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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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Error mir_gazebo mir_maze_world.launch #123

Closed nbsnbs closed 1 year ago

nbsnbs commented 1 year ago

Hey ı can try this repository and completly manuel and start but error dont working

full installed and ı can try this comman : roslaunch mir_gazebo mir_maze_world.launch

but error with me console and don't load urdf / gazebo robot model

[ERROR] [1673735199.523148929]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/left_wheel_joint [ERROR] [1673735199.525153121]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/right_wheel_joint

ubuntu@ubuntu:~$ roslaunch mir_gazebo mir_maze_world.launch ... logging to /home/ubuntu/.ros/log/7d87276e-945a-11ed-a8e7-c959f80a5624/roslaunch-ubuntu-67171.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:39215/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / b_rep117_laser_filter (mir_driver/rep117_filter.py) b_scan_relay (topic_tools/relay) controller_spawner (controller_manager/spawner) ekf_localization_node (robot_localization/ekf_localization_node) f_rep117_laser_filter (mir_driver/rep117_filter.py) f_scan_relay (topic_tools/relay) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) rqt_robot_steering (rqt_robot_steering/rqt_robot_steering) spawn_maze (gazebo_ros/spawn_model) spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [67181] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7d87276e-945a-11ed-a8e7-c959f80a5624 process[rosout-1]: started with pid [67194] started core service [/rosout] process[gazebo-2]: started with pid [67202] process[gazebo_gui-3]: started with pid [67207] process[spawn_urdf-4]: started with pid [67209] process[controller_spawner-5]: started with pid [67213] process[ekf_localization_node-6]: started with pid [67214] process[joint_state_publisher-7]: started with pid [67215] process[robot_state_publisher-8]: started with pid [67220] process[rqt_robot_steering-9]: started with pid [67223] process[b_scan_relay-10]: started with pid [67224] process[f_scan_relay-11]: started with pid [67225] process[b_rep117_laser_filter-12]: started with pid [67234] process[f_rep117_laser_filter-13]: started with pid [67235] process[spawn_maze-14]: started with pid [67239] [INFO] [1673735193.272112, 0.000000]: Waiting for /clock to be available... [INFO] [1673735193.704838, 0.000000]: Loading model XML from file /home/ubuntu/test_ws/src/mir_robot/mir_gazebo/sdf/maze/model.sdf [INFO] [1673735193.711899, 0.000000]: Waiting for service /gazebo/spawn_sdf_model [ INFO] [1673735195.970863166]: Finished loading Gazebo ROS API Plugin. [ INFO] [1673735195.977844955]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1673735196.239129133]: Finished loading Gazebo ROS API Plugin. [ INFO] [1673735196.243535853]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1673735197.667402, 0.000000]: Calling service /gazebo/spawn_sdf_model [ INFO] [1673735197.670842777]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1673735198.594372652]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1673735198.595675268]: Starting Laser Plugin (ns = /) [ INFO] [1673735198.598758410]: Laser Plugin (ns = /) , set to "" [ INFO] [1673735199.147216419]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1673735199.147395614]: Starting Laser Plugin (ns = /) [ INFO] [1673735199.149245099]: Laser Plugin (ns = /) , set to "" [ INFO] [1673735199.396560450]: Loading gazebo_ros_control plugin [ INFO] [1673735199.397206778]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1673735199.398329712]: gazebo_ros_control plugin is waiting for model URDF in parameter [robotdescription] on the ROS param server. **### [ERROR] [1673735199.523148929]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/left_wheel_joint [ERROR] [1673735199.525153121]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/right_wheeljoint* [ INFO] [1673735199.532842115]: Loaded gazebo_ros_control. [INFO] [1673735199.907157, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1673735199.926402199]: Physics dynamic reconfigure ready. [spawn_urdf-4] process has finished cleanly log file: /home/ubuntu/.ros/log/7d87276e-945a-11ed-a8e7-c959f80a5624/spawn_urdf-4.log [spawn_maze-14] process has finished cleanly log file: /home/ubuntu/.ros/log/7d87276e-945a-11ed-a8e7-c959f80a5624/spawn_maze-14*.log context mismatch in svga_surface_destroy context mismatch in svga_surface_destroy

mintar commented 1 year ago

Thanks for the bug report!

These errors are "normal" and can be ignored. I'm sorry about that, but we cannot avoid producing these errors.

I have added documentation explaining why to the README: https://github.com/dfki-ric/mir_robot#gazebo-prints-errors-no-p-gain-specified-for-pid