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Ekumen-OS / Noah-bot-simulation

BSD 3-Clause "New" or "Revised" License
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Consulta instalación #1

Closed rje1974 closed 3 years ago

rje1974 commented 3 years ago

Hola, les quiero agradecer el aporte que estan haciendo al proyecto y con esto a la comunidad de ROS en español.. Les comento que fuí haciendo la instalación y me choque con esto..

→ ./run_docker     
non-network local connections being added to access control list
"docker run" requires at least 1 argument.
See 'docker run --help'.

Usage:  docker run [OPTIONS] IMAGE [COMMAND] [ARG...]

Run a command in a new container
./run_docker: línea 15: --name: orden no encontrada

La línea a la que hace referencia la tengo de esta forma..

image

Me podran dar una mano ?, porque no me doy cuenta que estoy haciendo mal.. Saludos.. PD: Estoy corriendo ubuntu 18.04 y tengo instalado portainer....

JCarosella commented 3 years ago

Que tal @rje1974! Perdon por la demora en la respuesta. Interesante, el problema viene de comentar la linea 14 en vez de borrarla. No estaba al tanto de eso.

La solucion para el bug es borrar la linea 14 en vez de comentarla. Ahora voy a updatear las instrucciones para reflejar esto.

Muchas gracias!

rje1974 commented 3 years ago

Hola, disculpas por la demora. Esta es mi version de docker

→ docker version Client: Docker Engine - Community Version: 20.10.7 API version: 1.41 Go version: go1.13.15 Git commit: f0df350 Built: Wed Jun 2 11:56:40 2021 OS/Arch: linux/amd64 Context: default Experimental: true

Server: Docker Engine - Community Engine: Version: 20.10.7 API version: 1.41 (minimum version 1.12) Go version: go1.13.15 Git commit: b0f5bc3 Built: Wed Jun 2 11:54:48 2021 OS/Arch: linux/amd64 Experimental: false containerd: Version: 1.4.8 GitCommit: 7eba5930496d9bbe375fdf71603e610ad737d2b2 runc: Version: 1.0.0 GitCommit: v1.0.0-0-g84113ee docker-init: Version: 0.19.0 GitCommit: de40ad0

El mié, 28 de jul. de 2021 a la(s) 08:25, Juan Carosella ( @.***) escribió:

Que tal @rje1974 https://github.com/rje1974! Perdon por la demora en la respuesta. Podrias decirme que version de docker estas usando? La podes consultar corriendo docker version.

En cuanto a la opcion de --name, podrias probar -name en cambio, con un solo guion. No estoy 100% seguro si ese el problema, no me habia topado nunca con esto.

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JCarosella commented 3 years ago

El problema deberia solucionarse borrando la linea 14 en vez de comentarla. El script de bash se rompe al comentar esa linea (o alguna otra).

La version de docker esta bien. Fijate si borrando esa linea se arregla. Cualquier cosa lo seguimos viendo!

rje1974 commented 3 years ago

OK GRACIAS. Entonces vos decis que comentando la línea no alcanza..?

El jue, 29 de jul. de 2021 a la(s) 10:56, Juan Carosella ( @.***) escribió:

El problema deberia solucionarse borrando la linea 14 en vez de comentarla. El script de bash se rompe al comentar esa linea (o alguna otra).

La version de docker esta bien. Fijate si borrando esa linea se arregla. Cualquier cosa lo seguimos viendo!

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JCarosella commented 3 years ago

Si, exactamente. Probe en mi maquina comentando la linea y me aparecio el mismo error que a vos. Borrando la linea pude hacerlo andar

rje1974 commented 3 years ago

PERFECTO, ahi lo pude hacer.. perooo.. entiendo que la instruccion que sigue deberia decir.. cd/home/catkin y no cd home/dev/catkin

El jue, 29 de jul. de 2021 a la(s) 11:43, Juan Carosella ( @.***) escribió:

Si, exactamente. Probe en mi maquina comentando la linea y me aparecio el mismo error que a vos. Borrando la linea pude hacerlo andar

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Juan Eduardo Riva Cel. +5492392520561 Correo: @.*** Telegram: https://telegram.me/rje1974 Skype: juaneduardoriva Postal: Cuello 154. (6400) Trenque Lauquen. Provincia de Buenos Aires. Argentina.

JCarosella commented 3 years ago

Si asi es, eso es un error mio. Gracias por avisar!

rje1974 commented 3 years ago

[image: image.png] tira este error..

El jue, 29 de jul. de 2021 a la(s) 11:54, Juan Carosella ( @.***) escribió:

Si asi es, eso es un error mio. Gracias por avisar!

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JCarosella commented 3 years ago

@rje1974, no cargo la imagen

rje1974 commented 3 years ago

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "rtabmap_ros" with any of the following names:

rtabmap_rosConfig.cmake
rtabmap_ros-config.cmake

El jue, 29 de jul. de 2021 a la(s) 14:15, Juan Carosella ( @.***) escribió:

@rje1974 https://github.com/rje1974, no cargo la imagen

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rje1974 commented 3 years ago 
root@juan:/home/catkin_ws# catkin_make
Base path: /home/catkin_ws
Source space: /home/catkin_ws/src
Build space: /home/catkin_ws/build
Devel space: /home/catkin_ws/devel
Install space: /home/catkin_ws/install
####
#### Running command: "cmake /home/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/catkin_ws/install -G Unix Makefiles" in "/home/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 7 packages in topological order:
-- ~~  - noah_control
-- ~~  - noah_rviz
-- ~~  - move_base_utils
-- ~~  - noah_2dnav
-- ~~  - noah_rtabmap
-- ~~  - noah_description
-- ~~  - noah_gazebo
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'noah_control'
-- ==> add_subdirectory(noah_control)
-- Installing devel-space wrapper /home/catkin_ws/src/noah_control/scripts/myrobot_key to /home/catkin_ws/devel/lib/noah_control
-- +++ processing catkin package: 'noah_rviz'
-- ==> add_subdirectory(noah_rviz)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'move_base_utils'
-- ==> add_subdirectory(move_base_utils)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Installing devel-space wrapper /home/catkin_ws/src/move_base_utils/nodes/wayposes_publisher.py to /home/catkin_ws/devel/lib/move_base_utils
-- +++ processing catkin package: 'noah_2dnav'
-- ==> add_subdirectory(noah_2dnav)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'noah_rtabmap'
-- ==> add_subdirectory(noah_rtabmap)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'noah_description'
-- ==> add_subdirectory(noah_description)
-- +++ processing catkin package: 'noah_gazebo'
-- ==> add_subdirectory(noah_gazebo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/catkin_ws/build
####
#### Running command: "make -j4 -l4" in "/home/catkin_ws/build"
####

Ahí salio pero tuve que tocar alguna cosita mas del source.list

rje1974 commented 3 years ago

https://discourse.ros.org/t/ros-gpg-key-expiration-incident/20669 creo que con esto se resuelve

rje1974 commented 3 years ago

image

image

image

root@juan:/home/catkin_ws# roslaunch noah_gazebo noah_navigation_mapless.launch
... logging to /root/.ros/log/e45724ac-f09c-11eb-a2e5-50e0851db16d/roslaunch-juan-5500.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://juan:35915/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /move_base/TebLocalPlannerROS/acc_lim_theta: 0.2
 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.2
 * /move_base/TebLocalPlannerROS/alternative_time_cost: False
 * /move_base/TebLocalPlannerROS/costmap_converter_plugin: 
 * /move_base/TebLocalPlannerROS/costmap_converter_rate: 5
 * /move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True
 * /move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0
 * /move_base/TebLocalPlannerROS/dt_hysteresis: 0.1
 * /move_base/TebLocalPlannerROS/dt_ref: 0.3
 * /move_base/TebLocalPlannerROS/enable_homotopy_class_planning: True
 * /move_base/TebLocalPlannerROS/enable_multithreading: True
 * /move_base/TebLocalPlannerROS/feasibility_check_no_poses: 5
 * /move_base/TebLocalPlannerROS/footprint_model/front_offset: 0.2
 * /move_base/TebLocalPlannerROS/footprint_model/front_radius: 0.2
 * /move_base/TebLocalPlannerROS/footprint_model/line_end: [0.3, 0.0]
 * /move_base/TebLocalPlannerROS/footprint_model/line_start: [-0.3, 0.0]
 * /move_base/TebLocalPlannerROS/footprint_model/radius: 0.2
 * /move_base/TebLocalPlannerROS/footprint_model/rear_offset: 0.2
 * /move_base/TebLocalPlannerROS/footprint_model/rear_radius: 0.2
 * /move_base/TebLocalPlannerROS/footprint_model/type: polygon
 * /move_base/TebLocalPlannerROS/footprint_model/vertices: [[0.1, 0.1], [0.1...
 * /move_base/TebLocalPlannerROS/free_goal_vel: True
 * /move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True
 * /move_base/TebLocalPlannerROS/h_signature_prescaler: 0.5
 * /move_base/TebLocalPlannerROS/h_signature_threshold: 0.1
 * /move_base/TebLocalPlannerROS/include_costmap_obstacles: True
 * /move_base/TebLocalPlannerROS/inflation_dist: 0.2
 * /move_base/TebLocalPlannerROS/map_frame: /odom
 * /move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 1.0
 * /move_base/TebLocalPlannerROS/max_number_classes: 4
 * /move_base/TebLocalPlannerROS/max_vel_theta: 0.3
 * /move_base/TebLocalPlannerROS/max_vel_x: 0.3
 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.2
 * /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.1
 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.0
 * /move_base/TebLocalPlannerROS/no_inner_iterations: 5
 * /move_base/TebLocalPlannerROS/no_outer_iterations: 4
 * /move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45
 * /move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1
 * /move_base/TebLocalPlannerROS/obstacle_poses_affected: 30
 * /move_base/TebLocalPlannerROS/odom_topic: odom
 * /move_base/TebLocalPlannerROS/optimization_activate: True
 * /move_base/TebLocalPlannerROS/optimization_verbose: False
 * /move_base/TebLocalPlannerROS/penalty_epsilon: 0.1
 * /move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5
 * /move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15
 * /move_base/TebLocalPlannerROS/simple_exploration: False
 * /move_base/TebLocalPlannerROS/teb_autosize: True
 * /move_base/TebLocalPlannerROS/visualize_hc_graph: False
 * /move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1
 * /move_base/TebLocalPlannerROS/weight_acc_lim_x: 1
 * /move_base/TebLocalPlannerROS/weight_dynamic_obstacle: 10
 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 1
 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 1000
 * /move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1
 * /move_base/TebLocalPlannerROS/weight_max_vel_theta: 1
 * /move_base/TebLocalPlannerROS/weight_max_vel_x: 2
 * /move_base/TebLocalPlannerROS/weight_obstacle: 50
 * /move_base/TebLocalPlannerROS/weight_optimaltime: 1
 * /move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.2
 * /move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.1
 * /move_base/base_local_planner: teb_local_planner...
 * /move_base/global_costmap/footprint: [[0.1, 0.1], [0.1...
 * /move_base/global_costmap/global_frame: odom
 * /move_base/global_costmap/height: 6.0
 * /move_base/global_costmap/inflation_radius: 0.1
 * /move_base/global_costmap/laser_scan_sensor/clearing: True
 * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
 * /move_base/global_costmap/laser_scan_sensor/marking: True
 * /move_base/global_costmap/laser_scan_sensor/sensor_frame: lens_link
 * /move_base/global_costmap/laser_scan_sensor/topic: /scan
 * /move_base/global_costmap/observation_sources: laser_scan_sensor...
 * /move_base/global_costmap/obstacle_range: 2.5
 * /move_base/global_costmap/point_cloud_sensor/clearing: True
 * /move_base/global_costmap/point_cloud_sensor/data_type: PointCloud
 * /move_base/global_costmap/point_cloud_sensor/marking: True
 * /move_base/global_costmap/point_cloud_sensor/sensor_frame: lens_link
 * /move_base/global_costmap/point_cloud_sensor/topic: /depth/points
 * /move_base/global_costmap/raytrace_range: 3.0
 * /move_base/global_costmap/resolution: 0.05
 * /move_base/global_costmap/robot_base_frame: base_generic_link
 * /move_base/global_costmap/rolling_window: True
 * /move_base/global_costmap/static_map: False
 * /move_base/global_costmap/update_frequency: 5.0
 * /move_base/global_costmap/width: 6.0
 * /move_base/local_costmap/footprint: [[0.1, 0.1], [0.1...
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 6.0
 * /move_base/local_costmap/inflation_radius: 0.1
 * /move_base/local_costmap/laser_scan_sensor/clearing: True
 * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
 * /move_base/local_costmap/laser_scan_sensor/marking: True
 * /move_base/local_costmap/laser_scan_sensor/sensor_frame: lens_link
 * /move_base/local_costmap/laser_scan_sensor/topic: /scan
 * /move_base/local_costmap/observation_sources: laser_scan_sensor...
 * /move_base/local_costmap/obstacle_range: 2.5
 * /move_base/local_costmap/point_cloud_sensor/clearing: True
 * /move_base/local_costmap/point_cloud_sensor/data_type: PointCloud
 * /move_base/local_costmap/point_cloud_sensor/marking: True
 * /move_base/local_costmap/point_cloud_sensor/sensor_frame: lens_link
 * /move_base/local_costmap/point_cloud_sensor/topic: /depth/points
 * /move_base/local_costmap/publish_frequency: 2.0
 * /move_base/local_costmap/raytrace_range: 3.0
 * /move_base/local_costmap/resolution: 0.05
 * /move_base/local_costmap/robot_base_frame: base_generic_link
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/static_map: False
 * /move_base/local_costmap/update_frequency: 5.0
 * /move_base/local_costmap/width: 6.0
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: noetic
 * /rosversion: 1.15.11
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    move_base (move_base/move_base)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_juan_5500_5185145203563022192 (rviz/rviz)
    spawn_noah (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [5512]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e45724ac-f09c-11eb-a2e5-50e0851db16d
process[rosout-1]: started with pid [5522]
started core service [/rosout]
process[gazebo-2]: started with pid [5529]
process[spawn_noah-3]: started with pid [5533]
process[rviz_juan_5500_5185145203563022192-4]: started with pid [5535]
process[robot_state_publisher-5]: started with pid [5536]
process[move_base-6]: started with pid [5537]
[ WARN] [1627584222.615744014]: The root link base_generic_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1627584222.635941416]: rviz version 1.14.8
[ INFO] [1627584222.636057007]: compiled against Qt version 5.12.8
[ INFO] [1627584222.636088010]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1627584222.756135233]: Forcing OpenGl version 0.
[ INFO] [1627584223.166482227]: Stereo is NOT SUPPORTED
[ INFO] [1627584223.166637263]: OpenGL device: AMD RAVEN2 (DRM 3.35.0, 5.4.0-80-generic, LLVM 11.0.0)
[ INFO] [1627584223.166687553]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
[ INFO] [1627584224.037230712]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1627584224.041372341]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[rviz_juan_5500_5185145203563022192-4] process has finished cleanly
log file: /root/.ros/log/e45724ac-f09c-11eb-a2e5-50e0851db16d/rviz_juan_5500_5185145203563022192-4*.log
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_AirconditionerA_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_AirconditionerB_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Ball_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Ball_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Bed_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_NightStand_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_NightStand_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Board_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ChairA_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ChairA_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ChairA_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ChairA_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ChairA_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ChairD_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ChairD_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ChairD_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Chandelier_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Chandelier_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Chandelier_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Chandelier_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Carpet_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Carpet_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_SecurityCamera_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_CoffeeTable_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_CookingBench_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Curtain_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_KitchenTable_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ReadingDesk_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_BalconyTable_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Door_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Dumbbell_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Tablet_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_FitnessEquipment_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_FoldingDoor_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_FoldingDoor_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Handle_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_HouseWallB_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_FloorB_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_FoldingDoor_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_FoldingDoor_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_KitchenCabinet_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_KitchenUtensils_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_LightC_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_LightC_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitA_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitB_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitB_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitB_03]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitA_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitC_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitD_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitD_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitE_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_PortraitE_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitA_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitA_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitC_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitC_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitD_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitD_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitD_03]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitD_04]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitB_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_DeskPortraitB_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Rangehood_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Refrigerator_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_SeasoningBox_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_ShoeRack_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_SofaC_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Tableware_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Trash_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Trash_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_TV_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_TV_02]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_TVCabinet_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Vase_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWall_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_Wardrobe_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWindow_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWindow_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWindow_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWindow_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWindow_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWindow_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWindow_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWindow_01]
Error Code 12 Msg: Unable to find uri[model://aws_robomaker_residential_RoomWindow_01]
[ INFO] [1627584346.951573237]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1627584347.089881320, 0.072000000]: Physics dynamic reconfigure ready.
[ INFO] [1627584347.865647342, 0.265000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1627584347.865750866, 0.265000000]: Starting Laser Plugin (ns = /)
[ INFO] [1627584347.868350991, 0.265000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1627584348.294536527, 0.265000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1627584348.303875252, 0.265000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1627584348.543799081, 0.265000000]: Starting plugin DiffDrive(ns = //)
[ WARN] [1627584348.543998739, 0.265000000]: DiffDrive(ns = //): missing <rosDebugLevel> default is na
[ INFO] [1627584348.546657415, 0.265000000]: DiffDrive(ns = //): <tf_prefix> = 
[ WARN] [1627584348.547347675, 0.265000000]: DiffDrive(ns = //): missing <publishOdomTF> default is true
[ WARN] [1627584348.547773196, 0.265000000]: DiffDrive(ns = //): missing <wheelAcceleration> default is 0
[ WARN] [1627584348.547947979, 0.265000000]: DiffDrive(ns = //): missing <wheelTorque> default is 5
[ WARN] [1627584348.548346794, 0.265000000]: DiffDrive(ns = //): missing <odometrySource> default is 1
[ WARN] [1627584348.548719071, 0.265000000]: GazeboRosDiffDrive Plugin (ns = ) missing <publishTf>, defaults to 1
[ INFO] [1627584348.551231705, 0.265000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1627584348.553444141, 0.265000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1627584348.565067362, 0.265000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1627584348.675297967, 0.265000000]: DiffDrive(ns = //): Advertise odom on odom 
[spawn_noah-3] process has finished cleanly
log file: /root/.ros/log/e45724ac-f09c-11eb-a2e5-50e0851db16d/spawn_noah-3*.log
[ WARN] [1627584348.986972708, 0.570000000]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1627584349.020476441, 0.602000000]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1627584349.030758608, 0.613000000]:     Subscribed to Topics: laser_scan_sensor point_cloud_sensor
[ INFO] [1627584349.073777751, 0.627000000]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1627584349.155737998, 0.705000000]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1627584349.186136123, 0.734000000]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1627584349.194206034, 0.748000000]:     Subscribed to Topics: laser_scan_sensor point_cloud_sensor
[ INFO] [1627584349.235658620, 0.789000000]: local_costmap: Using plugin "inflation_layer"
[ERROR] [1627584349.284411665, 0.845000000]: Client [/move_base] wants topic /depth/points to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection.
[ INFO] [1627584349.309522119, 0.871000000]: Created local_planner teb_local_planner/TebLocalPlannerROS
[ WARN] [1627584349.393783816, 0.957000000]: TebLocalPlannerROS() Param Warning: 'alternative_time_cost' is deprecated. It has been replaced by 'selection_alternative_time_cost'.
[ INFO] [1627584349.401916283, 0.964000000]: Footprint model 'polygon' loaded for trajectory optimization.
[ INFO] [1627584349.402293448, 0.966000000]: Parallel planning in distinctive topologies enabled.
[ INFO] [1627584349.402391815, 0.966000000]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles.
[ INFO] [1627584349.901404230, 1.461000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1627584349.911077339, 1.471000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1627584349.967564188, 1.528000000]: odom received!
JCarosella commented 3 years ago

El warning de inertia es esperado:

[ WARN] [1627642847.575794405]: The root link base_generic_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

Asi como el error de /move_base queriendo un data type esperado diferetne:

[ERROR] [1627642852.976418379, 0.377000000]: Client [/move_base] wants topic /depth/points to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection.

Lo que mas me hace ruido de los logs que enviaste es que Gazebo no pudo encontrar los modelos para small_house. Podes verificar si los copiaste bien a la carpeta de Gazebo yendo, dentro del contenedor de docker, a ~/.gazebo/models/ y viendo que efectivamente esten ahi.

Tambien se puede verificar que la variable de entorno para el path hacia los modelos de gazebo sea correcta, y si no es asi, setearla. La variable de entorno es la siguiente: GAZEBO_MODEL_PATH. Y para setearla hacia la carpeta default de gazebo se puede hacer un export GAZEBO_MODEL_PATH=~/.gazebo/models

rje1974 commented 3 years ago

Ok