[question] drone infrastructure for the follow_road exercise in Robotics-Academy

[luiscaiza]

Hi everyone,

In order to launch gazebo-mavros-solo with two cameras, I did everything from https://github.com/JdeRobot/JdeRobot/blob/9551d91c3f04fd5ff909c5d9f971c2d8f3bac080/src/drivers/gazebo/plugins/solo/README.md , but launching It doesn't work, the message says:

luis@lc-desktop:/opt/jderobot/share/jderobot/gazebo/launch$ roslaunch follow_road.launch [follow_road.launch] is not a launch file name The traceback for the exception was written to the log file

anyone can help me?

[fqez]

Hi @luiscaiza it seems like you don't have the launch file installed in that directory. Can you share the content of your /opt/jderobot/share/jderobot/gazebo/launch directory? If it's not installed you only have to copy this file to that directory and try again. Let me know if you succeed!

[luiscaiza]

Thanks Francisco,

I did what you say, but know, the systems can not find solodrone file. The message from console is:

cp: no se puede efectuar `stat' sobre '/opt/jderobot/share/jderobot/drivers/solodrone': No existe el archivo o el directorio process[px4-5]: started with pid [20393] /opt/ros/kinetic/share/mavros/px4.sh: línea 12: cd: /tmp/solo: No existe el archivo o el directorio /opt/ros/kinetic/share/mavros/px4.sh: línea 14: ./px4: No existe el archivo o el directorio [px4-5] process has died [pid 20393, exit code 127, cmd /opt/ros/kinetic/share/mavros/px4.sh name:=px4 log:=/home/luis/.ros/log/c139489e-2ee6-11e9-ba18-588a5a1c700b/px4-5.log]. log file: /home/luis/.ros/log/c139489e-2ee6-11e9-ba18-588a5a1c700b/px4-5*.log

thank you again....

[fqez]

hmm weird. Can you please paste here the content of your following directories:

/opt/jderobot/share/jderobot/gazebo/plugins/solo
/opt/jderobot/share/jderobot/gazebo/models

And the content of your /opt/jderobot/share/jderobot/gazebo/gazebo-setup.sh file? Also, make sure you have executed the following instruction, since it seems that driver is not finding px4.sh file:

sudo cp ~/jderobot/src/drivers/gazebo/plugins/solo/px4.sh /opt/ros/kinetic/share/mavros

[luiscaiza]

here are the contents:

luis@lc-desktop:/opt/jderobot/share/jderobot/gazebo/plugins/solo$ ls CommandMotorSpeed.pb.cc Imu.pb.h Odometry.pb.cc README.md CommandMotorSpeed.pb.h Int32.pb.cc Odometry.pb.h setup.sh Float.pb.cc Int32.pb.h OpticalFlow.pb.cc SITLGps.pb.cc Float.pb.h IRLock.pb.cc OpticalFlow.pb.h SITLGps.pb.h Groundtruth.pb.cc IRLock.pb.h px4.sh Groundtruth.pb.h MotorSpeed.pb.cc Range.pb.cc Imu.pb.cc MotorSpeed.pb.h Range.pb.h

luis@lc-desktop:/opt/jderobot/share/jderobot/gazebo/models$ ls acera f1_tororosso_laser monacoLine amazon_warehouse_robot f1_virgin mud_box ArDrone2 f1_virgin_laser newF1 arrow f1_williams nurburgrinLine blocks f1_williams_laser opel car face1 opel_ROS carApriltag face2 paredesMontmelo carColorBeacon face3 pibot car_holo face4 pibot_us carNoMotor face5 pioneer2dx cereales face6 pioneer2dxJde circuitoMBOT flyingKinect2 pista circuitoMontmelo formula1 pistaSimple cityLarge gas_station polaris_ranger_ev cityMedium grass_plane RedArDrone2 construction_barrel grass_plane2 rescue_area construction_cone GreenArDrone2 room create ground_plane_sincolor roomba createROS ground_plane_transparent roombaROS charactersMario hangar simpleWorld departamental hokuyo solo duck house_1 speed_limit_sign f1 house_2 stop_sign f1_dummy house_3 stopW f1_findia house_4 sun f1_findia_laser house_int2 taxi_holo f1_hrt iris_fpv_cam taxi_holo_Laser f1_hrt_laser jarama taxi_holo_laser_ROS f1_lotus kinect taxi_holo_ROS f1_lotus_laser laberinto tree f1_mclaren labyrinth turtlebotJde2cam f1_mclaren_laser lamp_post turtlebotROS f1_mercedes logoDeloitte vrc_heightmap_1 f1_mercedes_laser logoETSIT wall1 f1_redbull logoGMV wall2 f1_redbull_laser logoJdeRobot wall3 f1_renault logoURJC wall4 f1_renault_laser mailbox warehouse_pallet f1ROS mapaSimple warehouse_walls f1_sauber monaco whiteTaxi f1_sauber_laser monacoElevations yellowTaxi f1_tororosso monacoElevationsLine

gazebo-setup fixed by varribas at 2016-04-08

official Gazebo resources

. /usr/share/gazebo/setup.sh

JdeRobot resources

export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/opt/jderobot/share/jderobot/gazebo/plugins/solo export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/jderobot/share/jderobot/gazebo/plugins/solo export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/opt/jderobot/share/jderobot/gazebo/plugins/flyingKinect:/opt/jderobot/share/jderobot/gazebo/plugins/dummycar:/opt/jderobot/share/jderobot/gazebo/plugins/car:/opt/jderobot/share/jderobot/gazebo/plugins/holo_car:/opt/jderobot/share/jderobot/gazebo/plugins/taxiholoLaser:/opt/jderobot/share/jderobot/gazebo/plugins/formula1:/opt/jderobot/share/jderobot/gazebo/plugins/pibot:/opt/jderobot/share/jderobot/gazebo/plugins/turtlebot:/opt/jderobot/share/jderobot/gazebo/plugins/roomba:/opt/jderobot/share/jderobot/gazebo/plugins/f1:/opt/jderobot/share/jderobot/gazebo/plugins/opel:/opt/jderobot/share/jderobot/gazebo/plugins/gazebo_ros_screw_plugin:/opt/jderobot/share/jderobot/gazebo/plugins/pioneer:/opt/jderobot/share/jderobot/gazebo/plugins/kinect:/opt/jderobot/share/jderobot/gazebo/plugins/gymkhana:/opt/jderobot/share/jderobot/gazebo/plugins/quadrotor export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/jderobot/share/jderobot/gazebo/plugins/flyingKinect:/opt/jderobot/share/jderobot/gazebo/plugins/dummycar:/opt/jderobot/share/jderobot/gazebo/plugins/car:/opt/jderobot/share/jderobot/gazebo/plugins/holo_car:/opt/jderobot/share/jderobot/gazebo/plugins/taxiholoLaser:/opt/jderobot/share/jderobot/gazebo/plugins/formula1:/opt/jderobot/share/jderobot/gazebo/plugins/pibot:/opt/jderobot/share/jderobot/gazebo/plugins/turtlebot:/opt/jderobot/share/jderobot/gazebo/plugins/roomba:/opt/jderobot/share/jderobot/gazebo/plugins/f1:/opt/jderobot/share/jderobot/gazebo/plugins/opel:/opt/jderobot/share/jderobot/gazebo/plugins/gazebo_ros_screw_plugin:/opt/jderobot/share/jderobot/gazebo/plugins/pioneer:/opt/jderobot/share/jderobot/gazebo/plugins/kinect:/opt/jderobot/share/jderobot/gazebo/plugins/gymkhana:/opt/jderobot/share/jderobot/gazebo/plugins/quadrotor

I have executed sudo cp ~/jderobot/src/drivers/gazebo/plugins/solo/px4.sh /opt/ros/kinetic/share/mavros. Just inside px4.sh file there is a command line: cp -r /opt/jderobot/share/jderobot/drivers/solodrone $solodir . The solodrone file I do not have in my repository. Futhermore, the drivers folder there is not.

thank you for helping me

El mié., 13 feb. 2019 a las 7:24, Francisco Pérez (notifications@github.com) escribió:

hmm weird. Can you please paste here the content of your following directories:

/opt/jderobot/share/jderobot/gazebo/plugins/solo /opt/jderobot/share/jderobot/gazebo/models

And the content of your /opt/jderobot/share/jderobot/gazebo/gazebo-setup.sh file? Also, make sure you have executed the following instruction, since it seems that driver is not finding px4.sh file:

sudo cp ~/jderobot/src/drivers/gazebo/plugins/solo/px4.sh /opt/ros/kinetic/share/mavros

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/JdeRobot/JdeRobot/issues/1339#issuecomment-463180384, or mute the thread https://github.com/notifications/unsubscribe-auth/ApoHp_XiCEzSzmnXW_ZvG7LrGb2vywFzks5vNAQSgaJpZM4a03PR .

[fqez]

it seems like you are missing a step of the instructions. In your gazebo-setup.sh you should have :/opt/jderobot/share/jderobot/gazebo/plugins/solo at the end of the GAZEBO_PLUGIN_PATH and LD_LIBRARY_PATH so in your gazebo-setup.sh file you should have the following:

GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/opt/jderobot/share/jderobot/gazebo/plugins/flyingKinect:/opt/jderobot/share/jderobot/gazebo/plugins/dummycar:/opt/jderobot/share/jderobot/gazebo/plugins/car:/opt/jderobot/share/jderobot/gazebo/plugins/holo_car:/opt/jderobot/share/jderobot/gazebo/plugins/taxiholoLaser:/opt/jderobot/share/jderobot/gazebo/plugins/formula1:/opt/jderobot/share/jderobot/gazebo/plugins/pibot:/opt/jderobot/share/jderobot/gazebo/plugins/turtlebot:/opt/jderobot/share/jderobot/gazebo/plugins/roomba:/opt/jderobot/share/jderobot/gazebo/plugins/f1:/opt/jderobot/share/jderobot/gazebo/plugins/opel:/opt/jderobot/share/jderobot/gazebo/plugins/gazebo_ros_screw_plugin:/opt/jderobot/share/jderobot/gazebo/plugins/pioneer:/opt/jderobot/share/jderobot/gazebo/plugins/kinect:/opt/jderobot/share/jderobot/gazebo/plugins/gymkhana:/opt/jderobot/share/jderobot/gazebo/plugins/quadrotor:/opt/jderobot/share/jderobot/gazebo/plugins/solo

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/jderobot/share/jderobot/gazebo/plugins/flyingKinect:/opt/jderobot/share/jderobot/gazebo/plugins/dummycar:/opt/jderobot/share/jderobot/gazebo/plugins/car:/opt/jderobot/share/jderobot/gazebo/plugins/holo_car:/opt/jderobot/share/jderobot/gazebo/plugins/taxiholoLaser:/opt/jderobot/share/jderobot/gazebo/plugins/formula1:/opt/jderobot/share/jderobot/gazebo/plugins/pibot:/opt/jderobot/share/jderobot/gazebo/plugins/turtlebot:/opt/jderobot/share/jderobot/gazebo/plugins/roomba:/opt/jderobot/share/jderobot/gazebo/plugins/f1:/opt/jderobot/share/jderobot/gazebo/plugins/opel:/opt/jderobot/share/jderobot/gazebo/plugins/gazebo_ros_screw_plugin:/opt/jderobot/share/jderobot/gazebo/plugins/pioneer:/opt/jderobot/share/jderobot/gazebo/plugins/kinect:/opt/jderobot/share/jderobot/gazebo/plugins/gymkhana:/opt/jderobot/share/jderobot/gazebo/plugins/quadrotor:/opt/jderobot/share/jderobot/gazebo/plugins/solo

Try to modify it and then do:

source /opt/jderobot/share/jderobot/gazebo/gazebo-setup.sh

and launch it again.

[luiscaiza]

Sorry,

But I am having the same problem. The message from console is:

process[master]: started with pid [23292] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 91e8e9a2-2fc0-11e9-9b22-588a5a1c700b process[rosout-1]: started with pid [23305] started core service [/rosout] process[gazebo-2]: started with pid [23330] process[gazebo_gui-3]: started with pid [23335] process[mavros-4]: started with pid [23339] process[px4-5]: started with pid [23341]

cp: no se puede efectuar `stat' sobre '/opt/jderobot/share/jderobot/drivers/solodrone': No existe el archivo o el directorio /opt/ros/kinetic/share/mavros/px4.sh: línea 12: cd: /tmp/solo: No existe el archivo o el directorio /opt/ros/kinetic/share/mavros/px4.sh: línea 14: ./px4: No existe el archivo o el directorio [px4-5] process has died [pid 23341, exit code 127, cmd /opt/ros/kinetic/share/mavros/px4.sh name:=px4 log:=/home/luis/.ros/log/91e8e9a2-2fc0-11e9-9b22-588a5a1c700b/px4-5.log]. log file: /home/luis/.ros/log/91e8e9a2-2fc0-11e9-9b22-588a5a1c700b/px4-5*.log

[fqez]

yeah i forgot to mention about that part of your problem, sorry. Try to modify the script px4.sh changing the solodrone to solo at the cp command line.

I hope this solves all your problems.

[luiscaiza]

hi Francisco,

In the path: /opt/jderobot/share/jderobot/drivers/solo I do not have the solo file, but it is in the path /opt/jderobot/share/jderobot/gazebo/plugins do you recomend to change the path?

Another thing, in the px4.sh, there is a command line ./px4 . ./posix-configs/SITL/init/ekf2/iris In my directories there are not any folder like that. I think it is a old version of Firmware, I just have the new version of Firmware of px4 can you tell how find it?

thanks

El mié., 13 feb. 2019 a las 15:24, Francisco Pérez (< notifications@github.com>) escribió:

yeah i forgot to mention about that part of your problem, sorry. Try to modify the script px4.sh changing the solodrone to solo at the cp command line.

I hope this solves all your problems.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/JdeRobot/JdeRobot/issues/1339#issuecomment-463354356, or mute the thread https://github.com/notifications/unsubscribe-auth/ApoHp8P5x_zC9Vdv1wzTUIj1CtzS9D1Sks5vNHSGgaJpZM4a03PR .

[luiscaiza]

It is me again,

I can not solve my problem with the follow_road exercise. can you tell me what version of Firmware of px4 is used for the exercise? I have the newest version, in this, there is not the file /posix-configs/SITL/init/ekf2/iris

thanks

[nkhedekar]

Fixed in the migration project of GSoC 2019