roslaunch aubo_i5 error: Robot model parameter not found! Did you remap 'robot_description'?

dashuaip commented 8 months ago

我在 Ubuntu 18.04 的 ros melodic 中用 roslaunch 启动 aubo_i5 时报错：Robot model parameter not found! Did you remap 'robot_description'?

请问我应该怎么解决？

jh@ubuntu:~/aubo_ws$ roslaunch aubo_moveit_config moveit_planning_execution.launch sim:=true robot_model:=aubo_i5
... logging to /home/jh/.ros/log/372545a4-a79a-11ee-a08d-000c29c896ea/roslaunch-ubuntu-22213.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.

started roslaunch server http://ubuntu:46109/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/disable_capabilities: 
 * /move_group/endeffector/planner_configs: ['AnytimePathShor...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator_i5/default_planner_config: RRTConnect
 * /move_group/manipulator_i5/longest_valid_segment_fraction: 0.005
 * /move_group/manipulator_i5/planner_configs: ['AnytimePathShor...
 * /move_group/manipulator_i5/projection_evaluator: joints(shoulder_j...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/AnytimePathShortening/hybridize: True
 * /move_group/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /move_group/planner_configs/AnytimePathShortening/num_planners: 4
 * /move_group/planner_configs/AnytimePathShortening/planners: 
 * /move_group/planner_configs/AnytimePathShortening/shortcut: True
 * /move_group/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/manipulator_i5/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/manipulator_i5/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator_i5/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/foreArm_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/foreArm_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/foreArm_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/foreArm_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/shoulder_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/upperArm_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/upperArm_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/upperArm_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/upperArm_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/wrist1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist1_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist2_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist3_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [22228]
[ERROR] [1704000144.803249849]: Robot model parameter not found! Did you remap 'robot_description'?
[ERROR] [1704000144.817291572]: Robot model not loaded
[ERROR] [1704000144.823143157]: Planning scene not configured
[move_group-1] process has finished cleanly
log file: /home/jh/.ros/log/372545a4-a79a-11ee-a08d-000c29c896ea/move_group-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

JI-PENG264 commented 8 months ago

看报错内容显示机器人模型参数没有找到，目前仓库中的aubo_description是以子模块的形式引入的，克隆之后需要更新子模块内容

dashuaip commented 8 months ago

看报错内容显示机器人模型参数没有找到，目前仓库中的aubo_description是以子模块的形式引入的，克隆之后需要更新子模块内容

子模块我也下载了，并且catkin build成功了，还是报相同的错误

JI-PENG264 commented 8 months ago

你是想在gazebo上面仿真吗？如果仿真的话是需要先启动aubo_gazebo中的aubo_bringup.launch，launch文件里面会开启一个aubo_description下的load_aubo.launch文件，robot_description是通过load_aubo.launch文件加载的，应该是没开启这个launch文件

dashuaip commented 8 months ago

你是想在gazebo上面仿真吗？如果仿真的话是需要先启动aubo_gazebo中的aubo_bringup.launch，launch文件里面会开启一个aubo_description下的load_aubo.launch文件，robot_description是通过load_aubo.launch文件加载的，应该是没开启这个launch文件

我想用来控制真实的AUBO-i10机械臂，是不是也得先启动gazebo里的launch文件?

JI-PENG264 commented 8 months ago

控制真实机械臂的话需要先启动aubo_robot_driver中的aubo_bringup.launch，再启动moviet

dashuaip commented 8 months ago

控制真实机械臂的话需要先启动aubo_robot_driver中的aubo_bringup.launch，再启动moviet

启动 aubo_bringup.launch 时也是报错，无论是仿真还是想控制真实机械臂

`fy@auboedu-virtual-machine:~/aubo_new_ws$ roslaunch aubo_gazebo aubo_bringup.launch robot_model:=aubo_i5 ... logging to /home/fy/.ros/log/9fd63116-aacf-11ee-aaa7-000c2985b3b5/roslaunch-auboedu-virtual-machine-7888.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.

Deprecated: xacro tag 'property' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic) when instantiating macro: aubo_robot (/home/fy/aubo_new_ws/src/aubo_ros_driver/aubo_description/urdf/xacro/inc/aubo_macro.xacro) in file: /home/fy/aubo_new_ws/src/aubo_ros_driver/aubo_description/urdf/aubo_i5.urdf included from: /home/fy/aubo_new_ws/src/aubo_ros_driver/aubo_description/urdf/xacro/inc/aubo.xacro Use the following command to fix incorrect tag usage: find . -iname "*.xacro" | xargs sed -i 's#<([/]\?)(if|unless|include|arg|property|macro|insert_block)#<\1xacro:\2#g'

property: missing attribute 'name' when instantiating macro: aubo_robot (/home/fy/aubo_new_ws/src/aubo_ros_driver/aubo_description/urdf/xacro/inc/aubo_macro.xacro) in file: /home/fy/aubo_new_ws/src/aubo_ros_driver/aubo_description/urdf/aubo_i5.urdf included from: /home/fy/aubo_new_ws/src/aubo_ros_driver/aubo_description/urdf/xacro/inc/aubo.xacro RLException: while processing /home/fy/aubo_new_ws/src/aubo_ros_driver/aubo_description/launch/load_aubo.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '/home/fy/aubo_new_ws/src/aubo_ros_driver/aubo_description/urdf/xacro/inc/aubo.xacro', 'robot_model:=aubo_i5', 'transmission_hw_interface:=hardware_interface/PositionJointInterface']] returned with code [2].

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

JI-PENG264 commented 8 months ago

报错显示urdf文件中的property缺少name属性，是由于ubuntu18.04版本中的xacro导致的，请更新最新的aubo_description仓库，已做了适配

dashuaip commented 8 months ago

报错显示urdf文件中的property缺少name属性，是由于ubuntu18.04版本中的xacro导致的，请更新最新的aubo_description仓库，已做了适配

谢谢，更新aubo_description后roslaunch aubo_gazebo aubo_bringup.launch robot_model:=aubo_i5 确实能打开了，但是后面又有新的问题。我将再新建一个issues展示我的问题。

AuboRobot / aubo_ros_driver

roslaunch aubo_i5 error: Robot model parameter not found! Did you remap 'robot_description'? #1