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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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melodic 版本 roslaunch 之后 gazebo只有地板没有模型 #70

Closed kids0cn closed 4 years ago

kids0cn commented 4 years ago

分支正确，编译没有报错，系统环境 18.04 melodic

运行之后输出如下：

... logging to /home/kids/.ros/log/42e18ae6-32d8-11ea-b80c-34f39af483a5/roslaunch-kids-ThinkPad-X1-Yoga-1st-5860.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro.py is deprecated; please use xacro instead started roslaunch server http://kids-ThinkPad-X1-Yoga-1st:35219/

SUMMARY

PARAMETERS

NODES /xbot/ robot_state_publisher (robot_state_publisher/robot_state_publisher) spawner (controller_manager/spawner) / 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)

auto-starting new master process[master]: started with pid [5873] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 42e18ae6-32d8-11ea-b80c-34f39af483a5 process[rosout-1]: started with pid [5884] started core service [/rosout] process[gazebo-2]: started with pid [5891] process[gazebo_gui-3]: started with pid [5896] process[urdf_spawner-4]: started with pid [5901] process[xbot/spawner-5]: started with pid [5902] process[xbot/robot_state_publisher-6]: started with pid [5903] process[mobile_base_nodelet_manager-7]: started with pid [5904] process[cmd_vel_mux-8]: started with pid [5905] [INFO] [1578571502.082011, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1578571502.158143125]: Finished loading Gazebo ROS API Plugin. [ INFO] [1578571502.159660881]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1578571502.284059219]: Finished loading Gazebo ROS API Plugin. [ INFO] [1578571502.285494542]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [Err] [REST.cc:205] Error in REST request

libcurl: (7) Failed to receive SOCKS4 connect request ack. [INFO] [1578571502.777673, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1578571502.794862, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1578571502.799300, 0.000000]: Calling service /gazebo/spawn_urdf_model Warning [parser.cc:950] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. Warning [parser.cc:950] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. Warning [parser.cc:950] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. Warning [parser.cc:950] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. Warning [parser.cc:950] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element. [ INFO] [1578571503.807325023, 0.001000000]: set to: // [ INFO] [1578571503.807419105, 0.001000000]: set to: //imu [ INFO] [1578571503.807440740, 0.001000000]: set to: imu_link [ INFO] [1578571503.807474102, 0.001000000]: set to: 10 [ INFO] [1578571503.807494135, 0.001000000]: set to: 0 [ INFO] [1578571503.807520303, 0.001000000]: set to: 0 0 0 [ INFO] [1578571503.807558355, 0.001000000]: set to: 0 -0 0 [ INFO] [1578571504.040034272, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1578571504.040107910, 0.001000000]: Starting GazeboRosLaser Plugin (ns = /) [ INFO] [1578571504.041643590, 0.001000000]: GPU Laser Plugin (ns = /) , set to "" [ INFO] [1578571504.042476430, 0.001000000]: LoadThread function completed [INFO] [1578571504.055999, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1578571504.090989779, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1578571504.095305489, 0.001000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1578571504.156967671, 0.001000000]: Starting plugin DiffDrive(ns = //) [ WARN] [1578571504.157234527, 0.001000000]: DiffDrive(ns = //): missing default is na [ INFO] [1578571504.158039409, 0.001000000]: DiffDrive(ns = //): = [ WARN] [1578571504.158282280, 0.001000000]: DiffDrive(ns = //): missing default is true [ WARN] [1578571504.158471439, 0.001000000]: DiffDrive(ns = //): missing default is 5 [ WARN] [1578571504.158664612, 0.001000000]: DiffDrive(ns = //): missing default is 1 [ INFO] [1578571504.159503202, 0.001000000]: DiffDrive(ns = //): Advertise joint_states [ INFO] [1578571504.160257719, 0.001000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel [ INFO] [1578571504.162634203, 0.001000000]: DiffDrive(ns = //): Subscribe to cmd_vel [ INFO] [1578571504.163354633, 0.001000000]: DiffDrive(ns = //): Advertise odom on odom [ INFO] [1578571504.188450248, 0.001000000]: Loading gazebo_ros_control plugin [ INFO] [1578571504.188655467, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /xbot [ INFO] [1578571504.190291506, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ WARN] [1578571504.308767168, 0.001000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'base_to_yaw_platform'. [ WARN] [1578571504.309700265, 0.001000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'yaw_to_pitch_platform'. [ INFO] [1578571504.314621624, 0.001000000]: Loaded gazebo_ros_control. [ INFO] [1578571504.339438301, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [urdf_spawner-4] process has finished cleanly log file: /home/kids/.ros/log/42e18ae6-32d8-11ea-b80c-34f39af483a5/urdf_spawner-4*.log [ INFO] [1578571504.390425720, 0.068000000]: Physics dynamic reconfigure ready. [INFO] [1578571504.495318, 0.170000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1578571504.498968, 0.172000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1578571504.502310, 0.176000]: Loading controller: joint_state_controller [INFO] [1578571504.523185, 0.190000]: Loading controller: yaw_platform_position_controller [INFO] [1578571504.595226, 0.248000]: Loading controller: pitch_platform_position_controller [INFO] [1578571504.639813, 0.274000]: Controller Spawner: Loaded controllers: joint_state_controller, yaw_platform_position_controller, pitch_platform_position_controller [INFO] [1578571504.646133, 0.278000]: Started controllers: joint_state_controller, yaw_platform_position_controller, pitch_platform_position_controller

kids0cn commented 4 years ago

18.04+melodic,git clone下来master之后，需要通过git checkout melodic 选择melodic分支，再编译，问题解决。

leonchan123 commented 4 years ago

Thanks for your mention. After downloading the package bygit clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git,you go into it and run a terminal withgit check melodic.Then you can catkin_make. But I met another problem about Qt version,which need Qt 4.x. This is my solution as follow: rosdep install --from-paths WORKSPACE --ignore-src --rosdistro=ROSDISTRO By this way,you can deal with the dependency problem. (The WORKSPACE is your catkin workspace,and the ROSDISTRO is kinetic or melodic)