Closed glebysg closed 7 years ago
Hi,
have you installed the ros_control plugins for gazebo? You can do that by running
sudo apt-get install ros-indigo-gazebo-ros-control
Thank you, the robot is spanning properly in gazebo. I'm getting the following error (maybe due to the fact that I'm not calling any additional services)
SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: indigo
* /rosversion: 1.11.20
* /use_sim_time: True
* /yumi/joint_state_controller/publish_rate: 500
* /yumi/joint_state_controller/type: joint_state_contr...
* /yumi/joint_trajectory_pos_controller/joints: ['yumi_joint_1_l'...
* /yumi/joint_trajectory_pos_controller/type: position_controll...
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_1_l/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_1_l/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_1_l/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_1_l/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_1_r/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_1_r/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_1_r/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_1_r/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_2_l/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_2_l/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_2_l/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_2_l/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_2_r/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_2_r/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_2_r/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_2_r/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_3_l/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_3_l/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_3_l/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_3_l/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_3_r/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_3_r/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_3_r/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_3_r/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_4_l/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_4_l/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_4_l/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_4_l/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_4_r/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_4_r/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_4_r/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_4_r/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_5_l/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_5_l/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_5_l/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_5_l/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_5_r/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_5_r/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_5_r/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_5_r/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_6_l/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_6_l/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_6_l/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_6_l/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_6_r/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_6_r/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_6_r/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_6_r/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_7_l/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_7_l/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_7_l/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_7_l/p: 1.5
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_7_r/d: 0
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_7_r/i: 0.002
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_7_r/i_clamp: 0.1
* /yumi/joint_trajectory_vel_controller/gains/yumi_joint_7_r/p: 1.5
* /yumi/joint_trajectory_vel_controller/joints: ['yumi_joint_1_l'...
* /yumi/joint_trajectory_vel_controller/type: velocity_controll...
NODES
/yumi/
controller_spawner (controller_manager/spawner)
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_urdf (gazebo_ros/spawn_model)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[gazebo-1]: started with pid [7751]
process[gazebo_gui-2]: started with pid [7755]
process[spawn_urdf-3]: started with pid [7759]
process[robot_state_publisher-4]: started with pid [7760]
process[yumi/controller_spawner-5]: started with pid [7761]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Msg Waiting for master.spawn_model script started
[ INFO] [1487878934.152429998]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1487878934.152811815]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 128.46.125.51
[INFO] [WallTime: 1487878934.251405] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1487878934.253713] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1487878934.371608] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1487878934.647550644, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1487878934.669164153, 0.043000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1487878934.858991] [0.224000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1487878935.072543] [0.365000] Spawn status: SpawnModel: Successfully spawned model
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 128.46.125.51
[spawn_urdf-3] process has finished cleanly
log file: /home/glebys/.ros/log/e218fa10-f9fe-11e6-af44-f48e387f42e4/spawn_urdf-3*.log
[ INFO] [1487878936.750763708, 0.365000000]: Loading gazebo_ros_control plugin
[ INFO] [1487878936.750871139, 0.365000000]: Starting gazebo_ros_control plugin in namespace: /yumi
[ INFO] [1487878936.752033381, 0.365000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1487878936.898975857, 0.365000000]: Loaded gazebo_ros_control.
[INFO] [WallTime: 1487878937.086840] [0.549000] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1487878937.088817] [0.550000] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1487878937.091499] [0.553000] Loading controller: joint_state_controller
[ERROR] [1487878937.096113715, 0.558000000]: Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
[ERROR] [1487878937.096162506, 0.558000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
Warning [Visual.cc:819] Unable to get Material[Gazebo/Ivory] for Geometry[yumi::yumi_body::yumi_body_visual. Object will appear white
[ERROR] [WallTime: 1487878938.096677] [1.551000] Failed to load joint_state_controller
[INFO] [WallTime: 1487878938.097040] [1.551000] Loading controller: joint_trajectory_pos_controller
[ERROR] [1487878938.099645352, 1.554000000]: Could not load controller 'joint_trajectory_pos_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist.
[ERROR] [1487878938.099679647, 1.554000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [WallTime: 1487878939.100426] [2.538000] Failed to load joint_trajectory_pos_controller
[INFO] [WallTime: 1487878939.100801] [2.538000] Controller Spawner: Loaded controllers:
[INFO] [WallTime: 1487878939.103902] [2.542000] Started controllers:
Thanks!
Hi,
I think you are still missing packages. Try installing the ros_controllers package. On ubuntu with ros indigo this would be
sudo apt-get install ros-indigo-ros-controllers
Verify that you have joint states published afterwards by
rostopic echo /yumi/joint_states
@glebysg: try running:
rosdep install --from-paths /path/to/your/catkin_ws/src --ignore-src
after you have source
d the appropriate setup.bash
(probably the one in devel/setup.bash
).
That should tell you whether you need to install any additional packages.
This worked! Thank you very much
NOTE: I'm new to ROS (apologize if this is a rookie mistake)
When I try
roslaunch yumi_launch yumi_gazebo_pos.launch
I'm getting the following error:This is the message in the log file
I'm using ROS indigo. Thank you!