sim_demo.launch is failing

tttor commented 6 years ago

Launching sim_demo.launch as suggested for running simulation in https://github.com/Kinovarobotics/kinova-movo/issues/6, we got:

tor@movodev:~$ roslaunch movo_demos sim_demo.launch
...
[/home/tor/catkin-ws/src/kinova-movo/movo_demos/launch/demo/demo.launch] requires the 'is_sim' arg to be set
The traceback for the exception was written to the log file
[demo_bringup-6] process has died [pid 3176, exit code 1, cmd /home/tor/catkin-ws/src/kinova-movo/movo_common/si_utils/scripts/timed_roslaunch 35 movo_demos demo.launch sim:=true local:=true __name:=demo_bringup __log:=/home/tor/.ros/log/f8a3c91a-ffeb-11e7-9ad9-b8ca3ab91193/demo_bringup-6.log].
log file: /home/tor/.ros/log/f8a3c91a-ffeb-11e7-9ad9-b8ca3ab91193/demo_bringup-6*.log
...
[ERROR] [1516677519.458088619, 5.303000000]: "front_laser_link" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1516677520.585542905, 6.304000000]: "rear_laser_link" passed to lookupTransform argument source_frame does not exist.
...
[ERROR] [WallTime: 1516677620.982949] [100.993000] Timed out waiting for Gripper Command Action Server to connect. Start the action server before running example.
[WARN] [WallTime: 1516677621.140778] [101.138000] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[init_sim_inplace-1] process has died [pid 4055, exit code 1, cmd /home/tor/catkin-ws/src/kinova-movo/movo_simulation/movo_gazebo/scripts/init_sim_inplace __name:=init_sim_inplace __log:=/home/tor/.ros/log/f8a3c91a-ffeb-11e7-9ad9-b8ca3ab91193/init_sim_inplace-1.log].
log file: /home/tor/.ros/log/f8a3c91a-ffeb-11e7-9ad9-b8ca3ab91193/init_sim_inplace-1*.log
...

And

tor@movodev:~$ roswtf
...
WARNING The following nodes are unexpectedly connected:
 * /robot_state_publisher->/init_sim_inplace (/tf)
 * /movo_marker_ctrl->/init_sim_inplace (/tf)
 * /movo_marker_ctrl->/rviz (/movo_marker_ctrl/update_full)
 * /move_group->/init_sim_inplace (/move_group/result)
 * /move_group->/init_sim_inplace (/move_group/feedback)

WARNING These nodes have died:
 * demo_bringup-6
 * init_sim_bringup-5
 * spawn_gazebo_model-4
 * default_controller_spawner-5
...

And it seems we are missing many TFs:

tor@movodev:~$ rosrun tf tf_monitor
RESULTS: for all Frames
Frames:
Frame: base_link published by unknown_publisher Average Delay: 0.0215 Max Delay: 0.037
All Broadcasters:
Node: unknown_publisher 150 Hz, Average Delay: 0.0215 Max Delay: 0.03

Possible fixes include:

fix is_sim in this line

add sim arg in demo.launch

<!-- Navigation configuration -->
<include file="$(find movo_demos)/launch/nav/sensor_nav.launch">
<arg name="local" value="$(arg local)"/>
<arg name="sim" value="$(arg sim)"/>
</include>

Note: using https://github.com/Kinovarobotics/kinova-movo/commit/f7c370f81e140fe2aa6667ae2bcba4db2ebed117 on Indigo, trusty

martine1406 commented 6 years ago

implemented the suggested fixes

<-- Navigation configuration -->
    <include file="$(find movo_demos)/launch/nav/sensor_nav.launch">
      <arg name="local" value="$(arg local)"/>
      <arg name="sim" value="$(arg sim)"/>
    </include>

and


<-- Pick stuff up -->
    <node name="demo" pkg="movo_demos" type="inplace_pick_place_demo.py" output="screen" >
        <rosparam command="load" file="$(find movo_moveit_config)/config/kinematics.yaml" />
        <param name="table_height" value="0.74"/>
        <param name="sim" value="$(arg sim)"/>
    </node>

tttor commented 6 years ago

Thanks for the fixes, it runs OK now.

Kinovarobotics / kinova-movo

sim_demo.launch is failing #7