search

KCL-Planning / ROSPlan

The ROSPlan framework provides a generic method for task planning in a ROS system.
http://kcl-planning.github.io/ROSPlan
BSD 2-Clause "Simplified" License
353 stars 159 forks source link

cannot launch node of type [rosplan_knowledge_base/knowledgeBase] ... #48

Closed mokhtarivahid closed 7 years ago

mokhtarivahid commented 7 years ago

Hello,

I am getting the following errors (errors are in bold):

`vahid@vahid-ThinkPad-W520:~$ roslaunch rosplan_demos turtlebot.launch ... logging to /home/vahid/.ros/log/1f412ed4-2f39-11e7-9670-0024d7ce5a44/roslaunch-vahid-ThinkPad-W520-15251.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.

started roslaunch server http://vahid-ThinkPad-W520:43553/

SUMMARY

PARAMETERS

NODES / amcl (amcl/amcl) bumper2pointcloud (nodelet/nodelet) cmd_vel_mux (nodelet/nodelet) depthimage_to_laserscan (nodelet/nodelet) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) kobuki_safety_controller (nodelet/nodelet) laserscan_nodelet_manager (nodelet/nodelet) map_server (map_server/map_server) mobile_base_nodelet_manager (nodelet/nodelet) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet) robot_state_publisher (robot_state_publisher/robot_state_publisher) rosplan_interface_movebase (rosplan_interface_movebase/rpmovebase) rosplan_knowledge_base (rosplan_knowledge_base/knowledgeBase) rosplan_planning_system (rosplan_planning_system/planner) rosplan_roadmap_server (rosplan_interface_mapping/rproadmapServer) rosplan_scene_database (mongodb_store/mongodb_server.py) rosplan_scene_message_store (mongodb_store/message_store_node.py) rviz (rviz/rviz) spawn_turtlebot_model (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [15268] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1f412ed4-2f39-11e7-9670-0024d7ce5a44 process[rosout-1]: started with pid [15281] started core service [/rosout] process[gazebo-2]: started with pid [15295] process[gazebo_gui-3]: started with pid [15301] Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[spawn_turtlebot_model-4]: started with pid [15310] Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[mobile_base_nodelet_manager-5]: started with pid [15312] Msg Waiting for master.process[cmd_vel_mux-6]: started with pid [15340] process[bumper2pointcloud-7]: started with pid [15371] [ INFO] [1493730805.508278681]: Finished loading Gazebo ROS API Plugin. Msg Waiting for master[ INFO] [1493730805.509206305]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.26.135 process[robot_state_publisher-8]: started with pid [15417] process[laserscan_nodelet_manager-9]: started with pid [15447] process[depthimage_to_laserscan-10]: started with pid [15476] process[map_server-11]: started with pid [15494] process[amcl-12]: started with pid [15510] process[navigation_velocity_smoother-13]: started with pid [15593] process[kobuki_safety_controller-14]: started with pid [15682] process[move_base-15]: started with pid [15777] process[rviz-16]: started with pid [15837] ERROR: cannot launch node of type [rosplan_knowledge_base/knowledgeBase]: can't locate node [knowledgeBase] in package [rosplan_knowledge_base] process[rosplan_scene_database-18]: started with pid [15913] process[rosplan_scene_message_store-19]: started with pid [15936] ERROR: cannot launch node of type [rosplan_planning_system/planner]: can't locate node [planner] in package [rosplan_planning_system] ERROR: cannot launch node of type [rosplan_interface_mapping/rproadmapServer]: can't locate node [rproadmapServer] in package [rosplan_interface_mapping] ERROR: cannot launch node of type [rosplan_interface_movebase/rpmovebase]: can't locate node [rpmovebase] in package [rosplan_interface_movebase]

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.26.135 Warning [ModelDatabase.cc:335] Getting models from[http://gazebosim.org/models/]. This may take a few seconds. Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/meshes/dumpster.dae] Error [SystemPaths.cc:371] File or path does not exist[""] Error [MeshShape.cc:64] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://cube_20k/meshes/cube_20k.stl] Error [SystemPaths.cc:371] File or path does not exist[""] Error [MeshShape.cc:64] No mesh specified Msg Waiting for model database update to complete... [ INFO] [1493730875.604686684, 0.010000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1493730875.672449451, 0.010000000]: Camera Plugin (ns = /) , set to "" Dbg Plugin model name: mobile_base [ INFO] [1493730875.729310046, 0.010000000]: Will publish tf. [mobile_base] [ INFO] [1493730875.738222293, 0.010000000]: GazeboRosKobuki plugin ready to go! [mobile_base] Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) [ INFO] [1493730875.750038303, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1493730875.795279728, 0.070000000]: Physics dynamic reconfigure ready. [spawn_turtlebot_model-4] process has finished cleanly log file: /home/vahid/.ros/log/1f412ed4-2f39-11e7-9670-0024d7ce5a44/spawn_turtlebot_model-4*.log Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/meshes/dumpster.dae] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/scripts] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/scripts] Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/textures] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/textures] Warning [Visual.cc:774] Unable to get Material[Dumpster/Diffuse] for Geometry[Dumpster::link::visual. Object will appear white Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/scripts] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/scripts] Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/textures] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/textures] Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/scripts] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/scripts] Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/textures] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/textures] Error [ModelDatabase.cc:408] Unable to download model[model://cube_20k/meshes/cube_20k.stl] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/meshes/dumpster.dae] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/scripts] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/scripts] Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/textures] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/textures] Warning [Visual.cc:774] Unable to get Material[Dumpster/Diffuse] for Geometry[Dumpster::link::visual. Object will appear white Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/scripts] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/scripts] Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/textures] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/textures] Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/scripts] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/scripts] Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/materials/textures] Error [SystemPaths.cc:371] File or path does not exist[""] Error [RenderEngine.cc:409] URI doesn't exist[model://dumpster/materials/textures] Error [ModelDatabase.cc:408] Unable to download model[model://cube_20k/meshes/cube_20k.stl] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://jersey_barrier/meshes/jersey_barrier.dae] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/meshes/dumpster.dae] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://cube_20k/meshes/cube_20k.stl] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://jersey_barrier/meshes/jersey_barrier.dae] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/meshes/dumpster.dae] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified Error [ModelDatabase.cc:408] Unable to download model[model://cube_20k/meshes/cube_20k.stl] Error [SystemPaths.cc:371] File or path does not exist[""] Error [Visual.cc:2072] No mesh specified [ INFO] [1493730877.318801892, 1.590000000]: Loading from pre-hydro parameter style [ INFO] [1493730877.360633013, 1.630000000]: Using plugin "static_layer" [ INFO] [1493730877.428544205, 1.700000000]: Requesting the map... [ INFO] [1493730877.626382263, 1.900000000]: Resizing costmap to 231 X 194 at 0.050000 m/pix [ INFO] [1493730877.725980765, 2.000000000]: Received a 231 X 194 map at 0.050000 m/pix [ INFO] [1493730877.730298825, 2.000000000]: Using plugin "obstacle_layer" [ INFO] [1493730877.732612955, 2.000000000]: Subscribed to Topics: scan bump [ INFO] [1493730877.800121512, 2.070000000]: Using plugin "inflation_layer" [ INFO] [1493730877.954134676, 2.220000000]: Loading from pre-hydro parameter style [ INFO] [1493730877.997926242, 2.270000000]: Using plugin "obstacle_layer" [ INFO] [1493730878.060802801, 2.330000000]: Subscribed to Topics: scan bump [ INFO] [1493730878.121963235, 2.390000000]: Using plugin "inflation_layer" [ INFO] [1493730878.237420707, 2.500000000]: Created local_planner base_local_planner/TrajectoryPlannerROS [ INFO] [1493730878.260525950, 2.530000000]: Sim period is set to 0.20 [ INFO] [1493730879.034581690, 3.300000000]: Recovery behavior will clear layer obstacles [ INFO] [1493730879.103149710, 3.370000000]: Recovery behavior will clear layer obstacles [ INFO] [1493730879.145982205, 3.410000000]: odom received! `

Thank you for your help. Best

m312z commented 7 years ago

The errors of type:

ERROR: cannot launch node of type [rosplan_knowledge_base/knowledgeBase]: can't locate node [knowledgeBase] in package [rosplan_knowledge_base]

will be fixed by sourcing the workspace before launching. If not, make sure that the packages are properly compiled (look for them in the devel folder) and try to find them using roscd.

The other errors are from Gazebo, which might be having problems downloading models. You can download them manually and put them in the right directory. I found the same issue here: http://answers.gazebosim.org/question/4399/turtlebot_gazebo-world-not-loading-models/

Hope this helps, Michael

mokhtarivahid commented 7 years ago

Hi Michael, It was resolved by sourcing the workspace. I also downloaded the models and added to gazebo, and now, seems it works well.

I am facing a new error in running "rqt --standalone rosplan_rqt.dispatcher.ROSPlanDispatcher" as follow:

`vahid@vahid-ThinkPad-W520:~$ rqt --standalone rosplan_rqt.dispatcher.ROSPlanDispatcher RosPluginProvider.load(rosplan_rqt/ROSPlanDispatcher) exception raised in builtin.import(rosplan_rqt.dispatcher, [ROSPlanDispatcher]): Traceback (most recent call last): File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_gui/ros_plugin_provider.py", line 77, in load module = builtin.import(attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0) File "/home/vahid/ROSPlan/src/rosplan/rosplan_rqt/src/rosplan_rqt/dispatcher.py", line 3, in from .ROSPlanDispatcher import PlanViewWidget File "/home/vahid/ROSPlan/src/rosplan/rosplan_rqt/src/rosplan_rqt/ROSPlanDispatcher.py", line 13, in from rosplan_dispatch_msgs.msg import * ImportError: No module named rosplan_dispatch_msgs.msg

PluginManager._load_plugin() could not load plugin "rosplan_rqt/ROSPlanDispatcher": Traceback (most recent call last): File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/plugin_handler.py", line 98, in load self._load() File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/plugin_handler_direct.py", line 54, in _load self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context) File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/composite_plugin_provider.py", line 71, in load instance = plugin_provider.load(plugin_id, plugin_context) File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/composite_plugin_provider.py", line 71, in load instance = plugin_provider.load(plugin_id, plugin_context) File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_gui_py/ros_py_plugin_provider.py", line 60, in load return super(RosPyPluginProvider, self).load(plugin_id, plugin_context) File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/composite_plugin_provider.py", line 71, in load instance = plugin_provider.load(plugin_id, plugin_context) File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_gui/ros_plugin_provider.py", line 83, in load raise e ImportError: No module named rosplan_dispatch_msgs.msg `

Do you have any idea? Thank you. Vahid

mokhtarivahid commented 7 years ago

I forgot to source it again. It is Ok now. Thank you.

tomitrescak commented 2 years ago

What do you mean "source the workspace" ?? It keeps repeating as the hint to solve my problems but I am not sure what to do.

dgerod commented 2 years ago

It means to use "source" in your local workspace instead of using one in the ROS distribution. So, calling "source devel/setup.bash" instead of "source /opt/ros/DISTRIBUTION/setup.bash".

This command add all your local packages to the ROS path so ROS tools are able to find them. To check if your local packages are correctly added you could use "roscd NAME_OF_YOUR_PACKAGE" or "rospack list | grep NAME_OF_YOUR_PACKAGE."

tomitrescak commented 2 years ago

Thank you!