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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 with Running the World Warehouse Gazebo World #135

Closed odai93sh closed 10 months ago

odai93sh commented 10 months ago

I'm currently facing an error while trying to run the "World Warehouse" Gazebo world.

rospack] Error: package 'aws_robomaker_small_warehouse_world' not found ... logging to /home/user/.ros/log/2fa11f70-b9f0-11ee-a77f-01e8d9c80b51/roslaunch-user-virtual-machine-522095.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://user-virtual-machine:43663/

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_urdf (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [527722] ROS_MASTER_URI=http://localhost:11311

setting /run_id to d84fd95e-b9f5-11ee-a77f-01e8d9c80b51 process[rosout-1]: started with pid [527732] started core service [/rosout] process[gazebo-2]: started with pid [527740] process[gazebo_gui-3]: started with pid [527744] process[spawn_urdf-4]: started with pid [527750] process[controller_spawner-5]: started with pid [527751] process[ekf_localization_node-6]: started with pid [527752] process[joint_state_publisher-7]: started with pid [527753] process[robot_state_publisher-8]: started with pid [527754] process[rqt_robot_steering-9]: started with pid [527755] process[b_scan_relay-10]: started with pid [527760] process[f_scan_relay-11]: started with pid [527765] process[b_rep117_laser_filter-12]: started with pid [527771] process[f_rep117_laser_filter-13]: started with pid [527783] [INFO] [1706017605.742347, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1706017606.086611407]: Finished loading Gazebo ROS API Plugin. [ INFO] [1706017606.088705931]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1706017606.216987718]: Finished loading Gazebo ROS API Plugin. [ INFO] [1706017606.219236740]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1706017606.738825214]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1706017606.764948445]: Physics dynamic reconfigure ready. [ INFO] [1706017607.505671023]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1706017607.505781637]: Starting Laser Plugin (ns = /) [ INFO] [1706017607.509244201]: Laser Plugin (ns = /) , set to "" [ INFO] [1706017607.686855777]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1706017607.686917342]: Starting Laser Plugin (ns = /) [ INFO] [1706017607.689548433]: Laser Plugin (ns = /) , set to "" [ INFO] [1706017607.868495846]: Loading gazebo_ros_control plugin [ INFO] [1706017607.868896226]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1706017607.869977839]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ERROR] [1706017607.989644120]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/left_wheel_joint [ERROR] [1706017607.990568884]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/right_wheel_joint [ INFO] [1706017607.995506559]: Loaded gazebo_ros_control. [INFO] [1706017608.158537, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1706017608.162147, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1706017608.165236, 0.000000]: Loading controller: joint_state_controller [INFO] [1706017608.174793, 0.000000]: Loading controller: mobile_base_controller [ INFO] [1706017608.188194212]: Controller state will be published at 41.2Hz. [ INFO] [1706017608.189431126]: Wheel separation will be multiplied by 1. [ INFO] [1706017608.190228656]: Left wheel radius will be multiplied by 1. [ INFO] [1706017608.190287292]: Right wheel radius will be multiplied by 1. [ INFO] [1706017608.191168390]: Velocity rolling window size of 10. [ INFO] [1706017608.192161441]: Velocity commands will be considered old if they are older than 0.5s. [ INFO] [1706017608.192575421]: Allow mutiple cmd_vel publishers is enabled [ INFO] [1706017608.193585515]: Base frame_id set to base_footprint [ INFO] [1706017608.194387062]: Odometry frame_id set to odom [ INFO] [1706017608.195144956]: Publishing to tf is disabled [ INFO] [1706017608.209137156]: left wheel to origin: 0,0.2015, 0.1 [ INFO] [1706017608.209223176]: right wheel to origin: 0,-0.2015, 0.1 [ INFO] [1706017608.209496005]: Odometry params : wheel separation 0.403, left wheel radius 0.1, right wheel radius 0.1 [ INFO] [1706017608.212386215]: Adding left wheel with joint name: left_wheel_joint and right wheel with joint name: right_wheel_joint [ INFO] [1706017608.223555561]: Dynamic Reconfigure: DynamicParams: Odometry parameters: left wheel radius multiplier: 1 right wheel radius multiplier: 1 wheel separation multiplier: 1 Publication parameters: Publish executed velocity command: disabled Publication rate: 41.2 Publish frame odom on tf: disabled [INFO] [1706017608.226982, 0.000000]: Controller Spawner: Loaded controllers: joint_state_controller, mobile_base_controller [spawn_urdf-4] process has finished cleanly log file: /home/user/.ros/log/d84fd95e-b9f5-11ee-a77f-01e8d9c80b51/spawn_urdf-4*.log

mintar commented 10 months ago

See the README:

cd <your catkin workspace>
git clone -b ros1 https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git
catkin build
odai93sh commented 10 months ago

I have already did all the steps in README, but despite that, i continue to encounter the same error

mintar commented 10 months ago

It's working:

mguenther@mguenther-p15-u:~$ sudo apt install ros-noetic-mir-robot
mguenther@mguenther-p15-u:~$ source /opt/ros/noetic/setup.zsh
mguenther@mguenther-p15-u:~$ mkdir -p ros/noetic/tmp/src
mguenther@mguenther-p15-u:~$ cd ros/noetic/tmp/src
mguenther@mguenther-p15-u:~/ros/noetic/tmp/src$ git clone -b ros1 https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git
Cloning into 'aws-robomaker-small-warehouse-world'...
remote: Enumerating objects: 391, done.
remote: Counting objects: 100% (67/67), done.
remote: Compressing objects: 100% (32/32), done.
remote: Total 391 (delta 43), reused 35 (delta 35), pack-reused 324
Receiving objects: 100% (391/391), 9.18 MiB | 7.70 MiB/s, done.
Resolving deltas: 100% (200/200), done.

mguenther@mguenther-p15-u:~/ros/noetic/tmp/src$ cd ..

mguenther@mguenther-p15-u:~/ros/noetic/tmp$ catkin init
Initializing catkin workspace in `/home/mguenther/ros/noetic/tmp`.
-------------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/noetic
Workspace:                   /home/mguenther/ros/noetic/tmp
-------------------------------------------------------------------
Build Space:       [missing] /home/mguenther/ros/noetic/tmp/build
Devel Space:       [missing] /home/mguenther/ros/noetic/tmp/devel
Install Space:      [unused] /home/mguenther/ros/noetic/tmp/install
Log Space:         [missing] /home/mguenther/ros/noetic/tmp/logs
Source Space:       [exists] /home/mguenther/ros/noetic/tmp/src
DESTDIR:            [unused] None
-------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------------------
Buildlisted Packages:        None
Skiplisted Packages:         None
-------------------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------------------

mguenther@mguenther-p15-u:~/ros/noetic/tmp$ catkin b
==> Expanding alias 'b' from 'catkin b' to 'catkin build'
-------------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/noetic
Workspace:                   /home/mguenther/ros/noetic/tmp
-------------------------------------------------------------------
Build Space:        [exists] /home/mguenther/ros/noetic/tmp/build
Devel Space:        [exists] /home/mguenther/ros/noetic/tmp/devel
Install Space:      [unused] /home/mguenther/ros/noetic/tmp/install
Log Space:         [missing] /home/mguenther/ros/noetic/tmp/logs
Source Space:       [exists] /home/mguenther/ros/noetic/tmp/src
DESTDIR:            [unused] None
-------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------------------
Buildlisted Packages:        None
Skiplisted Packages:         None
-------------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-------------------------------------------------------------------
[build] Found 1 packages in 0.0 seconds.
[build] Updating package table.
Starting  >>> catkin_tools_prebuild
Finished  <<< catkin_tools_prebuild                              [ 1.5 seconds ]
Starting  >>> aws_robomaker_small_warehouse_world
Finished  <<< aws_robomaker_small_warehouse_world                [ 1.8 seconds ]
[build] Summary: All 2 packages succeeded!
[build]   Ignored:   None.
[build]   Warnings:  None.
[build]   Abandoned: None.
[build]   Failed:    None.
[build] Runtime: 3.3 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

mguenther@mguenther-p15-u:~/ros/noetic/tmp$ source devel/setup.zsh

mguenther@mguenther-p15-u:~/ros/noetic/tmp$ roslaunch mir_gazebo mir_empty_world.launch \
        world_name:=$(rospack find aws_robomaker_small_warehouse_world)/worlds/no_roof_small_warehouse.world \
        mir_type:=mir_250