search

OrebroUniversity / yumi

ROS packages pertaining to the ABB YuMi (IRB 14000) robot
BSD 2-Clause "Simplified" License
67 stars 88 forks source link

Error with yumi_gazebo_pos.lauch #8

Closed glebysg closed 7 years ago

glebysg commented 7 years ago

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:

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 [11169]
process[gazebo_gui-2]: started with pid [11173]
process[spawn_urdf-3]: started with pid [11177]
process[robot_state_publisher-4]: started with pid [11178]
process[yumi/controller_spawner-5]: started with pid [11179]
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.[ INFO] [1487832352.755122185]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1487832352.755561453]: 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
spawn_model script started
[INFO] [WallTime: 1487832352.897281] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1487832352.899547] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1487832353.019839] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
X Error of failed request:  BadDrawable (invalid Pixmap or Window parameter)
  Major opcode of failed request:  153 (DRI2)
  Minor opcode of failed request:  3 (DRI2CreateDrawable)
  Resource id in failed request:  0x5e00002
  Serial number of failed request:  31
  Current serial number in output stream:  33
gzserver: /usr/include/boost/thread/pthread/recursive_mutex.hpp:101: boost::recursive_mutex::~recursive_mutex(): Assertion `!pthread_mutex_destroy(&m)' failed.
Aborted (core dumped)
[gazebo-1] process has died [pid 11169, exit code 134, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/glebys/.ros/log/1f90a898-f978-11e6-894d-f48e387f42e4/gazebo-1.log].
log file: /home/glebys/.ros/log/1f90a898-f978-11e6-894d-f48e387f42e4/gazebo-1*.log
.............................
Error [ConnectionManager.cc:116] Failed to connect to master in 30 seconds.
Error [gazebo.cc:59] Unable to initialize transport.
Error [gazebo.cc:203] Unable to setup Gazebo
[gazebo_gui-2] process has died [pid 11173, exit code 255, cmd /opt/ros/indigo/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/glebys/.ros/log/1f90a898-f978-11e6-894d-f48e387f42e4/gazebo_gui-2.log].
log file: /home/glebys/.ros/log/1f90a898-f978-11e6-894d-f48e387f42e4/gazebo_gui-2*.log
[WARN] [WallTime: 1487832383.300661] [0.000000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[yumi/controller_spawner-5] process has finished cleanly

This is the message in the log file

[xmlrpc][INFO] 2017-02-23 01:45:52,872: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2017-02-23 01:45:52,872: Started XML-RPC server [http://ISAT-Glebys:39101/]
[rospy.init][INFO] 2017-02-23 01:45:52,872: ROS Slave URI: [http://ISAT-Glebys:39101/]
[rospy.impl.masterslave][INFO] 2017-02-23 01:45:52,872: _ready: http://ISAT-Glebys:39101/
[rospy.registration][INFO] 2017-02-23 01:45:52,872: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2017-02-23 01:45:52,872: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2017-02-23 01:45:52,972: registered with master
[rospy.rosout][INFO] 2017-02-23 01:45:52,973: initializing /rosout core topic
[rospy.rosout][INFO] 2017-02-23 01:45:53,012: connected to core topic /rosout
[rospy.simtime][INFO] 2017-02-23 01:45:53,014: initializing /clock core topic
[rospy.simtime][INFO] 2017-02-23 01:45:53,017: connected to core topic /clock
[rosout][INFO] 2017-02-23 01:45:53,019: Controller Spawner: Waiting for service controller_manager/load_controller
[rospy.internal][INFO] 2017-02-23 01:45:53,325: topic[/rosout] adding connection to [/rosout], count 0
[rosout][WARNING] 2017-02-23 01:46:23,300: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rospy.core][INFO] 2017-02-23 01:46:23,301: signal_shutdown [atexit]
[rospy.internal][INFO] 2017-02-23 01:46:23,306: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2017-02-23 01:46:23,306: atexit

I'm using ROS indigo. Thank you!

tstoyanov commented 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

glebysg commented 7 years ago

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!

tstoyanov commented 7 years ago

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

gavanderhoorn commented 7 years ago

@glebysg: try running:

rosdep install --from-paths /path/to/your/catkin_ws/src --ignore-src

after you have sourced the appropriate setup.bash (probably the one in devel/setup.bash).

That should tell you whether you need to install any additional packages.

glebysg commented 7 years ago

This worked! Thank you very much