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PilzDE / pilz_robots

PILZ robot manipulator module PRBT 6 in ROS
https://wiki.ros.org/pilz_robots
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Gazebo integrationtest errors #70

Closed martiniil closed 5 years ago

martiniil commented 5 years ago

Commit

93454eb1c7e1fe3e46ec47d8d778d73d68722161

Steps to reproduce

This happened here: https://travis-ci.org/PilzDE/pilz_robots/jobs/492676506 I do not know, how to reproduce it.

Log

[ INFO] [1550063952.451245135]: Loading robot model 'prbt'... [ WARN] [1550063952.451764145]: Skipping virtual joint 'FixedBase' because its child frame 'prbt_base_link' does not match the URDF frame 'world' [ INFO] [1550063952.452015314]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1550063953.094379308]: Finished loading Gazebo ROS API Plugin. [ INFO] [1550063953.107568358]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1550063953.189882115]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1550063953.231851913]: MoveGroup debug mode is OFF Starting context monitors... [ INFO] [1550063953.231918243]: Starting scene monitor [ INFO] [1550063953.278778984]: Listening to '/planning_scene' [ INFO] [1550063953.278831298]: Starting world geometry monitor [ INFO] [1550063953.325316757]: Listening to '/collision_object' using message notifier with target frame '/world ' [ INFO] [1550063953.331388117]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1550063953.345524752]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1550063953.391006143]: Initializing OMPL interface using ROS parameters SpawnModel script started [ INFO] [1550063953.452645766]: Using planning interface 'OMPL' [ INFO] [1550063953.471948682]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1550063953.473790777]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1550063953.475083585]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1550063953.476805438]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1550063953.478555325]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1550063953.480034626]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1550063953.480121613]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1550063953.480146465]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1550063953.480170137]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1550063953.480196078]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1550063953.480210983]: Using planning request adapter 'Fix Start State Path Constraints' [INFO] [1550063953.545793, 0.000000]: Loading model XML from ros parameter [INFO] [1550063953.548924, 0.000000]: Waiting for service /gazebo/spawn_urdf_model Error [parser.cc:581] Unable to find uri[model://sun] Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... You can start planning now! Traceback (most recent call last): File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 313, in sm.callSpawnService() File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 271, in callSpawnService initial_pose, self.reference_frame, self.gazebo_namespace) File "/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py", line 28, in spawn_urdf_model_client rospy.wait_for_service(gazebo_namespace+'/spawn_urdf_model') File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service raise ROSInterruptException("rospy shutdown") rospy.exceptions.ROSInterruptException: rospy shutdown [WARN] [1550064013.559037, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [Testcase: testintegrationtest_gazebo_bringup] ... ERROR! ERROR: max time [60.0s] allotted for test [integrationtest_gazebo_bringup] of type [prbt_gazebo/integrationtest_gazebo_bringup]

agutenkunst commented 5 years ago

Error [parser.cc:581] Unable to find uri[model://sun] Is something I experienced before and the reason why this happens is unclear to me.