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HongbiaoZ / autonomous_exploration_development_environment

Leveraging system development and robot deployment for ground-based autonomous navigation and exploration.
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Model[camera/lidar/robot] does not exist #33

Open ColleenKuang opened 4 months ago

ColleenKuang commented 4 months ago

OS : Ubuntu 20.04 ROS version : noetic

I followed the instructions in your website, and I got 0 compilation error

but when I ran the command roslaunch vehicle_simulator system_garage.launch I got these bunch of errors of Model[camera/lidar/robot] does not exist

I checked the xacro files of these equipment in the folder. Screenshot from 2024-05-04 19-29-58

I also tested the vehicleSimulator.cpp , it seems the error is caused by these 3 publish operations. 

pubModelState.publish(cameraState);
...
pubModelState.publish(robotState);
...
pubModelState.publish(lidarState);

Here's the output.

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: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://colleen-XPS-15-9560:42953/

SUMMARY
========

PARAMETERS
 * /camera_description: <?xml version="1....
 * /diagnostic_aggregator/analyzers/PS3State/path: PS3 State
 * /diagnostic_aggregator/analyzers/PS3State/remove_prefix: ps3_joy
 * /diagnostic_aggregator/analyzers/PS3State/startswith: ['Battery', 'Char...
 * /diagnostic_aggregator/analyzers/PS3State/timeout: 5.0
 * /diagnostic_aggregator/analyzers/PS3State/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /diagnostic_aggregator/type: AnalyzerGroup
 * /gazebo/enable_ros_network: True
 * /lidar_description: <?xml version="1....
 * /localPlanner/adjacentRange: 4.25
 * /localPlanner/autonomyMode: True
 * /localPlanner/autonomySpeed: 2.0
 * /localPlanner/checkObstacle: True
 * /localPlanner/checkRotObstacle: False
 * /localPlanner/costHeightThre: 0.1
 * /localPlanner/costScore: 0.02
 * /localPlanner/dirThre: 90.0
 * /localPlanner/dirToVehicle: False
 * /localPlanner/dirWeight: 0.02
 * /localPlanner/goalClearRange: 0.5
 * /localPlanner/goalX: 0.0
 * /localPlanner/goalY: 0.0
 * /localPlanner/groundHeightThre: 0.1
 * /localPlanner/joyToCheckObstacleDelay: 5.0
 * /localPlanner/joyToSpeedDelay: 2.0
 * /localPlanner/laserVoxelSize: 0.05
 * /localPlanner/maxRelZ: 0.25
 * /localPlanner/maxSpeed: 2.0
 * /localPlanner/minPathRange: 1.0
 * /localPlanner/minPathScale: 0.75
 * /localPlanner/minRelZ: -0.5
 * /localPlanner/obstacleHeightThre: 0.15
 * /localPlanner/pathCropByGoal: True
 * /localPlanner/pathFolder: /home/colleen/wor...
 * /localPlanner/pathRangeBySpeed: True
 * /localPlanner/pathRangeStep: 0.5
 * /localPlanner/pathScale: 1.25
 * /localPlanner/pathScaleBySpeed: True
 * /localPlanner/pathScaleStep: 0.25
 * /localPlanner/pointPerPathThre: 2
 * /localPlanner/sensorOffsetX: 0
 * /localPlanner/sensorOffsetY: 0
 * /localPlanner/terrainVoxelSize: 0.2
 * /localPlanner/twoWayDrive: True
 * /localPlanner/useCost: False
 * /localPlanner/useTerrainAnalysis: True
 * /localPlanner/vehicleLength: 0.6
 * /localPlanner/vehicleWidth: 0.6
 * /pathFollower/autonomyMode: True
 * /pathFollower/autonomySpeed: 2.0
 * /pathFollower/dirDiffThre: 0.1
 * /pathFollower/inclRateThre: 120.0
 * /pathFollower/inclThre: 45.0
 * /pathFollower/joyToSpeedDelay: 2.0
 * /pathFollower/lookAheadDis: 0.5
 * /pathFollower/maxAccel: 2.5
 * /pathFollower/maxSpeed: 2.0
 * /pathFollower/maxYawRate: 90.0
 * /pathFollower/noRotAtGoal: True
 * /pathFollower/noRotAtStop: False
 * /pathFollower/pubSkipNum: 1
 * /pathFollower/sensorOffsetX: 0
 * /pathFollower/sensorOffsetY: 0
 * /pathFollower/slowDwnDisThre: 0.85
 * /pathFollower/slowRate1: 0.25
 * /pathFollower/slowRate2: 0.5
 * /pathFollower/slowTime1: 2.0
 * /pathFollower/slowTime2: 2.0
 * /pathFollower/stopDisThre: 0.2
 * /pathFollower/stopTime: 5.0
 * /pathFollower/stopYawRateGain: 7.5
 * /pathFollower/switchTimeThre: 1.0
 * /pathFollower/twoWayDrive: True
 * /pathFollower/useInclRateToSlow: False
 * /pathFollower/useInclToStop: False
 * /pathFollower/yawRateGain: 7.5
 * /ps3_joy/deadzone: 0.12
 * /ps3_joy/dev: /dev/input/js0
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /terrainAnalysis/absDyObsRelZThre: 0.2
 * /terrainAnalysis/clearDyObs: True
 * /terrainAnalysis/clearingDis: 8.0
 * /terrainAnalysis/considerDrop: True
 * /terrainAnalysis/decayTime: 2.0
 * /terrainAnalysis/disRatioZ: 0.2
 * /terrainAnalysis/limitGroundLift: False
 * /terrainAnalysis/maxDyObsVFOV: 16.0
 * /terrainAnalysis/maxGroundLift: 0.15
 * /terrainAnalysis/maxRelZ: 1.0
 * /terrainAnalysis/minBlockPointNum: 10
 * /terrainAnalysis/minDyObsAngle: 0.0
 * /terrainAnalysis/minDyObsDis: 0.3
 * /terrainAnalysis/minDyObsPointNum: 1
 * /terrainAnalysis/minDyObsRelZ: -0.5
 * /terrainAnalysis/minDyObsVFOV: -16.0
 * /terrainAnalysis/minRelZ: -2.5
 * /terrainAnalysis/noDataBlockSkipNum: 0
 * /terrainAnalysis/noDataObstacle: False
 * /terrainAnalysis/noDecayDis: 4.0
 * /terrainAnalysis/quantileZ: 0.25
 * /terrainAnalysis/scanVoxelSize: 0.05
 * /terrainAnalysis/useSorting: False
 * /terrainAnalysis/vehicleHeight: 1.5
 * /terrainAnalysis/voxelPointUpdateThre: 100
 * /terrainAnalysis/voxelTimeUpdateThre: 2.0
 * /terrainAnalysisExt/ceilingFilteringThre: 2.0
 * /terrainAnalysisExt/checkTerrainConn: False
 * /terrainAnalysisExt/clearingDis: 30.0
 * /terrainAnalysisExt/decayTime: 10.0
 * /terrainAnalysisExt/disRatioZ: 0.1
 * /terrainAnalysisExt/localTerrainMapRadius: 4.0
 * /terrainAnalysisExt/lowerBoundZ: -2.5
 * /terrainAnalysisExt/noDecayDis: 0.0
 * /terrainAnalysisExt/quantileZ: 0.1
 * /terrainAnalysisExt/scanVoxelSize: 0.1
 * /terrainAnalysisExt/terrainConnThre: 0.5
 * /terrainAnalysisExt/terrainUnderVehicle: -0.75
 * /terrainAnalysisExt/upperBoundZ: 1.0
 * /terrainAnalysisExt/useSorting: False
 * /terrainAnalysisExt/vehicleHeight: 1.5
 * /terrainAnalysisExt/voxelPointUpdateThre: 100
 * /terrainAnalysisExt/voxelTimeUpdateThre: 2.0
 * /use_sim_time: True
 * /vehicleSimulator/InclFittingThre: 0.2
 * /vehicleSimulator/adjustIncl: True
 * /vehicleSimulator/adjustZ: True
 * /vehicleSimulator/cameraOffsetZ: 0
 * /vehicleSimulator/groundHeightThre: 0.1
 * /vehicleSimulator/maxIncl: 30.0
 * /vehicleSimulator/minTerrainPointNumIncl: 200
 * /vehicleSimulator/minTerrainPointNumZ: 5
 * /vehicleSimulator/sensorOffsetX: 0
 * /vehicleSimulator/sensorOffsetY: 0
 * /vehicleSimulator/smoothRateIncl: 0.5
 * /vehicleSimulator/smoothRateZ: 0.5
 * /vehicleSimulator/terrainRadiusIncl: 2.0
 * /vehicleSimulator/terrainRadiusZ: 1.0
 * /vehicleSimulator/terrainVoxelSize: 0.05
 * /vehicleSimulator/terrainZ: 0
 * /vehicleSimulator/use_gazebo_time: False
 * /vehicleSimulator/vehicleHeight: 0.75
 * /vehicleSimulator/vehicleX: 0
 * /vehicleSimulator/vehicleY: 0
 * /vehicleSimulator/vehicleYaw: 0
 * /vehicleSimulator/vehicleZ: 0
 * /visualizationTools/exploredAreaDisplayInterval: 1
 * /visualizationTools/exploredAreaVoxelSize: 0.3
 * /visualizationTools/exploredVolumeVoxelSize: 0.5
 * /visualizationTools/mapFile: /home/colleen/wor...
 * /visualizationTools/metricFile: /home/colleen/wor...
 * /visualizationTools/overallMapDisplayInterval: 2
 * /visualizationTools/overallMapVoxelSize: 0.5
 * /visualizationTools/trajFile: /home/colleen/wor...
 * /visualizationTools/transInterval: 0.2
 * /visualizationTools/yawInterval: 10.0

NODES
  /
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    gazebo (gazebo_ros/gzserver)
    localPlanner (local_planner/localPlanner)
    pathFollower (local_planner/pathFollower)
    ps3_joy (joy/joy_node)
    realTimePlot (visualization_tools/realTimePlot.py)
    rvizGA (rviz/rviz)
    sensorScanGeneration (sensor_scan_generation/sensorScanGeneration)
    sensorTransPublisher (tf/static_transform_publisher)
    spawn_camera (gazebo_ros/spawn_model)
    spawn_lidar (gazebo_ros/spawn_model)
    spawn_robot (gazebo_ros/spawn_model)
    terrainAnalysis (terrain_analysis/terrainAnalysis)
    terrainAnalysisExt (terrain_analysis_ext/terrainAnalysisExt)
    vehicleSimulator (vehicle_simulator/vehicleSimulator)
    vehicleTransPublisher (tf/static_transform_publisher)
    visualizationTools (visualization_tools/visualizationTools)

auto-starting new master
process[master]: started with pid [4825]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 740465c8-09c8-11ef-a0b1-375a12b6555e
process[rosout-1]: started with pid [4835]
started core service [/rosout]
process[ps3_joy-2]: started with pid [4842]
process[diagnostic_aggregator-3]: started with pid [4843]
process[localPlanner-4]: started with pid [4845]
[ERROR] [1714794207.302940902]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[pathFollower-5]: started with pid [4850]
process[vehicleTransPublisher-6]: started with pid [4855]
process[sensorTransPublisher-7]: started with pid [4857]
process[terrainAnalysis-8]: started with pid [4862]
process[terrainAnalysisExt-9]: started with pid [4871]
process[gazebo-10]: started with pid [4875]
process[spawn_camera-11]: started with pid [4880]
process[spawn_lidar-12]: started with pid [4881]
process[spawn_robot-13]: started with pid [4882]
process[vehicleSimulator-14]: started with pid [4883]
process[sensorScanGeneration-15]: started with pid [4884]
process[visualizationTools-16]: started with pid [4897]

process[realTimePlot-17]: started with pid [4901]
process[rvizGA-18]: started with pid [4906]

Reading path files.
qt5ct: using qt5ct plugin

Simulation started.

qt5ct: D-Bus global menu: no
[ INFO] [1714794209.095445266]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1714794209.100379963]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Initialization complete.

[ INFO] [1714794210.294965697]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1714794210.372319237]: Physics dynamic reconfigure ready.
[ERROR] [1714794213.958068304, 0.026000000]: Updating ModelState: model [camera] does not exist
[ERROR] [1714794213.958143801, 0.027000000]: Updating ModelState: model [lidar] does not exist
[ERROR] [1714794213.958159312, 0.027000000]: Updating ModelState: model [camera] does not exist
[ERROR] [1714794213.958173378, 0.027000000]: Updating ModelState: model [robot] does not exist
[ERROR] [1714794213.958184312, 0.027000000]: Updating ModelState: model [lidar] does not exist
DoongLi commented 1 week ago

same error.

DoongLi commented 1 week ago

@ColleenKuang Do you have find the solution？

DoongLi commented 1 week ago

roslaunch vehicle_simulator system_matterport.launch ... logging to /home/doongli/.ros/log/05dfe732-6dbb-11ef-bf8c-a9f7e112d1e8/roslaunch-doongli-ChengMing-3911-3621.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: in-order processing became default in ROS Melodic. You can drop the option. xacro: in-order processing became default in ROS Melodic. You can drop the option. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://doongli-ChengMing-3911:46279/

SUMMARY

PARAMETERS

NODES / diagnostic_aggregator (diagnostic_aggregator/aggregator_node) gazebo (gazebo_ros/gzserver) localPlanner (local_planner/localPlanner) pathFollower (local_planner/pathFollower) ps3_joy (joy/joy_node) realTimePlot (visualization_tools/realTimePlot.py) rvizGA (rviz/rviz) segmentationProc (segmentation_proc/segmentationProc) sensorScanGeneration (sensor_scan_generation/sensorScanGeneration) sensorTransPublisher (tf/static_transform_publisher) spawn_lidar (gazebo_ros/spawn_model) spawn_rgbd_camera (gazebo_ros/spawn_model) spawn_robot (gazebo_ros/spawn_model) terrainAnalysis (terrain_analysis/terrainAnalysis) terrainAnalysisExt (terrain_analysis_ext/terrainAnalysisExt) vehicleSimulator (vehicle_simulator/vehicleSimulator) vehicleTransPublisher (tf/static_transform_publisher) visualizationTools (visualization_tools/visualizationTools)

auto-starting new master process[master]: started with pid [3632] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 05dfe732-6dbb-11ef-bf8c-a9f7e112d1e8 process[rosout-1]: started with pid [3642] started core service [/rosout] process[ps3_joy-2]: started with pid [3649] process[diagnostic_aggregator-3]: started with pid [3650] process[localPlanner-4]: started with pid [3651] process[pathFollower-5]: started with pid [3652] process[vehicleTransPublisher-6]: started with pid [3654] process[sensorTransPublisher-7]: started with pid [3659] [ERROR] [1725783550.224334139]: Couldn't open joystick /dev/input/js0. Will retry every second. process[terrainAnalysis-8]: started with pid [3661] process[terrainAnalysisExt-9]: started with pid [3666] process[gazebo-10]: started with pid [3672] process[spawn_rgbd_camera-11]: started with pid [3681] process[spawn_lidar-12]: started with pid [3686] process[spawn_robot-13]: started with pid [3688] process[vehicleSimulator-14]: started with pid [3690] process[sensorScanGeneration-15]: started with pid [3691] process[visualizationTools-16]: started with pid [3693] process[realTimePlot-17]: started with pid [3700] process[segmentationProc-18]: started with pid [3708] process[rvizGA-19]: started with pid [3712]

Simulation started.

[pcl::PLYReader] /home/doongli/autonomous_exploration_development_environment/src/vehicle_simulator/mesh/matterport/preview/pointcloud.ply:16: property 'list uint8 int32 vertex_indices' of element 'face' is not handled [pcl::PLYReader] /home/doongli/autonomous_exploration_development_environment/src/vehicle_simulator/mesh/matterport/preview/pointcloud.ply:17: property 'int32 material_id' of element 'face' is not handled [pcl::PLYReader] /home/doongli/autonomous_exploration_development_environment/src/vehicle_simulator/mesh/matterport/preview/pointcloud.ply:18: property 'int32 segment_id' of element 'face' is not handled [pcl::PLYReader] /home/doongli/autonomous_exploration_development_environment/src/vehicle_simulator/mesh/matterport/preview/pointcloud.ply:19: property 'int32 category_id' of element 'face' is not handled

Reading path files.

Read 10 regions and 187 objects.

/opt/ros/noetic/lib/python3/dist-packages/actionlib/goal_id_generator.py:45: SyntaxWarning: invalid escape sequence '\p' """ /opt/ros/noetic/lib/python3/dist-packages/actionlib/goal_id_generator.py:45: SyntaxWarning: invalid escape sequence '\p' """ /opt/ros/noetic/lib/python3/dist-packages/actionlib/goal_id_generator.py:56: SyntaxWarning: invalid escape sequence '\p' """ /opt/ros/noetic/lib/python3/dist-packages/actionlib/goal_id_generator.py:56: SyntaxWarning: invalid escape sequence '\p' """ /opt/ros/noetic/lib/python3/dist-packages/actionlib/goal_id_generator.py:45: SyntaxWarning: invalid escape sequence '\p' """ /opt/ros/noetic/lib/python3/dist-packages/actionlib/goal_id_generator.py:56: SyntaxWarning: invalid escape sequence '\p' """ [ INFO] [1725783550.546510576]: Finished loading Gazebo ROS API Plugin. [ INFO] [1725783550.547755585]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... /opt/ros/noetic/lib/python3/dist-packages/tf/transformations.py:32: SyntaxWarning: invalid escape sequence '*' """Homogeneous Transformation Matrices and Quaternions. /opt/ros/noetic/lib/python3/dist-packages/tf/transformations.py:32: SyntaxWarning: invalid escape sequence '*' """Homogeneous Transformation Matrices and Quaternions. /opt/ros/noetic/lib/python3/dist-packages/tf/transformations.py:867: SyntaxWarning: invalid escape sequence '*' """Return matrix to transform given vector set into second vector set. /opt/ros/noetic/lib/python3/dist-packages/tf/transformations.py:867: SyntaxWarning: invalid escape sequence '*' """Return matrix to transform given vector set into second vector set. /opt/ros/noetic/lib/python3/dist-packages/tf/transformations.py:32: SyntaxWarning: invalid escape sequence '*' """Homogeneous Transformation Matrices and Quaternions. /opt/ros/noetic/lib/python3/dist-packages/tf/transformations.py:867: SyntaxWarning: invalid escape sequence '*' """Return matrix to transform given vector set into second vector set. INFO: cannot create a symlink to latest log directory: [Errno 17] File exists: '/home/doongli/.ros/log/05dfe732-6dbb-11ef-bf8c-a9f7e112d1e8' -> '/home/doongli/.ros/log/latest'

Initialization complete.

[ INFO] [1725783550.813761833]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1725783550.859207839]: Physics dynamic reconfigure ready. [ERROR] [1725783552.808877823, 4176.542000000]: Updating ModelState: model [rgbd_camera] does not exist [ERROR] [1725783552.808920645, 4176.542000000]: Updating ModelState: model [robot] does not exist [ERROR] [1725783552.808927912, 4176.542000000]: Updating ModelState: model [lidar] does not exist

DoongLi commented 1 week ago

我的系统也是Ubuntu 20.04，我之前能正常运行roslaunch vehicle_simulator system_garage.launch，当我配置matterport的环境时，发生了上面的报错，这时我重新运行roslaunch vehicle_simulator system_garage.launch，却还是出现了相同的报错