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PX4 Autopilot Software
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unused args [respawn_gazebo] for include of [/opt/ros/indigo/share/gazebo_ros/launch/empty_world.launch] #9153

Closed varunvp closed 6 years ago

varunvp commented 6 years ago

Bug Report

When I run the following commands, as on the website https://dev.px4.io/en/simulation/ros_interface.html,

cd <Firmware_clone>
make posix_sitl_default gazebo
source ~/catkin_ws/devel/setup.bash    // (optional)
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/posix_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
roslaunch px4 posix_sitl.launch

I get this error when executing the last line

unused args [respawn_gazebo] for include of [/opt/ros/indigo/share/gazebo_ros/launch/empty_world.launch]
The traceback for the exception was written to the log file

This is what is there in the log file

[roslaunch][INFO] 2018-03-24 15:44:10,058: Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2018-03-24 15:44:10,060: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2018-03-24 15:44:10,060: roslaunch starting with args ['/opt/ros/indigo/bin/roslaunch', 'px4', 'posix_sitl.launch']
[roslaunch][INFO] 2018-03-24 15:44:10,060: roslaunch env is {'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'ROS_DISTRO': 'indigo', 'ROS_LOG_FILENAME': '/home/varun/.ros/log/17ed39e8-2f4c-11e8-8821-f48e38f33bbf/roslaunch-varun-5577-8808.log', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/varun', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'XDG_CURRENT_DESKTOP': 'Unity', 'UPSTART_EVENTS': 'started starting', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'PKG_CONFIG_PATH': '/home/varun/catkin_ws/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/varun/catkin_ws/devel/share/common-lisp', 'CPATH': '/home/varun/catkin_ws/devel/include:/opt/ros/indigo/include', 'LOGNAME': 'varun', 'USER': 'varun', 'PATH': '/home/varun/catkin_ws/devel/bin:/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-C7ZQLH', 'CMAKE_PREFIX_PATH': '/home/varun/catkin_ws/devel:/opt/ros/indigo', 'LD_LIBRARY_PATH': '/home/varun/catkin_ws/devel/lib:/opt/ros/indigo/lib:/home/varun/src/Firmware/Tools/sitl_gazebo/Build/msgs/:/home/varun/src/Firmware/build/posix_sitl_default/build_gazebo:/home/varun/src/Firmware/Tools/sitl_gazebo/Build/msgs/:/home/varun/src/Firmware/build/posix_sitl_default/build_gazebo', 'LANG': 'en_IN', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/varun/.Xauthority', 'LANGUAGE': 'en_IN:en', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'SHLVL': '1', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'JOB': 'gnome-session', 'TEXTDOMAIN': 'im-config', 'UPSTART_INSTANCE': '', 'CLUTTER_IM_MODULE': 'xim', 'WINDOWID': '60817420', 'SESSIONTYPE': 'gnome-session', 'XMODIFIERS': '@im=ibus', 'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'GPG_AGENT_INFO': '/run/user/1000/keyring-C7ZQLH/gpg:0:1', 'HOME': '/home/varun', 'QT4_IM_MODULE': 'xim', 'SELINUX_INIT': 'YES', 'XDG_RUNTIME_DIR': '/run/user/1000', 'INSTANCE': 'Unity', 'PYTHONPATH': '/home/varun/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/run/user/1000/keyring-C7ZQLH/ssh', 'VTE_VERSION': '3409', 'ROS_ROOT': '/opt/ros/indigo/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'TEXTDOMAINDIR': '/usr/share/locale/', 'GNOME_KEYRING_PID': '1467', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'ROS_PACKAGE_PATH': '/home/varun/catkin_ws/src/hector_models/hector_components_description:/home/varun/catkin_ws/src/hector_gazebo/hector_gazebo:/home/varun/catkin_ws/src/hector_gazebo/hector_gazebo_plugins:/home/varun/catkin_ws/src/hector_gazebo/hector_gazebo_thermal_camera:/home/varun/catkin_ws/src/hector_gazebo/hector_gazebo_worlds:/home/varun/catkin_ws/src/hector_localization/hector_localization:/home/varun/catkin_ws/src/hector_models/hector_models:/home/varun/catkin_ws/src/hector_localization/hector_pose_estimation_core:/home/varun/catkin_ws/src/hector_localization/hector_pose_estimation:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor_demo:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor_description:/home/varun/catkin_ws/src/hector_models/hector_sensors_description:/home/varun/catkin_ws/src/hector_gazebo/hector_sensors_gazebo:/home/varun/catkin_ws/src/hector_quadrotor/hector_uav_msgs:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor_controller:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor_controller_gazebo:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor_model:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor_gazebo_plugins:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor_pose_estimation:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor_teleop:/home/varun/catkin_ws/src/hector_models/hector_xacro_tools:/home/varun/catkin_ws/src/mav_comm/mav_comm:/home/varun/catkin_ws/src/mav_comm/mav_msgs:/home/varun/catkin_ws/src/mavlink:/home/varun/catkin_ws/src/mavros/libmavconn:/home/varun/catkin_ws/src/mavros/mavros_msgs:/home/varun/catkin_ws/src/mavros/mavros:/home/varun/catkin_ws/src/mavros/mavros_extras:/home/varun/catkin_ws/src/hector_localization/message_to_tf:/home/varun/catkin_ws/src/hector_quadrotor/hector_quadrotor_gazebo:/home/varun/catkin_ws/src/mav_comm/planning_msgs:/home/varun/catkin_ws/src/rotors_simulator/rotors_comm:/home/varun/catkin_ws/src/rotors_simulator/rotors_control:/home/varun/catkin_ws/src/rotors_simulator/rotors_description:/home/varun/catkin_ws/src/rotors_simulator/rotors_evaluation:/home/varun/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins:/home/varun/catkin_ws/src/rotors_simulator/rotors_gazebo:/home/varun/catkin_ws/src/rotors_simulator/rotors_hil_interface:/home/varun/catkin_ws/src/rotors_simulator/rotors_joy_interface:/home/varun/catkin_ws/src/rotors_simulator/rotors_simulator:/home/varun/catkin_ws/src/rotors_simulator/rqt_rotors:/home/varun/catkin_ws/src/mavros/test_mavros:/opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/varun/src/Firmware:/home/varun/src/Firmware/Tools/sitl_gazebo', 'GAZEBO_MODEL_PATH': ':/home/varun/src/Firmware/Tools/sitl_gazebo/models:/home/varun/src/Firmware/Tools/sitl_gazebo/models', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-LzsK7glPDG', '_': '/opt/ros/indigo/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'ibus', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1470', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'GTK_MODULES': 'overlay-scrollbar:unity-gtk-module', 'OLDPWD': '/usr/local/bin', 'GDM_LANG': 'en_US', 'GAZEBO_PLUGIN_PATH': '/home/varun/src/Firmware/build/posix_sitl_default/build_gazebo:/home/varun/src/Firmware/build/posix_sitl_default/build_gazebo:', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/', 'PWD': '/home/varun/src/Firmware', 'QT_IM_MODULE': 'ibus', 'ROS_MASTER_URI': 'http://localhost:11311', 'COLORTERM': 'gnome-terminal', 'DISPLAY': ':0', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*.oga=00;36:*.spx=00;36:*.xspf=00;36:', 'XDG_SEAT': 'seat0'}
[roslaunch][INFO] 2018-03-24 15:44:10,060: starting in server mode
[roslaunch.parent][INFO] 2018-03-24 15:44:10,061: starting roslaunch parent run
[roslaunch][INFO] 2018-03-24 15:44:10,061: loading roscore config file /opt/ros/indigo/etc/ros/roscore.xml
[roslaunch][INFO] 2018-03-24 15:44:10,144: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2018-03-24 15:44:10,144: loading config file /home/varun/src/Firmware/launch/posix_sitl.launch
[roslaunch][INFO] 2018-03-24 15:44:10,214: Added node of type [px4/px4] in namespace [/]
[roslaunch][INFO] 2018-03-24 15:44:10,216: Added node of type [gazebo_ros/gzserver] in namespace [/]
[roslaunch][INFO] 2018-03-24 15:44:10,217: Added node of type [gazebo_ros/gzclient] in namespace [/]
[roslaunch][ERROR] 2018-03-24 15:44:10,217: unused args [respawn_gazebo] for include of [/opt/ros/indigo/share/gazebo_ros/launch/empty_world.launch]
[roslaunch][ERROR] 2018-03-24 15:44:10,217: The traceback for the exception was written to the log file
[roslaunch][ERROR] 2018-03-24 15:44:10,217: Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 307, in main
    p.start()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
    self._start_infrastructure()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
    self._load_config()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/config.py", line 455, in load_config_default
    raise RLException(e)
RLException: unused args [respawn_gazebo] for include of [/opt/ros/indigo/share/gazebo_ros/launch/empty_world.launch]

[rospy.core][INFO] 2018-03-24 15:44:10,217: signal_shutdown [atexit]

In the posix_sitl.launch file, I found the unused argument <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>

When I removed this line and run the simulation, it worked as expected. I want to know if this is a bug, or I'm missing something.

I'm running ROS Indigo on Ubuntu 14.04, using Gazebo 7.

lamping7 commented 6 years ago

First, the dev guide states ROS Kinetic is the supported version, along with Ubuntu 16.04.

Second, the gazebo argument exists here: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/9cbc4bfd9b0caf763387cb203f6bf695071cae07/gazebo_ros/launch/empty_world.launch#L17

So, either you have version issues, or you modified the posix_sitl.launch file, in a way where it is no longer defining the argument. i.e. you must have this line: https://github.com/PX4/Firmware/blob/ed261c76daf6e5a40fab7cec6079b1febff4be85/launch/posix_sitl.launch#L23 to accompany this line: https://github.com/PX4/Firmware/blob/ed261c76daf6e5a40fab7cec6079b1febff4be85/launch/posix_sitl.launch#L33

You'd have to post your complete version of the launch file for me to see this. I suggest restoring the launch file provided by PX4 to it's unmodified state and use the recommended versions. I'm closing this, as there is no bug, but fell free to post back if you still have issues after following the suggested actions.

varunvp commented 6 years ago

I compared your launch file with the launch file in my gazebo_ros directory, and mine doesn't have respawn_gazebo argument. 

<launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="extra_gazebo_args" default=""/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <arg name="physics" default="ode"/>
  <arg name="verbose" default="false"/>
  <arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->

  <!-- set use_sim_time flag -->
  <group if="$(arg use_sim_time)">
    <param name="/use_sim_time" value="true" />
  </group>

  <!-- set command arguments -->
  <arg unless="$(arg paused)" name="command_arg1" value=""/>
  <arg     if="$(arg paused)" name="command_arg1" value="-u"/>
  <arg unless="$(arg headless)" name="command_arg2" value=""/>
  <arg     if="$(arg headless)" name="command_arg2" value="-r"/>
  <arg unless="$(arg verbose)" name="command_arg3" value=""/>
  <arg     if="$(arg verbose)" name="command_arg3" value="--verbose"/>
  <arg unless="$(arg debug)" name="script_type" value="gzserver"/>
  <arg     if="$(arg debug)" name="script_type" value="debug"/>

  <!-- start gazebo server-->
  <node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="false" output="screen"
    args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)" />

  <!-- start gazebo client -->
  <group if="$(arg gui)">
    <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen"/>
  </group>

</launch>

As for the launch file, here it is, as is

<?xml version="1.0"?>
<launch>
    <!-- Posix SITL environment launch script -->
    <!-- launches PX4 SITL, Gazebo environment, and spawns vehicle -->
    <!-- vehicle pose -->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>
    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
    <!-- gazebo configs -->
    <arg name="gui" default="true"/>
    <arg name="debug" default="false"/>
    <arg name="verbose" default="false"/>
    <arg name="paused" default="false"/>
    <arg name="respawn_gazebo" default="false"/>
    <!-- PX4 SITL -->
    <node name="sitl" pkg="px4" type="px4" output="screen" args="$(find px4) $(arg rcS)"/>
    <!-- Gazebo sim -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="gui" value="$(arg gui)"/>
        <arg name="world_name" value="$(arg world)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>    //**This is the  'unused' arg. If this is commented, it works properly**
    </include>
    <!-- gazebo model -->
    <node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
</launch>

I haven't done any modifications to this file. So this must likely be a version issue?

lamping7 commented 6 years ago

Yup, there's your problem... The argument was added to the gazebo_ros package with Kinetic back in 2015. I guess it didn't make it into Indigo.

The commit is here: https://github.com/ros-simulation/gazebo_ros_pkgs/commit/71dcc776c6efdd9408e69e3a39dcd55212419226#diff-a1a63a469cbe17191421efbe801f4491

So, either pull it out of the launch, like you did, or upgrade.

EDIT: Here's the official launch for Indigo, which matches the one you shared: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/indigo-devel/gazebo_ros/launch/empty_world.launch

You could also try to make a PR to their repo (I'm not sure if packages are still updated for Indigo) and change it in the gazebo_ros launch file (so you have the feature the arg adds).

shriram75 commented 4 years ago

I am getting this error "unused args [interactive] for include of [/home/shriram/catkin_ws/src/Firmware/launch/posix_sitl.launch] The traceback for the exception was written to the log file" when i run roslaunch command This is my posix_sitl launch file.please tell me what i have to do

Jaeyoung-Lim commented 4 years ago

@shriram75 Your issue is unrelated to this thread. Please open a new issue