I am getting the below error when i am trying to setup the pepper_ghazebo module. Can you let me know how or where to find this dependency.

CMake Error at /home/hassaan/devel/share/message_generation/cmake/message_generationConfig.cmake:165 (find_package):
Could not find a package configuration file provided by "gencpp" with any
of the following names:

gencppConfig.cmake
gencpp-config.cmake

Add the installation prefix of "gencpp" to CMAKE_PREFIX_PATH or set
"gencpp_DIR" to a directory containing one of the above files. If "gencpp"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
/usr/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
pal_msgs/pal_behaviour_msgs/CMakeLists.txt:4 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/hassaan/build/CMakeFiles/CMakeOutput.log".
See also "/home/hassaan/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Hi,

We have installed all packages from repository:

sudo apt-get install ros-indigo-pepper*

Moveit works perfectly, but when we launch a simulated Pepper in Gazebo, we don't see the controllers in the topics. We start the simulation pressing play button and the robot just collapses.

Are we missing something?

We saw a github repository to be cloned in our workspace:
git clone [email protected]:roboticsgroup/roboticsgroup_gazebo_plugins.git

But we have no access. Is this necessary? Do we need to install something else by hand?

We are using Ubuntu 14.10 with Indigo.

Thank you very much

Hi, I was following the instrunctions to setup gazebo simulation for pepper. I can move head and arms with Moveit, but the base is not working properly. When I click generate random valid goal state, I get something like this:

Then if I set the goal state to a position in front of the start state and use RRTConnnectkConfigDefault planner , I get error saying

 [ WARN] [1585019218.260870595, 978.474000000]: The trajectory to execute specifies no joints
[ERROR] [1585019218.260891885, 978.474000000]: Apparently trajectory initialization failed
[ INFO] [1585019218.278537317, 978.491000000]: ABORTED: Solution found but controller failed during execution

The planner I used:

Any ideas to fix this? Thanks!

Hi,

I'm doing some research on navigation solutions for pepper robot and because of the current situation I'm not able to work on a real robot so I'm using gazebo simulator. I was trying to use exploration and mapping script that uses python-sdk but to run that script an ip address of a robot is required. I tried using ip address of my laptop and 127.0.0.1 but I get an error that it cannot connect to that address. I also tried to change the port from 9559 to gazebo master port but it didn't help. So my question is there any way to connect to virtual robot via ip address and if yes how can I find that ip address?

Thanks

When I download all packages and build properly without any error I run a MoveIt! and Gazebo. When I click start simulation in Gazebo robot is starting to falling and clamping the fingers in very strange way.

Is there any way how to solve this? I need to get simulation working as soon as possible.

Hi, could you help me with this problem?
I run this command, but failed, and I don't know how to solve it.

roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch

log

[INFO] [1706445589.839807, 0.000000]: Waiting for /clock to be available...
[ INFO] [1706445589.889516980]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1706445589.890174568]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1706445589.932988938]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1706445589.933773417]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
Service [/RoboCup 14 SPL Field/shininess] is not valid.
Service [/RoboCup 3D Simulator Goal/shininess] is not valid.
Service [/RoboCup 3D Simulator Goal_0/shininess] is not valid.
[ INFO] [1706445590.114602195]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1706445590.123256265]: Physics dynamic reconfigure ready.
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[ INFO] [1706445591.068040712]: Camera Plugin: Using the 'robotNamespace' param: '/pepper_robot'
[ INFO] [1706445591.069728148]: Camera Plugin (ns = /pepper_robot)  <tf_prefix_>, set to ""
[ INFO] [1706445591.075096304]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1706445591.076047249]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1706445591.090922374]: Camera Plugin: Using the 'robotNamespace' param: '/pepper_robot'
[ INFO] [1706445591.093730693]: Camera Plugin (ns = /pepper_robot)  <tf_prefix_>, set to ""
[ INFO] [1706445591.237377171]: Loading gazebo_ros_control plugin
[ INFO] [1706445591.237477794]: Starting gazebo_ros_control plugin in namespace: 
[ INFO] [1706445591.238020844]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ WARN] [1706445591.352771521]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'HeadYaw'.
[ERROR] [1706445591.353732940]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/HeadYaw
[ WARN] [1706445591.353771910]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'HeadPitch'.
[ERROR] [1706445591.354440327]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/HeadPitch
[ WARN] [1706445591.354468690]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LShoulderPitch'.
[ERROR] [1706445591.355004777]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LShoulderPitch
[ WARN] [1706445591.355030599]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LShoulderRoll'.
[ERROR] [1706445591.355614406]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LShoulderRoll
[ WARN] [1706445591.355661661]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LElbowYaw'.
[ERROR] [1706445591.355937293]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LElbowYaw
[ WARN] [1706445591.355959671]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LElbowRoll'.
[ERROR] [1706445591.356178335]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LElbowRoll
[ WARN] [1706445591.356200760]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LWristYaw'.
[ERROR] [1706445591.356408381]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LWristYaw
[ WARN] [1706445591.356430372]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'LHand'.
[ERROR] [1706445591.356642073]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/LHand
[ WARN] [1706445591.356665946]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RShoulderPitch'.
[ERROR] [1706445591.356892752]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RShoulderPitch
[ WARN] [1706445591.356911348]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RShoulderRoll'.
[ERROR] [1706445591.357116651]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RShoulderRoll
[ WARN] [1706445591.357134345]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RElbowYaw'.
[ERROR] [1706445591.357338830]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RElbowYaw
[ WARN] [1706445591.357358010]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RElbowRoll'.
[ERROR] [1706445591.357563986]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RElbowRoll
[ WARN] [1706445591.357583723]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RWristYaw'.
[ERROR] [1706445591.357801942]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RWristYaw
[ WARN] [1706445591.357819985]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'RHand'.
[ERROR] [1706445591.358033443]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/RHand
[ WARN] [1706445591.358051584]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'HipRoll'.
[ERROR] [1706445591.358258217]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/HipRoll
[ WARN] [1706445591.358276595]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'HipPitch'.
[ERROR] [1706445591.358480457]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/HipPitch
[ WARN] [1706445591.358498938]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'KneePitch'.
[ERROR] [1706445591.358704856]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/KneePitch
[ WARN] [1706445591.358722831]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'WheelFL'.
[ WARN] [1706445591.358858541]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'WheelB'.
[ WARN] [1706445591.358976081]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'WheelFR'.

If pal_gazebo_plugin contained in /src folder, it can not catkin_make successfully. Here is the display of errors. I use Ubuntu16.04 with kinetic and gazebo 7.14.
But without pal_gazebo_plugin, it can catkin_make successfully and could run gazebo that seems to be normally. Therefore, I wonder to know: 1. what's the function of pal_gaze_plugin? 2. Is it ok that I delete this package in my catkin_ws? Thank you all.

`[ 97%] Built target gazebo_ros_triggered_multicamera
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_underactuated_finger.cpp: In member function ‘virtual void gazebo::GazeboPalHey5::UpdateChild()’:
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_underactuated_finger.cpp:188:30: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
virtual_joints_.at(i)->SetAngle(0u, new_angle);
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_ros_forcetorque.cpp: In member function ‘virtual void gazebo::FTPlugin::Load(gazebo::sensors::SensorPtr, sdf::ElementPtr)’:
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_ros_forcetorque.cpp:116:89: error: no matching function for call to ‘dynamic_pointer_cast(gazebo::sensors::SensorPtr&)’
this->footContactSensor = boost::dynamic_pointer_castsensors::ContactSensor (sensor);
^
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
from /usr/include/boost/date_time/time_clock.hpp:17,
from /usr/include/boost/thread/thread_time.hpp:9,
from /usr/include/boost/thread/lock_types.hpp:18,
from /usr/include/boost/thread/pthread/mutex.hpp:16,
from /usr/include/boost/thread/mutex.hpp:16,
from /home/iotlab/catkin_ws2/src/pal_gazebo_plugins/include/pal_gazebo_plugins/gazebo_ros_forcetorque.h:44,
from /home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_ros_forcetorque.cpp:37:
/usr/include/boost/smart_ptr/shared_ptr.hpp:803:42: note: candidate: template<class T, class U> boost::shared_ptr boost::dynamic_pointer_cast(const boost::shared_ptr&)
template<class T, class U> shared_ptr dynamic_pointer_cast( shared_ptr const & r ) BOOST_NOEXCEPT
^
/usr/include/boost/smart_ptr/shared_ptr.hpp:803:42: note: template argument deduction/substitution failed:
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_ros_forcetorque.cpp:116:89: note: ‘gazebo::sensors::SensorPtr {aka std::shared_ptrgazebo::sensors::Sensor}’ is not derived from ‘const boost::shared_ptr’
this->footContactSensor = boost::dynamic_pointer_castsensors::ContactSensor (sensor);
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_ros_forcetorque.cpp: In member function ‘void gazebo::FTPlugin::UpdateChild()’:
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_ros_forcetorque.cpp:173:56: warning: ‘double gazebo::sensors::Sensor::GetUpdateRate()’ is deprecated [-Wdeprecated-declarations]
double rate = footContactSensor->GetUpdateRate();
^
In file included from /usr/include/gazebo-7/gazebo/sensors/ContactSensor.hh:26:0,
from /home/iotlab/catkin_ws2/src/pal_gazebo_plugins/include/pal_gazebo_plugins/gazebo_ros_forcetorque.h:67,
from /home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_ros_forcetorque.cpp:37:
/usr/include/gazebo-7/gazebo/sensors/Sensor.hh:96:22: note: declared here
public: double GetUpdateRate() GAZEBO_DEPRECATED(7.0);
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_ros_forcetorque.cpp:180:57: warning: ‘gazebo::msgs::Contacts gazebo::sensors::ContactSensor::GetContacts() const’ is deprecated [-Wdeprecated-declarations]
contacts = this->footContactSensor->GetContacts();
^
In file included from /home/iotlab/catkin_ws2/src/pal_gazebo_plugins/include/pal_gazebo_plugins/gazebo_ros_forcetorque.h:67:0,
from /home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_ros_forcetorque.cpp:37:
/usr/include/gazebo-7/gazebo/sensors/ContactSensor.hh:126:30: note: declared here
public: msgs::Contacts GetContacts() const GAZEBO_DEPRECATED(7.0);
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_harness.cpp: In member function ‘virtual void gazebo::GazeboHarness::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_harness.cpp:74:56: error: ‘class sdf::Element’ has no member named ‘GetValueString’
this->pinLink = this->robot_ptr->GetLink(_sdf->GetValueString("pin_link"));
^
In file included from /opt/ros/kinetic/include/ros/ros.h:40:0,
from /home/iotlab/catkin_ws2/src/pal_gazebo_plugins/include/pal_gazebo_plugins/gazebo_harness.h:53,
from /home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_harness.cpp:46:
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_harness.cpp:75:56: error: ‘class sdf::Element’ has no member named ‘GetValueString’
ROS_ERROR_STREAM("Got pin_link value: " << _sdf->GetValueString("pin_link"));
^
/opt/ros/kinetic/include/ros/console.h:356:64: note: in definition of macro ‘ROSCONSOLE_PRINT_STREAM_AT_LOCATION_WITH_FILTER’
rosconsole_print_stream_at_location_with_filter__ss << args;
^
/opt/ros/kinetic/include/ros/console.h:398:7: note: in expansion of macro ‘ROSCONSOLE_PRINT_STREAM_AT_LOCATION’
ROSCONSOLE_PRINT_STREAM_AT_LOCATION(args);
^
/opt/ros/kinetic/include/ros/console.h:568:43: note: in expansion of macro ‘ROS_LOG_STREAM_COND’
#define ROS_LOG_STREAM(level, name, args) ROS_LOG_STREAM_COND(true, level, name, args)
^
/opt/ros/kinetic/include/rosconsole/macros_generated.h:215:32: note: in expansion of macro ‘ROS_LOG_STREAM’
#define ROS_ERROR_STREAM(args) ROS_LOG_STREAM(::ros::console::levels::Error, ROSCONSOLE_DEFAULT_NAME, args)
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_harness.cpp:75:7: note: in expansion of macro ‘ROS_ERROR_STREAM’
ROS_ERROR_STREAM("Got pin_link value: " << _sdf->GetValueString("pin_link"));
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp: In member function ‘virtual void gazebo::GazeboPalHand::UpdateChild()’:
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:159:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[1]->SetAngle(0u, index_1_angle);
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:162:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[2]->SetAngle(0u, index_2_angle);
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:165:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[3]->SetAngle(0u, index_3_angle);
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:169:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[1]->SetAngle(0u, lower_limit);
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:170:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[2]->SetAngle(0u, lower_limit);
^
/home/iotlab/catkin_ws2/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:171:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[3]->SetAngle(0u, lower_limit);
^
pal_gazebo_plugins/CMakeFiles/gazebo_underactuated_finger.dir/build.make:62: recipe for target 'pal_gazebo_plugins/CMakeFiles/gazebo_underactuated_finger.dir/src/gazebo_underactuated_finger.cpp.o' failed
make[2]: *** [pal_gazebo_plugins/CMakeFiles/gazebo_underactuated_finger.dir/src/gazebo_underactuated_finger.cpp.o] Error 1
CMakeFiles/Makefile2:32404: recipe for target 'pal_gazebo_plugins/CMakeFiles/gazebo_underactuated_finger.dir/all' failed
make[1]: *** [pal_gazebo_plugins/CMakeFiles/gazebo_underactuated_finger.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
pal_gazebo_plugins/CMakeFiles/gazebo_ros_forcetorque.dir/build.make:62: recipe for target 'pal_gazebo_plugins/CMakeFiles/gazebo_ros_forcetorque.dir/src/gazebo_ros_forcetorque.cpp.o' failed
make[2]: *** [pal_gazebo_plugins/CMakeFiles/gazebo_ros_forcetorque.dir/src/gazebo_ros_forcetorque.cpp.o] Error 1
CMakeFiles/Makefile2:32366: recipe for target 'pal_gazebo_plugins/CMakeFiles/gazebo_ros_forcetorque.dir/all' failed
make[1]: *** [pal_gazebo_plugins/CMakeFiles/gazebo_ros_forcetorque.dir/all] Error 2
pal_gazebo_plugins/CMakeFiles/gazebo_pal_hand.dir/build.make:62: recipe for target 'pal_gazebo_plugins/CMakeFiles/gazebo_pal_hand.dir/src/gazebo_pal_hand.cpp.o' failed
make[2]: *** [pal_gazebo_plugins/CMakeFiles/gazebo_pal_hand.dir/src/gazebo_pal_hand.cpp.o] Error 1
CMakeFiles/Makefile2:32290: recipe for target 'pal_gazebo_plugins/CMakeFiles/gazebo_pal_hand.dir/all' failed
make[1]: *** [pal_gazebo_plugins/CMakeFiles/gazebo_pal_hand.dir/all] Error 2
pal_gazebo_plugins/CMakeFiles/gazebo_harness.dir/build.make:62: recipe for target 'pal_gazebo_plugins/CMakeFiles/gazebo_harness.dir/src/gazebo_harness.cpp.o' failed
make[2]: *** [pal_gazebo_plugins/CMakeFiles/gazebo_harness.dir/src/gazebo_harness.cpp.o] Error 1
CMakeFiles/Makefile2:32328: recipe for target 'pal_gazebo_plugins/CMakeFiles/gazebo_harness.dir/all' failed
make[1]: *** [pal_gazebo_plugins/CMakeFiles/gazebo_harness.dir/all] Error 2
[ 97%] Linking CXX shared library /home/iotlab/catkin_ws2/devel/lib/libgazebo_wifi_ap.so
[ 97%] Built target gazebo_wifi_ap
[ 97%] Linking CXX shared library /home/iotlab/catkin_ws2/devel/lib/libgazebo_world_odometry.so
[ 97%] Built target gazebo_world_odometry
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

I'm not able to find pepper_dcm_controllers package. Plugin is not working properly with ros indigo and gazebo version 2.2.3.

Hi,
when I use the actual robot I got access to the topic /joint_angles
and with gazebo I got /pepper_dcm/JOINTNAME_position_controller/command.

I did not find how to get the same topic (/joint_angles) in simulation. Do you have any clue ?

Can you help me ?

If we can get rid of this dependency for all distro that would be the best. If not, we should specify in the readme that it compiles only for Indigo and explain that the physics will have different behavior according to which distro is used

I installed all packages (for kinetic) as mentioned in the ReadMe.
However, I get the following error that indicates (IMHO) that the
corresponding controller cannot be loaded.

If anyone knows how to handle this problem, could you help me? Sorry for my trouble.

ros: indigo
gazebo version: 2.2.3
gazebo_ros (I use deb) version: 2.4.11-0trusty-20160713-191140-0700
pepper_gazebo_plugin (I use deb) version: 0.0.3-0trusty-20160925-083240-0700
pepper_description version: 0.1.7-0trusty-20160629-000946-0700

１. not execute source /opt/ros/indigo/setup.bash

roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch returns some errors.

ERROR: cannot launch node of type [gazebo_ros/gzserver]: can't locate node [gzserver] in package [gazebo_ros]
ERROR: cannot launch node of type [gazebo_ros/gzclient]: can't locate node [gzclient] in package [gazebo_ros]
process[pepper_trajectory_controller-4]: started with pid [18934]
ERROR: cannot launch node of type [gazebo_ros/spawn_model]: can't locate node [spawn_model] in package [gazebo_ros]

２. execute source /opt/ros/indigo/setup.bash
roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch returns gazebo window, but when I push a play button, pepper transforms into a weird shape.

Before 1 occurs, I could launch gazebo plugin with some packages from source (pepper_description, pepper_gazebo_plugin)
I did sudo apt-get update before these problems occurred, but I'm not sure the actual cause.