lukeschmitt-tr
commented
2 years ago I can't reproduce this on a fresh source install of the xslocobot packages on Noetic using your roslaunch command:
roslaunch console output
```sh ~ $ roslaunch interbotix_xslocobot_gazebo xslocobot_gazebo.launch robot_model:=locobot_wx250s show_lidar:=true use_position_controllers:=true dof:=6 ... logging to /home/interbotix/.ros/log/f53d995a-dc4a-11ec-b898-47855316a363/roslaunch-interbotix-728613.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://192.168.0.183:40927/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /locobot/elbow_controller/joint: elbow * /locobot/elbow_controller/pid/d: 0.0 * /locobot/elbow_controller/pid/i: 0.0 * /locobot/elbow_controller/pid/p: 300.0 * /locobot/elbow_controller/type: effort_controller... * /locobot/forearm_roll_controller/joint: forearm_roll * /locobot/forearm_roll_controller/pid/d: 0.0 * /locobot/forearm_roll_controller/pid/i: 0.0 * /locobot/forearm_roll_controller/pid/p: 50.0 * /locobot/forearm_roll_controller/type: effort_controller... * /locobot/joint_state_controller/publish_rate: 100 * /locobot/joint_state_controller/type: joint_state_contr... * /locobot/left_finger_controller/joint: left_finger * /locobot/left_finger_controller/pid/d: 5.0 * /locobot/left_finger_controller/pid/i: 0.0 * /locobot/left_finger_controller/pid/p: 50 * /locobot/left_finger_controller/type: effort_controller... * /locobot/pan_controller/joint: pan * /locobot/pan_controller/pid/d: 0.1 * /locobot/pan_controller/pid/i: 1.0 * /locobot/pan_controller/pid/p: 30.0 * /locobot/pan_controller/type: effort_controller... * /locobot/right_finger_controller/joint: right_finger * /locobot/right_finger_controller/pid/d: 5.0 * /locobot/right_finger_controller/pid/i: 0.0 * /locobot/right_finger_controller/pid/p: 50 * /locobot/right_finger_controller/type: effort_controller... * /locobot/robot_description: , set to "" [INFO] [1653497506.182696, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity [INFO] [1653497506.183571, 0.000000]: Waiting for service /gazebo/set_model_configuration [INFO] [1653497506.184924, 0.000000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition. ../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available. [ INFO] [1653497506.510575137]: Camera Plugin: Using the 'robotNamespace' param: '/locobot/' [ INFO] [1653497506.512348619]: Camera Plugin (ns = /locobot/)In your roslaunch console output, it seems like both the position and trajectory controllers are trying to load since you have both the arm/gripper and the individual joint controller parameters. I was able to get your error if I try to launch both the trajectory and position controllers at the same time (setting both these args to true).
RLException
```sh ~ $ roslaunch interbotix_xslocobot_gazebo xslocobot_gazebo.launch robot_model:=locobot_wx250s show_lidar:=true dof:=6 use_position_controllers:=true use_trajectory_controllers:=true ... logging to /home/interbotix/.ros/log/7a4c6cf8-dc4a-11ec-b898-47855316a363/roslaunch-interbotix-728173.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. RLException: roslaunch file contains multiple nodes named [/locobot/controller_spawner]. Please check allThis would try to load the controller_spawner node twice (here and here), leading to the RLException you're seeing.
Check to see if you're launching both sets of controllers.
What happened?
Trying to follow the tutorials, but when loading gazebo with the command:
roslaunch interbotix_xslocobot_gazebo xslocobot_gazebo.launch robot_model:=locobot_wx250s show_lidar:=true use_position_controllers:=true dof:=6I get an error as thecontroller_spawnerdoesn't have a unique name.Tried changing the name of the trajectory controller node to something else, but then the arm of the robot wouldn't load.
Do you have any suggestions?
Robot Model
locobot_wx250s
Operating System
Ubuntu 20.04
Steps To Reproduce
roslaunch interbotix_xslocobot_gazebo xslocobot_gazebo.launch robot_model:=locobot_wx250s show_lidar:=true use_position_controllers:=true dof:=6Relevant log output
Anything Else
Here is the output when the controller name is changed: