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DroidAITech / ROS-Academy-for-Beginners

中国大学MOOC《机器人操作系统入门》课程代码示例
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运行roslaunch robot_sim_demo robot_spawn.launch卡死，gazebo直接退出 #149

Closed ch1998 closed 2 years ago

ch1998 commented 2 years ago

... logging to /home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/roslaunch-nuc-11892.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.py is deprecated; please use xacro instead xacro.py is deprecated; please use xacro instead started roslaunch server http://nuc:35095/

SUMMARY

PARAMETERS

NODES / cmd_vel_mux (nodelet/nodelet) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) mobile_base_nodelet_manager (nodelet/nodelet) urdf_spawner (gazebo_ros/spawn_model) /xbot/ robot_state_publisher (robot_state_publisher/robot_state_publisher) spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [11944] process[gazebo_gui-2]: started with pid [11949] process[urdf_spawner-3]: started with pid [11954] process[xbot/spawner-4]: started with pid [11955] process[xbot/robot_state_publisher-5]: started with pid [11956] process[mobile_base_nodelet_manager-6]: started with pid [11957] process[cmd_vel_mux-7]: started with pid [11958] [FATAL] [1644568292.023484133]: Failed to load nodelet '/cmd_vel_muxof typeyocs_cmd_vel_mux/CmdVelMuxNodeletto managermobile_base_nodelet_manager' [ WARN] [1644568292.093567677]: Shutdown request received. [ WARN] [1644568292.094470894]: Reason given for shutdown: [[/xbot/robot_state_publisher] Reason: new node registered with same name] [ERROR] [1644568292.159326444]: Failed to find nodelet with name '/cmd_vel_mux' to unload. [INFO] [1644568292.174146, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1644568292.175886, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1644568292.177511, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1644568292.180872, 0.000000]: Loading controller: joint_state_controller shutdown request: [/xbot/spawner] Reason: new node registered with same name [INFO] [1644568292.300165, 369.353000]: Shutting down spawner. Stopping and unloading controllers... [INFO] [1644568292.302015, 369.353000]: Stopping all controllers... [INFO] [1644568292.312454, 369.356000]: Unloading all loaded controllers... [cmd_vel_mux-7] process has died [pid 11958, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager cmd_vel_mux/output/cmd_vel:=cmd_vel name:=cmd_vel_mux log:=/home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/cmd_vel_mux-7.log]. log file: /home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/cmd_vel_mux-7.log [xbot/robot_state_publisher-5] process has finished cleanly log file: /home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/xbot-robot_state_publisher-5.log [ INFO] [1644568292.513529334]: Finished loading Gazebo ROS API Plugin. [ INFO] [1644568292.514783986]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [gazebo-1] process has died [pid 11944, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/dh/ch/catkin_ws1/src/ROS-Academy-for-Beginners/robot_sim_demo/worlds/ROS-Academy.world name:=gazebo log:=/home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/gazebo-1.log]. log file: /home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/gazebo-1.log [INFO] [1644568292.682039, 0.000000]: Loading model XML from ros parameter robot_description_obj [INFO] [1644568292.694056, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1644568292.696758, 369.757000]: Calling service /gazebo/spawn_urdf_model [INFO] [1644568292.701017, 369.761000]: Spawn status: SpawnModel: Failure - entity already exists. [ERROR] [1644568292.701833, 369.762000]: Spawn service failed. Exiting. [urdf_spawner-3] process has died [pid 11954, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -x 5.0 -y 1.0 -z 0.0 -Y -3.1 -model xbot-u -param robot_description_obj __name:=urdf_spawner __log:=/home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/urdf_spawner-3.log]. log file: /home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/urdf_spawner-3.log [ERROR] [1644568293.184197, 369.359000]: Failed to load joint_state_controller [INFO] [1644568293.185187, 369.359000]: Loading controller: yaw_platform_position_controller Traceback (most recent call last): File "/opt/ros/melodic/lib/controller_manager/spawner", line 212, in if name == 'main': main() File "/opt/ros/melodic/lib/controller_manager/spawner", line 190, in main resp = load_controller(name) File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 442, in call return self.call(*args, *kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 524, in call raise ServiceException("service [%s] returned no response"%self.resolved_name) rospy.service.ServiceException: service [/xbot/controller_manager/load_controller] returned no response [xbot/spawner-4] process has died [pid 11955, exit code 1, cmd /opt/ros/melodic/lib/controller_manager/spawner joint_state_controller yaw_platform_position_controller pitch_platform_position_controller name:=spawner log:=/home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/xbot-spawner-4.log]. log file: /home/dh/.ros/log/258ef6ea-8b14-11ec-8173-34e12ddfa151/xbot-spawner-4.log