [9203]
process[teleop/teleop_node_irobotuser_MotherBoard_Z77ITX_A_E_9019_4882686815638388371-18]: started with pid [9219]
process[collision_velocity_filter-19]: started with pid [9226]
process[robot_state_publisher-20]: started with pid [9238]
[ INFO] [1550769487.647062587]: Topic handler 'collision_velocity_filter' subscribed to topic 'twist_mux/command_safe': timeout = 0.250000s, priority = 10
process[joint_state_publisher-21]: started with pid [9247]
process[script_server-22]: started with pid [9255]
process[fake_diagnostics_irobotuser_MotherBoard_Z77ITX_A_E_9019_3976842668907155648-23]: started with pid [9269]
process[spawn_gazebo_model-24]: started with pid [9286]
[ INFO] [1550769487.780766949]: Topic handler 'navigation' subscribed to topic 'twist_mux/command_navigation': timeout = 0.250000s, priority = 20
[ INFO] [1550769487.894412266]: Topic handler 'syncmm' subscribed to topic 'twist_mux/command_syncmm': timeout = 0.500000s, priority = 60
[ INFO] [1550769487.991054323]: Topic handler 'script_server' subscribed to topic 'twist_mux/command_script_server': timeout = 0.500000s, priority = 70
[ERROR] [1550769488.043499693]: Couldn't open joystick /dev/input/js0. Will retry every second.
[ INFO] [1550769488.072368887]: Reconfigure request : 1.000000 1.000000 1.000000 0.500000 0.500000 0.500000 1.500000 3.500000
[INFO] [1550769488.075863, 0.000000]: fake_driver running
[ INFO] [1550769488.083447478]: Topic handler 'teleop_keyboard' subscribed to topic 'twist_mux/command_teleop_keyboard': timeout = 0.500000s, priority = 80
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
[ INFO] [1550769488.162747945]: Topic handler 'teleop_android' subscribed to topic 'twist_mux/command_teleop_android': timeout = 0.500000s, priority = 90
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
SpawnModel script started
[ INFO] [1550769488.259241121]: Topic handler 'teleop_joystick' subscribed to topic 'twist_mux/command_teleop_joy': timeout = 0.250000s, priority = 100
[ INFO] [1550769488.287285064]: Topic handler 'pause_navigation' subscribed to topic 'twist_mux/locks/pause_navigation': timeout = None, priority = 21
[ INFO] [1550769488.300912155]: Topic handler 'pause_teleop' subscribed to topic 'twist_mux/locks/pause_teleop': timeout = None, priority = 101
[ INFO] [1550769488.314679622]: Topic handler 'pause_all' subscribed to topic 'twist_mux/locks/pause_all': timeout = None, priority = 255
[ INFO] [1550769488.323422193]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1550769488.325039430]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
[ INFO] [1550769488.387799552]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1550769488.388171982]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1550769488.404805, 0.000000]: Loading model XML from ros parameter
[INFO] [1550769488.405707, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
SpawnModel script started
[INFO] [1550769489.311600, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1550769489.339704028, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1550769489.503756, 0.160000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1550769489.523889044, 0.177000000]: Physics dynamic reconfigure ready.
[ INFO] [1550769489.580135076, 0.235000000]: Using plugin "obstacle_layer"
[INFO] [1550769489.582348, 0.237000]: Loading model XML from ros parameter
[INFO] [1550769489.587562, 0.240000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1550769489.590096, 0.244000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1550769489.590597177, 0.245000000]: Subscribed to Topics: laser_scan_front laser_scan_rear
[ INFO] [1550769489.606676157, 0.260000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1550769489.698261, 0.352000]: script_server is running
[spawn_urdf_world-4] process has finished cleanly
log file: /home/irobot-user/.ros/log/a6b0672e-35fc-11e9-a56c-00012e4bb757/spawn_urdf_world-4*.log
[ WARN] [1550769489.766939864, 0.359000000]: Used default parameter for global_frame [/base_link]
[ WARN] [1550769489.768146719, 0.359000000]: Used default parameter for robot_frame [/base_link]
[ WARN] [1550769489.772351711, 0.359000000]: Used default parameter for obstacle_damping_dist [5.0 m]
[INFO] [1550769489.846776, 0.359000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1550769489.863050232, 0.359000000]: Physics dynamic reconfigure ready.
[ INFO] [1550769489.908390159, 0.359000000]: Loading cob_gazebo_ros_control plugin
[ INFO] [1550769489.908480105, 0.359000000]: Enable joint-filtering. Using joint_names from parameter: "joint_names"
[ INFO] [1550769489.908516890, 0.359000000]: Starting cob_gazebo_ros_control plugin in namespace: base
[ INFO] [1550769489.909357438, 0.359000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1550769490.012805006, 0.359000000]: JointFiltering is enabled! DoF: 8
[ INFO] [1550769490.023247749, 0.359000000]: Loaded cob_gazebo_ros_control.
[ WARN] [1550769490.023480341, 0.360000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1550769490.023745930, 0.360000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1550769490.023786835, 0.360000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1550769490.023815142, 0.360000000]: For details, see ros-simulation/gazebo_ros_pkgs#612
[spawn_gazebo_model-24] process has finished cleanly
log file: /home/irobot-user/.ros/log/a6b0672e-35fc-11e9-a56c-00012e4bb757/spawn_gazebo_model-24*.log
Loaded joint_state_controller
[ WARN] [1550769490.229752749, 0.565000000]: max_steer_rate: 100
[ WARN] [1550769490.229796664, 0.565000000]: max_drive_rate: 100
[ WARN] [1550769490.229881798, 0.566000000]: max_steer_rate: 100
[ WARN] [1550769490.229928653, 0.566000000]: max_drive_rate: 100
[ WARN] [1550769490.230175412, 0.566000000]: max_steer_rate: 100
[ WARN] [1550769490.230218843, 0.566000000]: max_drive_rate: 100
[ WARN] [1550769490.230256457, 0.566000000]: max_steer_rate: 100
[ WARN] [1550769490.230305386, 0.566000000]: max_drive_rate: 100
[ WARN] [1550769490.234782972, 0.570000000]: max_steer_rate: 100
[ WARN] [1550769490.234861564, 0.570000000]: max_drive_rate: 100
[ WARN] [1550769490.234915010, 0.571000000]: max_steer_rate: 100
[ WARN] [1550769490.234943467, 0.571000000]: max_drive_rate: 100
[ WARN] [1550769490.235027033, 0.571000000]: max_steer_rate: 100
[ WARN] [1550769490.235078691, 0.571000000]: max_drive_rate: 100
[ WARN] [1550769490.235118385, 0.571000000]: max_steer_rate: 100
[ WARN] [1550769490.235153586, 0.571000000]: max_drive_rate: 100
[ INFO] [1550769490.251138976, 0.586000000]: configure all steers: s: 15.000000, d: 2.750000, m: 0.100000, v: 10.000000, a: 40.000000
[ INFO] [1550769490.291975468, 0.622000000]: configure steer 0: s: 9.500000, d: 2.250000, m: 0.100000, v: 12.000000, a: 40.000000
[ INFO] [1550769490.313628076, 0.643000000]: configure steer 1: s: 9.500000, d: 2.250000, m: 0.100000, v: 12.000000, a: 40.000000
[ INFO] [1550769490.331237265, 0.661000000]: configure steer 2: s: 9.500000, d: 2.250000, m: 0.100000, v: 12.000000, a: 40.000000
[ INFO] [1550769490.349792880, 0.680000000]: configure steer 3: s: 9.500000, d: 2.250000, m: 0.100000, v: 12.000000, a: 40.000000
Loaded twist_controller
Loaded odometry_controller
Started ['joint_state_controller'] successfully
Started ['twist_controller'] successfully
Started ['odometry_controller'] successfully
[base/base_controller_spawner-11] process has finished cleanly
log file: /home/irobot-user/.ros/log/a6b0672e-35fc-11e9-a56c-00012e4bb757/base-base_controller_spawner-11*.log
[ WARN] [1550769490.728834831, 1.059000000]: Costmap2DROS transform timeout. Current time: 1.0590, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1550769490.728886767, 1.059000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1550769491.749698064, 2.059000000]: Costmap2DROS transform timeout. Current time: 2.0590, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1550769491.749747696, 2.059000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1550769492.776252913, 3.059000000]: Costmap2DROS transform timeout. Current time: 3.0590, global_pose stamp: 0.0000, tolerance: 0.3000
Dear IPA:
I have a question about gazebo world. Since I am trying to build my gazebo world, I see two different ways of doing that. One is the usual way in my opinion - load the $(find gazebo_ros)/launch/<some world>.launch file. One example is fetch_gazebo.
In cob_simulation, I notice that the world is implemented as another robot with joints and links. In this file, you first load the <include file="$(find gazebo_ros)/launch/empty_world.launch"> and then load the customized world as a link <include file="$(arg pkg_gazebo_worlds)/launch/$(arg robot_env).xml"/>. Since I am new to gazebo :), I am wondering what the benefits are here for doing this?
I am sorry that I cannot find the answer elsewhere, so I raise the question here. Hope you don't mind.
Thank you so much!
I use ubuntu 12.04 64bits with ROS Hydro.
I follow:http://wiki.ros.org/cob_bringup_sim
How can I run cob simulation? Thank you~~
ira@ira:$ export ROBOT=cob4-2$ export ROBOT_ENV=ipa-apartment
ira@ira:
ira@ira:~$ roslaunch cob_bringup_sim robot.launch
... logging to /home/ira/.ros/log/fb4185b4-10fa-11e5-97c2-b8ee65344b7e/roslaunch-ira-18445.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.
while processing /opt/ros/hydro/share/cob_default_robot_config/upload_param.launch:
while processing /opt/ros/hydro/share/cob_default_robot_config/cob4-2/upload_param_cob4-2.launch:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/opt/ros/hydro/share/cob_default_robot_config/cob4-2/upload_param_cob4-2.launch'
ira@ira:~$
If I try:
ira@ira:$ export ROBOT=cob4-1$ export ROBOT_ENV=ipa-apartment
ira@ira:
ira@ira:~$ roslaunch cob_bringup_sim robot.launch
... logging to /home/ira/.ros/log/33ac2c88-10fb-11e5-85e0-b8ee65344b7e/roslaunch-ira-18538.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.
started roslaunch server http://ira:50663/
PARAMETERS
NODES
/relayboard/
relayboard_node (cob_relayboard/relayboard_sim.py)
/
arm_controller_spawner (controller_manager/spawner)
base_controller_spawner (controller_manager/spawner)
fake_joint_calibration (rostopic/rostopic)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
head_controller_spawner (controller_manager/spawner)
joint_state_controller_spawner (controller_manager/spawner)
pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
sensorring_controller_spawner (controller_manager/spawner)
spawn_gazebo_model (gazebo_ros/spawn_model)
spawn_urdf_world (gazebo_ros/spawn_model)
torso_controller_spawner (controller_manager/spawner)
world_joint_state_publisher (joint_state_publisher/joint_state_publisher)
world_state_publisher (robot_state_publisher/state_publisher)
world_tf_publisher (cob_gazebo_worlds/tf_publisher.py)
/base_controller/
base_drive_chain_node (cob_base_drive_chain/cob_base_drive_chain_sim_node)
cob_base_velocity_smoother (cob_base_velocity_smoother/cob_base_velocity_smoother)
undercarriage_ctrl_node (cob_undercarriage_ctrl/cob_undercarriage_ctrl_node)
auto-starting new master
process[master]: started with pid [18558]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 33ac2c88-10fb-11e5-85e0-b8ee65344b7e
process[rosout-1]: started with pid [18571]
started core service [/rosout]
running rosparam delete /objects
ERROR: parameter [/objects] is not set
process[gazebo-2]: started with pid [18588]
process[gazebo_gui-3]: started with pid [18596]
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
process[spawn_urdf_world-4]: started with pid [18604]
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
process[world_state_publisher-5]: started with pid [18605]
Msg Waiting for master.process[world_joint_state_publisher-6]: started with pid [18628]
[ INFO] [1434110681.982384843]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master[ INFO] [1434110681.983166801]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.2.158
ERROR: cannot launch node of type [cob_gazebo_worlds/tf_publisher.py]: can't locate node [tf_publisher.py] in package [cob_gazebo_worlds]
process[spawn_gazebo_model-8]: started with pid [18657]
spawn_model script started
process[robot_state_publisher-9]: started with pid [18658]
process[pr2_mechanism_diagnostics-10]: started with pid [18684]
process[fake_joint_calibration-11]: started with pid [18701]
[INFO] [WallTime: 1434110682.311028] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1434110682.322590] [0.000000] Waiting for service /gazebo/spawn_urdf_model
process[joint_state_controller_spawner-12]: started with pid [18711]
spawn_model script started
process[base_controller_spawner-13]: started with pid [18769]
process[base_controller/base_drive_chain_node-14]: started with pid [18779]
[ INFO] [1434110682.560261534]: IniDirectory loaded from Parameter-Server is: /opt/ros/hydro/share/cob_hardware_config/cob4-1/config/base/
[ INFO] [1434110682.581846857]: Initializing Base Drive Chain
[ INFO] [1434110682.581973928]: Initializing CanCtrlItf
[ INFO] [1434110682.581994497]: Initializing done
[INFO] [WallTime: 1434110682.609653] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1434110682.616163] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1434110682.625622] [0.000000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1434110682.626465] [0.000000] Calling service /gazebo/spawn_urdf_model
process[base_controller/undercarriage_ctrl_node-15]: started with pid [18873]
[ INFO] [1434110682.664266237, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1434110682.682257818]: Timeout loaded from Parameter-Server is: 0.200000s
[ INFO] [1434110682.684144529]: IniDirectory loaded from Parameter-Server is: /opt/ros/hydro/share/cob_hardware_config/cob4-1/config/base/
[ INFO] [1434110682.693001763]: Undercarriage control successfully initialized.
process[base_controller/cob_base_velocity_smoother-16]: started with pid [18937]
process[relayboard/relayboard_node-17]: started with pid [18973]
process[torso_controller_spawner-18]: started with pid [18991]
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.2.158
process[head_controller_spawner-19]: started with pid [19008]
process[arm_controller_spawner-20]: started with pid [19012]
process[sensorring_controller_spawner-21]: started with pid [19020]
Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
[ INFO] [1434110684.364991386, 1.196000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1434110684.365069827, 1.196000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1434110684.366301494, 1.196000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1434110684.755732237, 1.196000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1434110684.755772371, 1.196000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1434110684.756845119, 1.196000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1434110685.145785461, 1.196000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1434110685.145837402, 1.196000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1434110685.146931441, 1.196000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[INFO] [WallTime: 1434110685.169648] [1.196000] Spawn status: SpawnModel: Successfully spawned model
[spawn_gazebo_model-8] process has finished cleanly
log file: /home/ira/.ros/log/33ac2c88-10fb-11e5-85e0-b8ee65344b7e/spawn_gazebo_model-8_.log
[ INFO] [1434110687.665389079, 1.196000000]: Loading gazebo_ros_control plugin
[ INFO] [1434110687.665476107, 1.196000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1434110687.666322176, 1.196000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1434110687.927646910, 1.196000000]: Loaded gazebo_ros_control.
[ERROR] [1434110687.943140112, 1.209000000]: Could not load controller 'head_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist.
[ERROR] [1434110687.943182535, 1.209000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[INFO] [WallTime: 1434110688.363840] [1.390000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1434110688.382603741, 1.407000000]: Physics dynamic reconfigure ready.
[ERROR] [1434110688.404081817, 1.428000000]: Could not load controller 'arm_left_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist.
[ERROR] [1434110688.404133257, 1.428000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1434110688.404721532, 1.429000000]: Could not load controller 'torso_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist.
[ERROR] [1434110688.404764092, 1.429000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1434110688.405295344, 1.430000000]: Could not load controller 'sensorring_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist.
[ERROR] [1434110688.405333843, 1.430000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[spawn_urdf_world-4] process has finished cleanly
log file: /home/ira/.ros/log/33ac2c88-10fb-11e5-85e0-b8ee65344b7e/spawn_urdf_world-4_.log
[ERROR] [WallTime: 1434110688.944142] [1.657000] Failed to load head_controller
[ERROR] [WallTime: 1434110689.405347] [1.853000] Failed to load arm_left_controller
[ERROR] [WallTime: 1434110689.405959] [1.853000] Failed to load torso_controller
[ERROR] [WallTime: 1434110689.406387] [1.853000] Failed to load sensorring_controller
[ERROR] [1434110689.408691960, 1.854000000]: Could not load controller 'arm_right_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist.
[ERROR] [1434110689.408759536, 1.854000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [WallTime: 1434110690.409351] [2.276000] Failed to load arm_right_controller
I've experienced a strange behaviour with the gazebo simulation of the ipa-apartment environment.
After starting the simulation and spawning the robot both scanners deliver scans with all range values in max range. When I insert new objects from the gazebo menu the scan points coming from the new objects look fine (See screenshot below with the book shelf manually inserted)
It needs several restarts of gazebo to have a 'normal' simulation behavior.
I'm using the current release of cob_simulation on indigo. @ipa-flg @dabarsch experienced the same behavior on their PCs.
In https://github.com/ros-simulation/gazebo_ros_pkgs/pull/261/files a launch file for spawning an object from the database is proposed: https://github.com/YoheiKakiuchi/gazebo_ros_pkgs/blob/add_spawn_launch_indigo/gazebo_ros/launch/spawn_model_in_database.launch
According to the usage of the gazebo_ros/spawn_model script, it is possible to use it in order to spawn models from the gazebo database. In the end, this scipts calls either gazebo's spawn_sdf_model or spawn_urdf_model via the gazebo_interface module which abstracts away the service calls.
However, in our script, we call the service directly...but only provide a client for the spawn_urdf_model service.
Things that need to be done in order to be able to spawn database models from our script:
gazebo_interface calls instead. (?)database as an model_type and then call the proper function from the gazebo_interface respectively...This would reduce a lot of code duplications while still allowing us to use our object_locations.yaml parameter scheme!
@ipa-srd-rd Could you take this over?
@ipa-nhg @ipa-mig @fmessmer FYI
I found several issues with the object models in cob_gazebo_objects, e.g.
However, there are too many objects around to start fixing the issues for all objects currently present.
Thus, I suggest to first decide which objects are no longer needed.
Also, it needs to be tested whether the object can still be used as intended with ROS Indigo Igloo.
Finally, the required fixes and adaptions need to be applied.
@ipa-jsf and @ipa-rmb please contact @ipa-fxm in order to discuss this!
@ipa-mig-mc detected a missing import roslib in https://github.com/ipa320/cob_simulation/blob/indigo_dev/cob_bringup_sim/scripts/spawn_object.py#L130.
This was unintendedly removed during "cleanup" and should be added again!
Also added to package.xml
Related to ipa320/cob_environments#93
moved this issue here as related packages were moved from cob_environments.
We should restructure our environments with respect to the following tutorial:
http://gazebosim.org/user_guide/started__models__database.html
This would also simplify material definitions as this currently seems not to work correctly... -> see error messages when starting cob_bringup_sim...
Hallo IPA320 Team,
ich verwende derzeit die cob3-9 Simulationsumgebung und habe einige Fragen.
1.) Nachdem roslaunch cob_bringup_sim robot.launch gestartet wurde möchte ich gerne die unten stehende Fehler und Warnings beseitigen. Ich habe Ihnen die relevanten Stellen makiert. Siehe Output:
started roslaunch server http://10.179.7.25:56465/
PARAMETERS
NODES
/head/
control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)
gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)
head_controller_spawner (controller_manager/controller_manager)
/laser_top/
scanner_top_filter (cob_sick_s300/cob_scan_filter)
/arm/
arm_controller_spawner (controller_manager/controller_manager)
control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)
gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)
/base/
base_controller_spawner (controller_manager/controller_manager)
gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)
/
cam3d_nodelet_manager (nodelet/nodelet)
cam3d_relay_depth_camera_info (topic_tools/relay)
cam3d_relay_depth_image (topic_tools/relay)
cam3d_relay_depth_points (topic_tools/relay)
cam3d_relay_rgb_image_color (topic_tools/relay)
cam3d_throttle (nodelet/nodelet)
collision_velocity_filter (cob_collision_velocity_filter/collision_velocity_filter)
dashboard_aggregator (cob_dashboard/cob_dashboard_aggregator.py)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
fake_diagnostics_10_xiao_VPCCA1S1E_635_3941014138114605440 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_11_xiao_VPCCA1S1E_635_1107162076869796497 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_12_xiao_VPCCA1S1E_635_6698137789640055230 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_13_xiao_VPCCA1S1E_635_7619973164608648128 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_14_xiao_VPCCA1S1E_635_6056026030110910228 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_15_xiao_VPCCA1S1E_635_8750817625441987613 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_16_xiao_VPCCA1S1E_635_6781473151218065481 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_1_xiao_VPCCA1S1E_635_6460195751393873566 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_2_xiao_VPCCA1S1E_635_5042402176341253436 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_3_xiao_VPCCA1S1E_635_306590554169865777 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_4_xiao_VPCCA1S1E_635_6007515498775655099 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_5_xiao_VPCCA1S1E_635_6511378542821910101 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_6_xiao_VPCCA1S1E_635_3570609751587185811 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_7_xiao_VPCCA1S1E_635_1731199736075799687 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_8_xiao_VPCCA1S1E_635_3525092982419577366 (cob_controller_configuration_gazebo/fake_diagnostics.py)
fake_diagnostics_9_xiao_VPCCA1S1E_635_175561739850630372 (cob_controller_configuration_gazebo/fake_diagnostics.py)
footprint_observer (cob_footprint_observer/footprint_observer)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
gazebo_topics (cob_controller_configuration_gazebo/gazebo_topics.py)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
light (cob_light/cob_light)
local_costmap_node (costmap_2d/costmap_2d_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_gazebo_model (gazebo_ros/spawn_model)
voltage_filter (cob_voltage_control/savitzky_golay.py)
/tray_sensors/
tray_sensors (cob_phidgets/simulated_range_sensors.py)
/gripper/
control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)
gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)
gripper_controller_spawner (controller_manager/controller_manager)
/sound/
sound_node (cob_sound/sound)
/torso/
control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)
gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)
torso_controller_spawner (controller_manager/controller_manager)
/relayboard/
relayboard_node (cob_relayboard/relayboard_sim.py)
/laser_rear/
scanner_rear_filter (cob_sick_s300/cob_scan_filter)
/tray/
control_mode_adapter (cob_control_mode_adapter/cob_control_mode_adapter_node)
gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py)
tray_controller_spawner (controller_manager/controller_manager)
/laser_front/
scanner_front_filter (cob_sick_s300/cob_scan_filter)
auto-starting new master
process[master]: started with pid [651]
ROS_MASTER_URI=http://10.179.7.25:11311
setting /run_id to 103d3842-4507-11e5-83a7-4c0f6efd8dbf
process[rosout-1]: started with pid [664]
started core service [/rosout]
running rosparam delete /objects
//------- Fehler A -----------
ERROR: parameter [/objects] is not set
running rosparam delete /diagnostic_aggregator/diagnostic_aggregator/
//------- Fehler B -----------
ERROR: parameter [/diagnostic_aggregator/diagnostic_aggregator] is not set
process[gazebo-2]: started with pid [691]
process[gazebo_gui-3]: started with pid [697]
Gazebo multi-robot simulator, version 2.2.5
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Gazebo multi-robot simulator, version 2.2.5
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
process[spawn_gazebo_model-4]: started with pid [730]
[ INFO] [1439833247.598177235]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1439833247.602863653]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.179.7.25
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.179.7.25
process[robot_state_publisher-5]: started with pid [755]
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
spawn_model script started
[ INFO] [1439833248.448771487, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1439833248.498572181, 0.068000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1439833248.498679] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1439833248.518587] [0.079000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1439833248.520763] [0.090000] Calling service /gazebo/spawn_urdf_model
process[joint_state_publisher-6]: started with pid [915]
process[base/gazebo_services-7]: started with pid [971]
[INFO] [WallTime: 1439833250.111930] [0.000000] gazebo_services running
process[base/base_controller_spawner-8]: started with pid [1014]
process[laser_front/scanner_front_filter-9]: started with pid [1037]
process[laser_rear/scanner_rear_filter-10]: started with pid [1073]
process[laser_top/scanner_top_filter-11]: started with pid [1106]
process[head/gazebo_services-12]: started with pid [1135]
[ INFO] [1439833252.668075285, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833252.668403142, 3.298000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1439833252.688169727, 3.298000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[INFO] [WallTime: 1439833253.008592] [0.000000] gazebo_services running
process[head/head_controller_spawner-13]: started with pid [1166]
[ INFO] [1439833253.398371554, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833253.398470804, 3.298000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1439833253.420722464, 3.298000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
process[head/control_mode_adapter-14]: started with pid [1192]
[ INFO] [1439833253.621437626]: waitForService: Service [/head/controller_manager/load_controller] has not been advertised, waiting...
process[arm/gazebo_services-15]: started with pid [1221]
[ INFO] [1439833254.169245473, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833254.169303124, 3.298000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1439833254.187570966, 3.298000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[INFO] [WallTime: 1439833254.440185] [0.000000] gazebo_services running
process[arm/arm_controller_spawner-16]: started with pid [1257]
[ INFO] [1439833254.712564297, 3.298000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833254.848241337, 3.298000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833254.855056106, 3.298000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833254.855547637, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833254.855593803, 3.298000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1439833254.870277370, 3.298000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1439833254.871864632, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833254.871925036, 3.298000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1439833254.877329649, 3.298000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1439833254.900465895, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833254.900654883, 3.298000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1439833254.910504673, 3.298000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1439833254.934379743, 3.298000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1439833254.938289633, 3.298000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1439833254.941717680, 3.298000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[INFO] [WallTime: 1439833254.944338] [3.298000] Spawn status: SpawnModel: Successfully spawned model
process[arm/control_mode_adapter-17]: started with pid [1297]
[ INFO] [1439833255.103687752]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting...
Unhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/spawn_gazebo_model-4_.log
[ INFO] [1439833255.326367293, 3.298000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1439833255.421289893, 3.298000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1439833255.521508156, 3.298000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
process[gripper/gazebo_services-18]: started with pid [1358]
[INFO] [WallTime: 1439833256.129058] [0.000000] gazebo_services running
process[gripper/gripper_controller_spawner-19]: started with pid [1453]
process[gripper/control_mode_adapter-20]: started with pid [1489]
[ INFO] [1439833256.833048555]: waitForService: Service [/gripper/controller_manager/load_controller] has not been advertised, waiting...
process[torso/gazebo_services-21]: started with pid [1575]
process[torso/torso_controller_spawner-22]: started with pid [1587]
[INFO] [WallTime: 1439833257.646797] [0.000000] gazebo_services running
process[torso/control_mode_adapter-23]: started with pid [1616]
[ INFO] [1439833258.106302885]: waitForService: Service [/torso/controller_manager/load_controller] has not been advertised, waiting...
[ INFO] [1439833258.288150153, 3.298000000]: Loading cob_gazebo_ros_control plugin
[ INFO] [1439833258.288569165, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: "joint_names"
[ INFO] [1439833258.288677655, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: base
[ INFO] [1439833258.289965639, 3.298000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1439833258.406705430, 3.298000000]: JointFiltering is enabled! DoF: 8
[ INFO] [1439833258.463443210, 3.298000000]: Loaded cob_gazebo_ros_control.
[ INFO] [1439833258.463824697, 3.298000000]: Loading cob_gazebo_ros_control plugin
[ INFO] [1439833258.463989436, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: "joint_names"
[ INFO] [1439833258.464138419, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: tray
process[tray/gazebo_services-24]: started with pid [1672]
[ INFO] [1439833258.592509761, 3.298000000]: JointFiltering is enabled! DoF: 1
[ INFO] [1439833258.677212012, 3.298000000]: Loaded cob_gazebo_ros_control.
[ INFO] [1439833258.677794627, 3.298000000]: Loading cob_gazebo_ros_control plugin
[ INFO] [1439833258.677987806, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: "joint_names"
[ INFO] [1439833258.678131135, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: torso
Loaded joint_state_controller
[ INFO] [1439833258.799943396, 3.298000000]: JointFiltering is enabled! DoF: 3
Loaded twist_controller
Loaded odometry_controller
[ INFO] [1439833258.944209334, 3.298000000]: Loaded cob_gazebo_ros_control.
[ INFO] [1439833258.944615266, 3.298000000]: Loading cob_gazebo_ros_control plugin
[ INFO] [1439833258.944698161, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: "joint_names"
[ INFO] [1439833258.944753579, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: arm
process[tray/tray_controller_spawner-25]: started with pid [1769]
[INFO] [WallTime: 1439833259.053881] [0.000000] gazebo_services running
[ INFO] [1439833259.076236154, 3.298000000]: JointFiltering is enabled! DoF: 7
Loaded joint_state_controller
[ INFO] [1439833259.250748326, 3.298000000]: Loaded cob_gazebo_ros_control.
[ INFO] [1439833259.251191004, 3.298000000]: Loading cob_gazebo_ros_control plugin
[ INFO] [1439833259.251350795, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: "joint_names"
[ INFO] [1439833259.251490308, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: head
[ INFO] [1439833259.381542558, 3.298000000]: JointFiltering is enabled! DoF: 1
[ INFO] [1439833259.460315654, 3.298000000]: Loaded cob_gazebo_ros_control.
[ INFO] [1439833259.460701455, 3.298000000]: Loading cob_gazebo_ros_control plugin
[ INFO] [1439833259.460790877, 3.298000000]: Enable joint-filtering. Using joint_names from parameter: "joint_names"
[ INFO] [1439833259.460846415, 3.298000000]: Starting cob_gazebo_ros_control plugin in namespace: gripper
process[tray/control_mode_adapter-26]: started with pid [1855]
Loaded joint_state_controller
[ INFO] [1439833259.599603981, 3.298000000]: JointFiltering is enabled! DoF: 1
[ INFO] [1439833259.655708320, 3.298000000]: Loaded cob_gazebo_ros_control.
Started ['joint_state_controller'] successfully
Started ['joint_state_controller'] successfully
Started ['joint_state_controller'] successfully
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
[ INFO] [1439833259.702061962, 3.337000000]: waitForService: Service [/arm/controller_manager/load_controller] is now available.
[ INFO] [1439833259.710648042, 3.337000000]: waitForService: Service [/head/controller_manager/load_controller] is now available.
[ INFO] [1439833259.714622229, 3.335000000]: waitForService: Service [/gripper/controller_manager/load_controller] is now available.
[ INFO] [1439833259.728037288, 3.337000000]: waitForService: Service [/torso/controller_manager/load_controller] is now available.
Started ['twist_controller'] successfully
[arm/arm_controller_spawner-16] process has finished cleanly
log file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/arm-arm_controller_spawner-16_.log
[torso/torso_controller_spawner-22] process has finished cleanly
log file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/torso-torso_controller_spawner-22_.log
[ INFO] [1439833259.940656817, 3.373000000]: joint_trajectory_controller loaded
process[tray_sensors/tray_sensors-27]: started with pid [2146]
Loaded joint_state_controller
[ INFO] [1439833260.536548044, 3.504000000]: joint_trajectory_controller loaded
Loaded joint_state_controller
Started ['odometry_controller'] successfully
process[sound/sound_node-28]: started with pid [2304]
[ INFO] [1439833260.828811207]: sound node started
[base/base_controller_spawner-8] process has finished cleanly
log file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/base-base_controller_spawner-8_.log
[ INFO] [1439833260.940906580, 3.577000000]: joint_trajectory_controller loaded
[ INFO] [1439833260.978459420, 3.578000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller
[ INFO] [1439833261.103544485, 3.597000000]: joint_trajectory_controller loaded
Started ['joint_state_controller'] successfully
Started ['joint_state_controller'] successfully
[ INFO] [1439833261.115923888, 3.598000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller
[ INFO] [1439833261.116614629, 3.599000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller
[head/head_controller_spawner-13] process has finished cleanly
log file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/head-head_controller_spawner-13_.log
[tray/tray_controller_spawner-25] process has finished cleanly
log file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/tray-tray_controller_spawner-25_.log
[ INFO] [1439833261.357196145, 3.653000000]: joint_trajectory_controller loaded
[ INFO] [1439833261.368441801, 3.657000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller
Loaded joint_state_controller
[ INFO] [1439833261.391143498, 3.662000000]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller
Started ['joint_state_controller'] successfully
process[light-29]: started with pid [2555]
//------------ Warnung A ------------
[ WARN] [1439833261.478869300]: Parameter 'marker_frame' is missing. Using default Value: /base_link
[ INFO] [1439833261.548049998]: Open Port on /dev/ttyLed
//------------ Warnung B ------------
[ WARN] [1439833261.548182269]: Serial connection on /dev/ttyLed failed.
//------------ Warnungg C ------------
[ WARN] [1439833261.548260435]: Simulation mode enabled
[ INFO] [1439833261.555210001]: Executing new mode: StaticMode
[ INFO] [1439833261.555459730]: Mode StaticMode finished
[gripper/gripper_controller_spawner-19] process has finished cleanly
log file: /home/xiao/.ros/log/103d3842-4507-11e5-83a7-4c0f6efd8dbf/gripper-gripper_controller_spawner-19*.log
process[local_costmap_node-30]: started with pid [2649]
[INFO] [WallTime: 1439833262.291221] [4.012000] adding sensor converting from topic 'range_1_sim' to topic 'range_1'
[INFO] [WallTime: 1439833262.300147] [4.013000] adding sensor converting from topic 'range_2_sim' to topic 'range_2'
[INFO] [WallTime: 1439833262.307824] [4.016000] adding sensor converting from topic 'range_3_sim' to topic 'range_3'
[INFO] [WallTime: 1439833262.315995] [4.017000] adding sensor converting from topic 'range_4_sim' to topic 'range_4'
[ INFO] [1439833262.430259951, 4.057000000]: Loading from pre-hydro parameter style
[ INFO] [1439833262.498747230, 4.077000000]: Using plugin "obstacle_layer"
[ INFO] [1439833262.646237242, 4.127000000]: Subscribed to Topics: laser_scan_sensor_front laser_scan_sensor_rear laser_scan_sensor_top
process[footprint_observer-31]: started with pid [2781]
[ INFO] [1439833262.840230742, 4.188000000]: Using plugin "inflation_layer"
process[collision_velocity_filter-32]: started with pid [2987]
process[voltage_filter-33]: started with pid [3090]
process[diagnostic_aggregator-34]: started with pid [3096]
process[dashboard_aggregator-35]: started with pid [3168]
process[cam3d_relay_rgb_image_color-36]: started with pid [3335]
[ INFO] [1439833266.331023366, 5.297000000]: advertised as /cam3d/rgb/image_color
process[cam3d_relay_depth_image-37]: started with pid [3444]
[ INFO] [1439833266.810856243, 5.476000000]: advertised as /cam3d/depth/image
process[cam3d_relay_depth_points-38]: started with pid [3473]
[ INFO] [1439833267.442938284, 5.701000000]: advertised as /cam3d/depth/points
process[cam3d_relay_depth_camera_info-39]: started with pid [3501]
[ INFO] [1439833267.805905891, 5.824000000]: advertised as /cam3d/depth/camera_info
process[cam3d_nodelet_manager-40]: started with pid [3531]
[ INFO] [1439833268.391680353]: Initializing nodelet with 4 worker threads.
process[cam3d_throttle-41]: started with pid [3559]
[ INFO] [1439833268.990351124]: Loading nodelet /cam3d_throttle of type cob_cam3d_throttle/Cam3DThrottle to manager cam3d_nodelet_manager with the following remappings:
[ INFO] [1439833268.990456674]: /cloud_in -> /cam3d/depth/points
[ INFO] [1439833268.990500954]: /cloud_out -> /cam3d_throttled/depth/points
[ INFO] [1439833268.990539961]: /depth_image_in -> /cam3d/depth/image_raw
[ INFO] [1439833268.990577566]: /depth_image_out -> /cam3d_throttled/depth/image_raw
[ INFO] [1439833268.990613644]: /rgb_caminfo_in -> /cam3d/rgb/camera_info
[ INFO] [1439833268.990649715]: /rgb_caminfo_out -> /cam3d_throttled/rgb/camera_info
[ INFO] [1439833268.990684661]: /rgb_cloud_in -> /cam3d/depth_registered/points
[ INFO] [1439833268.990720503]: /rgb_cloud_out -> /cam3d_throttled/depth_registered/points
[ INFO] [1439833268.990760939]: /rgb_image_in -> /cam3d/rgb/image_color
[ INFO] [1439833268.990795555]: /rgb_image_out -> /cam3d_throttled/rgb/image_color
process[relayboard/relayboard_node-42]: started with pid [3607]
process[gazebo_topics-43]: started with pid [3639]
process[fake_diagnostics_1_xiao_VPCCA1S1E_635_6460195751393873566-44]: started with pid [3667]
process[fake_diagnostics_2_xiao_VPCCA1S1E_635_5042402176341253436-45]: started with pid [3673]
[INFO] [WallTime: 1439833271.573236] [6.789000] fake diagnostics for laser_front running listening to /scan_front
[INFO] [WallTime: 1439833272.084426] [0.000000] fake diagnostics for laser_rear running listening to /scan_rear
process[fake_diagnostics_3_xiao_VPCCA1S1E_635_306590554169865777-46]: started with pid [3727]
[INFO] [WallTime: 1439833272.753919] [0.000000] fake diagnostics for laser_top running listening to /scan_top
process[fake_diagnostics_4_xiao_VPCCA1S1E_635_6007515498775655099-47]: started with pid [3757]
[INFO] [WallTime: 1439833273.043603] [7.142000] gazebo_topics running
[INFO] [WallTime: 1439833273.581123] [0.000000] fake diagnostics for /stereo/left/color_camera running listening to /stereo/left/image_raw
process[fake_diagnostics_5_xiao_VPCCA1S1E_635_6511378542821910101-48]: started with pid [3788]
[INFO] [WallTime: 1439833274.171808] [0.000000] fake diagnostics for /stereo/right/color_camera running listening to /stereo/right/image_raw
process[fake_diagnostics_6_xiao_VPCCA1S1E_635_3570609751587185811-49]: started with pid [3819]
process[fake_diagnostics_7_xiao_VPCCA1S1E_635_1731199736075799687-50]: started with pid [3827]
[INFO] [WallTime: 1439833275.104367] [0.000000] fake diagnostics for joy running listening to /joy_usage
[INFO] [WallTime: 1439833275.595508] [0.000000] fake diagnostics for pc1 CPU Usage running listening to /pc1_usage
process[fake_diagnostics_8_xiao_VPCCA1S1E_635_3525092982419577366-51]: started with pid [3880]
[INFO] [WallTime: 1439833276.173471] [7.769000] fake diagnostics for pc2 CPU Usage running listening to /pc2_usage
process[fake_diagnostics_9_xiao_VPCCA1S1E_635_175561739850630372-52]: started with pid [3907]
[INFO] [WallTime: 1439833276.722730] [0.000000] fake diagnostics for pc3 CPU Usage running listening to /pc3_usage
process[fake_diagnostics_10_xiao_VPCCA1S1E_635_3941014138114605440-53]: started with pid [3947]
[INFO] [WallTime: 1439833277.489305] [0.000000] fake diagnostics for Wifi Status (ddwrt) running listening to /wifi_status
process[fake_diagnostics_11_xiao_VPCCA1S1E_635_1107162076869796497-54]: started with pid [3981]
[INFO] [WallTime: 1439833278.115581] [0.000000] fake diagnostics for base_controller running listening to /base/joint_states
process[fake_diagnostics_12_xiao_VPCCA1S1E_635_6698137789640055230-55]: started with pid [4012]
process[fake_diagnostics_13_xiao_VPCCA1S1E_635_7619973164608648128-56]: started with pid [4022]
[INFO] [WallTime: 1439833278.901486] [0.000000] fake diagnostics for torso_controller running listening to /torso/joint_states
[INFO] [WallTime: 1439833279.459127] [8.297000] fake diagnostics for tray_controller running listening to /tray/joint_states
process[fake_diagnostics_14_xiao_VPCCA1S1E_635_6056026030110910228-57]: started with pid [4074]
process[fake_diagnostics_15_xiao_VPCCA1S1E_635_8750817625441987613-58]: started with pid [4094]
[INFO] [WallTime: 1439833280.302945] [0.000000] fake diagnostics for head_controller running listening to /head/joint_states
[INFO] [WallTime: 1439833280.892245] [0.000000] fake diagnostics for arm_controller running listening to /arm/joint_states
process[fake_diagnostics_16_xiao_VPCCA1S1E_635_6781473151218065481-59]: started with pid [4134]
[INFO] [WallTime: 1439833281.454551] [8.653000] fake diagnostics for gripper_controller running listening to /gripper/joint_states
//------------ Warnung D ------------
[ WARN] [1439833286.571222156, 10.010000000]: Footprint Observer: Transformation for /pg70_finger_left_joint not available! Frame /pg70_finger_left_joint not considered in adjusted footprint!
[ WARN] [1439833320.578859733, 20.040000000]: Footprint Observer: Transformation for /pg70_finger_left_joint not available! Frame /pg70_finger_left_joint not considered in adjusted footprint!
[ WARN] [1439833351.876090365, 30.074000000]: Footprint Observer: Transformation for /pg70_finger_left_joint not available! Frame /pg70_finger_left_joint not considered in adjusted footprint!
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once.
2.) Ferner möchte ich in der Simulation ,,/cam3d/depth_registered/points" verwenden. Nachdem ich die robot.launch Simulation gestartet habe, kann ich den Topic über ,,rostopic list" sehen. Jedoch bekomme ich keine Daten über rviz - Image, weshalb dort auch nicht die ,,/cam3d/depth_registered/points" angezeigt wird. Am Hardware-Roboter kann ich den Tiefenbildtreiber über ,,rosrun rqt_reconfigure rqt_reconfigure" unter der dem Reiter ,,Drivers" starten. In Gazebo gibt es die Option nicht. Wie starte ich den Treiber auf der Simulationsebene?
3.) Des Weiteren möchte ich die PG70 Greifer in Moveit! integrieren. Ich habe Ihre srdf Datei analysiert und möchte von Ihnen gerne wissen, wie man die Greifer am Schunkarm in Moveit! Setupassistenten dranhängen kann. PS: Ich habe Ihre noch zusätzlich diese Warnung: Could not identify parent group for end-effector 'arm'.
4.) Die Greifer PG70 sind schief. Siehe Link: http://www.directupload.net/file/d/4082/zrxzxqua_png.htm
Wie behebe ich das?
Über eine Antwort würde ich mich freuen.
MfG.
I am using ROS melodic
ROBOT=raw3-3
ROBOT_ENV=ipa-apartment
when i launch roslaunch cob_bringup_sim robot.launch
i get the following error and warnings:
[ WARN] [1606983192.054103739]: No parameter frame on parameter server. Using default value [base_link].
process[diagnostic_aggregator-22]: started with pid [11736]
process[dashboard_aggregator-23]: started with pid [11740]
process[joy_node_kamal_HP_11620_5007856071874360402-24]: started with pid [11746]
process[teleop/teleop_node_kamal_HP_11620_373555137628965711-25]: started with pid [11752]
process[collision_velocity_filter-26]: started with pid [11754]
process[robot_state_publisher-27]: started with pid [11756]
process[joint_state_publisher-28]: started with pid [11764]
process[script_server-29]: started with pid [11768]
process[light-30]: started with pid [11772]
[ WARN] [1606983192.584622618]: Couldn't set gain on joystick force feedback: Bad file descriptor
process[fake_diagnostics_kamal_HP_11620_8881534578614238150-31]: started with pid [11774]
process[spawn_gazebo_model-32]: started with pid [11780]
[ WARN] [1606983192.941316170]: Parameter 'num_leds' is missing. Using default Value: 58
[ INFO] [1606983193.086295070]: Simulation mode enabled
[INFO] [1606983194.678529, 0.000000]: fake_driver running
[ INFO] [1606983196.340211590]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1606983196.353906640]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1606983196.968223707]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1606983196.984054097]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1606983198.132808431]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1606983198.328244, 0.000000]: Loading model XML from ros parameter world_description
[ INFO] [1606983198.591415928, 0.275000000]: Physics dynamic reconfigure ready.
[ INFO] [1606983198.655862875, 0.341000000]: anti_collision_costmap: Using plugin "obstacle_layer"
[ INFO] [1606983198.688646649, 0.363000000]: Subscribed to Topics: laser_scan_front laser_scan_rear
[INFO] [1606983198.925243, 0.579000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1606983198.942074, 0.609000]: Calling service /gazebo/spawn_urdf_model
[ WARN] [1606983199.165900048, 0.818000000]: Used default parameter for 'costmap_obstacle_treshold' [250].
[ WARN] [1606983199.196500995, 0.850000000]: Used default parameter for 'global_frame' [/base_link]
[ WARN] [1606983199.199841932, 0.850000000]: Used default parameter for 'robot_base_frame' [/base_link]
[INFO] [1606983199.491146, 0.000000]: Waiting for model ipa-apartment before proceeding.
Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_front_link']
Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_rear_link']
Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_front_link']
Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_rear_link']
Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_front_link']
Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_rear_link']
[INFO] [1606983200.483932, 0.958000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1606983200.562160829, 0.958000000]: Loading gazebo_ros_control plugin
[ INFO] [1606983200.562430102, 0.958000000]: Starting gazebo_ros_control plugin in namespace: world
[ INFO] [1606983200.563363508, 0.958000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/world_description] on the ROS param server.
[ERROR] [1606983200.721090038, 0.958000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_left_joint
[ERROR] [1606983200.722829648, 0.958000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_right_joint
[ERROR] [1606983200.724313170, 0.958000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_button1_joint
[ERROR] [1606983200.725701487, 0.958000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_button2_joint
[ INFO] [1606983200.737959493, 0.958000000]: Loaded gazebo_ros_control.
[spawn_urdf_world-4] process has finished cleanly
log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/spawn_urdf_world-4*.log
Loaded 'world_joint_state_controller'
[INFO] [1606983201.013590, 1.064000]: Loading model XML from ros parameter robot_description
Loaded 'elevator_left_joint_position_controller'
Started ['world_joint_state_controller'] successfully
Loaded 'elevator_right_joint_position_controller'
[ WARN] [1606983201.093448246, 1.076000000]: Costmap2DROS transform timeout. Current time: 1.0760, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983201.093560449, 1.076000000]: Could not get robot pose, cancelling reconfiguration
[INFO] [1606983201.102125, 1.077000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1606983201.123552, 1.080000]: Calling service /gazebo/spawn_urdf_model
Loaded 'elevator_button1_joint_position_controller'
Loaded 'elevator_button2_joint_position_controller'
Started ['elevator_left_joint_position_controller'] successfully
Started ['elevator_right_joint_position_controller'] successfully
[world/world_joint_state_controller_spawner-6] process has finished cleanly
log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/world-world_joint_state_controller_spawner-6*.log
[INFO] [1606983201.573697, 0.000000]: script_server is running
[ INFO] [1606983202.148193478, 1.124000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1606983202.148366126, 1.124000000]: Starting Laser Plugin (ns = /)
[ INFO] [1606983202.156633372, 1.124000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1606983202.455625983, 1.124000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1606983202.456185499, 1.124000000]: Starting Laser Plugin (ns = /)
[ INFO] [1606983202.462115820, 1.124000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[INFO] [1606983202.475454, 1.124000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1606983202.542006136, 1.124000000]: Loading cob_gazebo_ros_control plugin
[ INFO] [1606983202.542359273, 1.124000000]: Enable joint-filtering. Using joint_names from parameter: "joint_names"
[ INFO] [1606983202.542447885, 1.124000000]: Starting cob_gazebo_ros_control plugin in namespace: base
[ INFO] [1606983202.650243449, 1.124000000]: JointFiltering is enabled! DoF: 8
[ INFO] [1606983202.676342950, 1.124000000]: Loaded cob_gazebo_ros_control.
Started ['elevator_button1_joint_position_controller'] successfully
Started ['elevator_button2_joint_position_controller'] successfully
[spawn_gazebo_model-32] process has finished cleanly
log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/spawn_gazebo_model-32*.log
[INFO] [1606983202.944438, 1.182000]: Diagnostics change to 0
[INFO] [1606983202.974013, 1.187000]: Motion change to 0
Loaded 'joint_state_controller'
[world/world_controller_spawner-8] process has finished cleanly
log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/world-world_controller_spawner-8*.log
[ INFO] [1606983203.121686222, 1.235000000]: configure all steers: s: 15.000000, d: 2.750000, m: 0.100000, v: 10.000000, a: 40.000000
[ INFO] [1606983203.167372272, 1.251000000]: configure steer 0: s: 15.000000, d: 2.750000, m: 0.100000, v: 12.000000, a: 40.000000
[ INFO] [1606983203.217369019, 1.268000000]: configure steer 1: s: 15.000000, d: 2.750000, m: 0.100000, v: 12.000000, a: 40.000000
[ INFO] [1606983203.308563377, 1.291000000]: configure steer 2: s: 15.000000, d: 2.750000, m: 0.100000, v: 12.000000, a: 40.000000
[ INFO] [1606983203.349164621, 1.300000000]: configure steer 3: s: 15.000000, d: 2.750000, m: 0.100000, v: 12.000000, a: 40.000000
Loaded 'twist_controller'
Loaded 'odometry_controller'
Started ['joint_state_controller'] successfully
Started ['twist_controller'] successfully
Started ['odometry_controller'] successfully
[INFO] [1606983203.556343, 1.358000]: Motion change to 1
[base/base_controller_spawner-13] process has finished cleanly
log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/base-base_controller_spawner-13*.log
[ WARN] [1606983205.999461432, 2.076000000]: Costmap2DROS transform timeout. Current time: 2.0760, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983205.999543542, 2.076000000]: Could not get robot pose, cancelling reconfiguration
[INFO] [1606983206.756076, 2.298000]: Motion change to 0
[ WARN] [1606983209.438091218, 3.076000000]: Costmap2DROS transform timeout. Current time: 3.0760, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983209.438410601, 3.076000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1606983212.895225958, 4.139000000]: Costmap2DROS transform timeout. Current time: 4.1390, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983213.031634286, 4.176000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1606983216.153173877, 5.139000000]: Costmap2DROS transform timeout. Current time: 5.1390, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983216.282310117, 5.176000000]: Could not get robot pose, cancelling reconfiguration
please help me solve this issue.
as ipa-apartment has been refurbished, the urdf does not match anymore
also see ipa320/cob_environments#117
@fmessmer FYI
as detected by @srd-ps the 'empty' world is not working anymore since the robot is not spawned. This is probably due to #111 where we inserted a wait for the environment to be spawned before spawning the robot. In the 'empty' world however, there is no environment to be spawned and we are therefore waiting forever.
Maybe a timeout of the wait could fix this...
@ipa-fxm @ipa-nhg
Me and some of my students experienced some strange behaviors when simulating with the gazebo world ipa-apartment. From time to time the walls start shaking in a earth quake manner, the doors of the elevators start walking around and sometimes whole areas are teleported to a different place.
In 'earth quake mode' there is nothing you can do than restart the whole simulation.
Hi,
When I launch ipa-factory.launch, I get the following error. Could you advise me on how to set correct path?
Warning [ModelDatabase.cc:335] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
Error [ModelDatabase.cc:408] Unable to download model[model://ipa-factory/meshes/ipa-factory.dae]
Error [SystemPaths.cc:371] File or path does not exist[""]
Error [MeshShape.cc:64] No mesh specified
waitForService: Service [/gazebo/set_physics_properties] is now available.
Error [ModelDatabase.cc:408] Unable to download model[model://ipa-factory/meshes/ipa-factory.dae]
Error [SystemPaths.cc:371] File or path does not exist[""]
Error [Visual.cc:2072] No mesh specified
Error [ModelDatabase.cc:408] Unable to download model[model://ipa-factory/meshes/ipa-factory.dae]
Error [SystemPaths.cc:371Physics dynamic reconfigure ready.
] File or path does not exist[""]
Error [Visual.cc:2072] No mesh specified
I can get this to work if I place the model inside .gazebo folder. However, is there anyway I can make this work if the model is in my package?
Hi, I am new to ros and gazebo. When I run this command
" roslaunch cob_gazebo_worlds world.launch robot_env:="ipa-apartment" "
I can only see a world with walls. It is not as it shows on the web http://wiki.ros.org/cob_gazebo_worlds, no objects, like bed or cabinet, in the world.
so can you give me some advice?
My runtime environment is Gazebo 9.0,Ros melodic.
After run the command "roslaunch cob_gazebo_worlds world.launch robot_env:="ipa-apartment" ",I got the message below
➜ new_catkin roslaunch cob_gazebo_worlds world.launch robot_env:="ipa-apartment"
... logging to /home/tridolly/.ros/log/d1ebbec0-a5fc-11ec-858c-04d9f583abc4/roslaunch-ubuntu18-10830.log
Checking log directory for disk usage. This may take a while.
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.
started roslaunch server http://ubuntu18:34401/
PARAMETERS
NODES
/
elevator (cob_gazebo_worlds/elevator.py)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
spawn_urdf_world (gazebo_ros/spawn_model)
world_state_publisher (robot_state_publisher/robot_state_publisher)
world_tf_publisher (cob_gazebo_worlds/tf_publisher.py)
/world/
world_controller_spawner (controller_manager/controller_manager)
world_joint_state_controller_spawner (controller_manager/controller_manager)
auto-starting new master
process[master]: started with pid [10844]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d1ebbec0-a5fc-11ec-858c-04d9f583abc4
process[rosout-1]: started with pid [10855]
started core service [/rosout]
running rosparam delete /objects
ERROR: parameter [/objects] is not set
process[gazebo-2]: started with pid [10868]
process[gazebo_gui-3]: started with pid [10873]
process[spawn_urdf_world-4]: started with pid [10878]
process[world_state_publisher-5]: started with pid [10879]
process[world/world_joint_state_controller_spawner-6]: started with pid [10880]
process[world_tf_publisher-7]: started with pid [10881]
process[world/world_controller_spawner-8]: started with pid [10886]
process[elevator-9]: started with pid [10889]
[ INFO] [1647526582.986524919]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1647526582.990263353]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1647526583.019913403]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1647526583.022173851]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1647526583.361057200, 0.004000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1647526583.374644488, 0.017000000]: Physics dynamic reconfigure ready.
[INFO] [1647526583.385677, 0.000000]: Loading model XML from ros parameter world_description
[INFO] [1647526583.413529, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1647526583.415257, 0.055000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1647526583.778610, 0.162000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1647526583.794456375, 0.162000000]: Loading gazebo_ros_control plugin
[ INFO] [1647526583.794544605, 0.162000000]: Starting gazebo_ros_control plugin in namespace: world
[ INFO] [1647526583.794945365, 0.162000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/world_description] on the ROS param server.
[ERROR] [1647526583.941263104, 0.162000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_left_joint
[ERROR] [1647526583.942318961, 0.162000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_right_joint
[ERROR] [1647526583.943189009, 0.162000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_button1_joint
[ERROR] [1647526583.943873906, 0.162000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_button2_joint
[ INFO] [1647526583.948033725, 0.162000000]: Loaded gazebo_ros_control.
[spawn_urdf_world-4] process has finished cleanly
log file: /home/wangchen/.ros/log/d1ebbec0-a5fc-11ec-858c-04d9f583abc4/spawn_urdf_world-4*.log
Loaded 'world_joint_state_controller'
Started ['world_joint_state_controller'] successfully
Loaded 'elevator_left_joint_position_controller'
Loaded 'elevator_right_joint_position_controller'
Loaded 'elevator_button1_joint_position_controller'
Loaded 'elevator_button2_joint_position_controller'
Started ['elevator_left_joint_position_controller'] successfully
Started ['elevator_right_joint_position_controller'] successfully
Started ['elevator_button1_joint_position_controller'] successfully
Started ['elevator_button2_joint_position_controller'] successfully
[world/world_joint_state_controller_spawner-6] process has finished cleanly
log file: /home/tridolly/.ros/log/d1ebbec0-a5fc-11ec-858c-04d9f583abc4/world-world_joint_state_controller_spawner-6*.log
[world/world_controller_spawner-8] process has finished cleanly
log file: /home/tridolly/.ros/log/d1ebbec0-a5fc-11ec-858c-04d9f583abc4/world-world_controller_spawner-8*.log
this condition seems not to be sufficient in all cases....in particular when using move_initialconfig (where we publish the new initialconfig only once!!) the model is not moved to the correct position because - it seems - gazebo is not yet ready to move objects
@fmessmer FYI
It's used in the CMakeLists.txt: https://github.com/ipa320/cob_simulation/blob/indigo_dev/cob_bringup_sim/CMakeLists.txt#L5
But is not listed as a build_depend, only an exec_depend which fails to build on the farm.
00:08:25.395 CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
00:08:25.395 Could not find a package configuration file provided by "roslaunch" with
00:08:25.395 any of the following names:
00:08:25.395
00:08:25.395 roslaunchConfig.cmake
00:08:25.395 roslaunch-config.cmake
00:08:25.395
00:08:25.395 Add the installation prefix of "roslaunch" to CMAKE_PREFIX_PATH or set
00:08:25.395 "roslaunch_DIR" to a directory containing one of the above files. If
00:08:25.395 "roslaunch" provides a separate development package or SDK, be sure it has
00:08:25.395 been installed.
00:08:25.395 Call Stack (most recent call first):
00:08:25.395 CMakeLists.txt:4 (find_package)
00:08:25.395
00:08:25.395
00:08:25.395 -- Could not find the required component 'roslaunch'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
00:08:25.395 CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
00:08:25.395 Could not find a package configuration file provided by "roslaunch" with
00:08:25.395 any of the following names:
00:08:25.395
00:08:25.395 roslaunchConfig.cmake
00:08:25.395 roslaunch-config.cmake
00:08:25.395
00:08:25.395 Add the installation prefix of "roslaunch" to CMAKE_PREFIX_PATH or set
00:08:25.395 "roslaunch_DIR" to a directory containing one of the above files. If
00:08:25.395 "roslaunch" provides a separate development package or SDK, be sure it has
00:08:25.395 been installed.
00:08:25.395 Call Stack (most recent call first):
00:08:25.395 CMakeLists.txt:4 (find_package)
When pressing the reset button in gazebo, the tf_publisher.py crashes with the following error message:
[ERROR] [WallTime: 1481794503.887025] [0.000000] ROS time moved backwards: 4.2s
[ERROR] [WallTime: 1481794503.887232] [0.000000] ROS time moved backwards: 4.204s
Traceback (most recent call last):
File "/opt/ros/indigo/lib/cob_gazebo_worlds/scripts/tf_publisher.py", line 76, in <module>
rate.sleep()
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/timer.py", line 99, in sleep
sleep(self._remaining(curr_time))
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/timer.py", line 155, in sleep
raise rospy.exceptions.ROSTimeMovedBackwardsException(time_jump)
rospy.exceptions.ROSTimeMovedBackwardsException: ROS time moved backwards
[ WARN] [1481794503.918072447, 0.020000000]: Detected jump back in time. Clearing TF buffer.
[world_tf_publisher-7] process has died [pid 7529, exit code 1, cmd /opt/ros/indigo/lib/cob_gazebo_worlds/scripts/tf_publisher.py __name:=world_tf_publisher __log:=/home/mig/.ros/log/b91de1de-c2a9-11e6-b453-901b0e08b6c2/world_tf_publisher-7.log].
I start to work with care-o-bot4. But I cannot install simulation by "http://wiki.ros.org/Robots/Care-O-bot/indigo" (I have confirmed that it was installed in the last year, but not now.)
So I want to install by cob_simulator but I don't know how to install by cob_simulator in github.
Before I activate the hardware, I want to simulation hard.
I want you to help me simulate.
Thank you.
related to:
[ WARN] [1499671498.320796292, 0.162000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'XXX'.
needs to be adjusted in the joint's transmissions e.g. https://github.com/ipa320/cob_simulation/blob/indigo_dev/cob_gazebo_worlds/urdf/ipa-apartment/elevator.urdf.xacro#L51
However, this is currently not dual-distro compatible with indigo
@fmessmer FYI
Hi,
I launch cob_bring_sim with cob4-7 and found that the dynamic property of the robot is broken (attached file).
Do you have any idea what happens?
Thanks.
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