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OUXT-Polaris / ros_ship_packages

USV simulator for ROS
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Joint states topic issues #6

Open andelnegro6 opened 6 years ago

andelnegro6 commented 6 years ago

Hi again! I managed to build your package successfully. I ran afterwards the following:

roslaunch ros_ship_description ros_ship.launch

However, there were problems regarding the urdf, joint state publisher node, the joint states topic, and tf, in rviz.

issue:

issue

I noticed 2 errors: 1) I can't set up a fixed frame other than base_footprint, and 2) There's no transforms to base_footprint from the other robot-model elements.

In gazebo, the ship and the buoys appear in the open water. However you can see that in rviz there's things wrong.

I checked some troubleshooting on rviz and tf, and it led me to notice the following: /ros_ship/robot_state_publisher is a node ran by default on your launch setup, and it subscribes to /ros_ship/joint_states, nothing abnormal. However, there is no node publishing such topic. This must be affecting the transform problems in the robot model.

For this, I ran a node: https://github.com/ros/joint_state_publisher and changed the default publishing topic of /joint_states to /ros_ship/joint_states to see if it had solved the issue, but it seems the problem is bigger than just that. I could see the node publishing the topic but nothing had been solved:

ship_node_graph

I suspect there's more to it than this issue. Also, fyi, upon running the launcher, a warning message appears:

_Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the tag in joint 'propeller_ljoint'.

And also:

_[WARN] [1517938365.971791, 0.000000]: Controller Spawner couldn't find the expected controllermanager ROS interface.

Any leads on this? Thank you.

Specifications

hakuturu583 commented 6 years ago

@andelnegro6 Thank you for posting issues.. It may cause from failed to load ros_gazebo_plugins. I will check dependencies and our code.

andelnegro6 commented 6 years ago

Oh, and also I forgot to tell you, that in order to run gazebo without crashing, I had to add from /ros_gazebo_plugins to /ros_ship_description/world the file "open_water.world". Anything of the sort you had to do? is the package functional in your system? Should I modify something in the .launch files? Thank you for your time @hakuturu583

hakuturu583 commented 6 years ago

No problem!! Please modify!! I feel very thank you!! @andelnegro6

liz2020 commented 6 years ago

Did you managed to fix the "[WARN] [1517938365.971791, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface." problem? I also encounter this and don't know how to deal with it. @andelnegro6

hakuturu583 commented 6 years ago

@liz2020 I think it is a dependency problem. I think , I missed gazebo_ros_control packages. So, please add this package to the package.xml.

hakuturu583 commented 6 years ago

@andelnegro6 @liz2020 I feel very sorry to you. Now, our team moved to this repository. So we will never update ros_ship_packages.

Zhuojie-Ji commented 6 years ago

Hi @andelnegro6 did you manage to fix this problem? I am having the same issue, and I think it's preventing me from setting up waypoints. I am not sure how to fix it. Thanks!

andelnegro6 commented 6 years ago

@liz2020 @Zhuojie-Ji guys I dropped this repository as well. Didn’t continue its use since a couple of months now. Will retake another time. Cheers