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ROBOTIS-GIT / turtlebot3_simulations

Simulations for TurtleBot3
http://turtlebot3.robotis.com/
Apache License 2.0
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[ERROR] [launch]: process[gazebo-1] process has died [pid 75378, exit code 255, cmd 'gazebo --verbose -s libgazebo_ros_factory.so']. #137

Closed Duttonide closed 3 years ago

Duttonide commented 3 years ago 
`Hello, I am new to the gazebo, after installing ROS2 and gym-gazebo2 while I try to run an example I get the following error, can someone help me with it?`

    duttonide@ubuntu:~/ros2learn/experiments/examples/MARA$ ros2 launch mara_gazebo mara.launch.py --urdf mara_robot_gripper_140

    [INFO] [launch]: process[gazebo-1]: started with pid [75378]
    [INFO] [launch]: process[robot_state_publisher-2]: started with pid [75379]
    [INFO] [launch]: process[spawn_mara.py-3]: started with pid [75380]
    [INFO] [launch]: process[hros_cognition_mara_components-4]: started with pid [75381]
    Initialize urdf model from file: /home/duttonide/ros2_mara_ws/install/share/mara_description/urdf/mara_robot_gripper_140.urdf
    Parsing robot urdf xml string.
    Link table had 1 children
    Link base_link had 1 children
    Link base_robot had 1 children
    Link motor1_link had 2 children
    Link motor1_cover had 0 children
    Link motor2_link had 1 children
    Link motor3_link had 2 children
    Link motor3_cover had 0 children
    Link motor4_link had 1 children
    Link motor5_link had 2 children
    Link motor5_cover had 0 children
    Link motor6_link had 3 children
    Link ee_link had 0 children
    Link tool0 had 0 children
    Link gripper_adapter had 1 children
    Link robotiq_adapter_link had 1 children
    Link robotiq_arg2f_base_link had 4 children
    Link right_outer_knuckle had 1 children
    Link right_outer_finger had 1 children
    Link right_inner_finger had 0 children
    Link left_inner_knuckle had 0 children
    Link left_outer_knuckle had 1 children
    Link left_outer_finger had 1 children
    Link left_inner_finger had 0 children
    Link right_inner_knuckle had 0 children
    got segment base_link
    got segment base_robot
    got segment ee_link
    got segment gripper_adapter
    got segment left_inner_finger
    got segment left_inner_knuckle
    got segment left_outer_finger
    got segment left_outer_knuckle
    got segment motor1_cover
    got segment motor1_link
    got segment motor2_link
    got segment motor3_cover
    got segment motor3_link
    got segment motor4_link
    got segment motor5_cover
    got segment motor5_link
    got segment motor6_link
    got segment right_inner_finger
    got segment right_inner_knuckle
    got segment right_outer_finger
    got segment right_outer_knuckle
    got segment robotiq_adapter_link
    got segment robotiq_arg2f_base_link
    got segment table
    got segment tool0
    got segment world
    Couldn't set scheduling priority and policy: Operation not permitted
    node_name hros_cognition_ubuntu
    Adding fixed segment from world to table
    Adding fixed segment from table to base_link
    Adding fixed segment from base_link to base_robot
    Adding moving segment from base_robot to motor1_link
    Adding fixed segment from motor1_link to motor1_cover
    Adding moving segment from motor1_link to motor2_link
    Adding moving segment from motor2_link to motor3_link
    Adding fixed segment from motor3_link to motor3_cover
    Adding moving segment from motor3_link to motor4_link
    Adding moving segment from motor4_link to motor5_link
    Adding fixed segment from motor5_link to motor5_cover
    Adding moving segment from motor5_link to motor6_link
    Adding fixed segment from motor6_link to ee_link
    Adding fixed segment from motor6_link to tool0
    Adding fixed segment from motor6_link to gripper_adapter
    Adding fixed segment from gripper_adapter to robotiq_adapter_link
    Adding fixed segment from robotiq_adapter_link to robotiq_arg2f_base_link
    Adding moving segment from robotiq_arg2f_base_link to right_outer_knuckle
    Adding fixed segment from right_outer_knuckle to right_outer_finger
    Adding moving segment from right_outer_finger to right_inner_finger
    Adding moving segment from robotiq_arg2f_base_link to left_inner_knuckle
    Adding moving segment from robotiq_arg2f_base_link to left_outer_knuckle
    Adding fixed segment from left_outer_knuckle to left_outer_finger
    Adding moving segment from left_outer_finger to left_inner_finger
    Adding moving segment from robotiq_arg2f_base_link to right_inner_knuckle
    [INFO] [hros_cognition_ubuntu]: HROSCognitionMaraComponentsNode::on_configure() is called.
    ====================== Reading link order ======================
    topic name: /hrim_actuator_rotaryservo_000000000001/trajectory_axis2
    topic name: /hrim_actuator_rotaryservo_000000000001/trajectory_axis1
    topic name: /hrim_actuator_rotaryservo_000000000002/trajectory_axis1
    topic name: /hrim_actuator_rotaryservo_000000000002/trajectory_axis2
    topic name: /hrim_actuator_rotaryservo_000000000003/trajectory_axis1
    topic name: /hrim_actuator_rotaryservo_000000000003/trajectory_axis2
    ====================== Name of the motors ======================
    motor_names: motor1
    motor_names: motor2
    motor_names: motor3
    motor_names: motor4
    motor_names: motor5
    motor_names: motor6
    ====================== Subscribers and Publishers ======================
    Subscribe at /hrim_actuator_rotaryservo_000000000001/state_axis2
    New publisher at /hrim_actuator_rotaryservo_000000000001/goal_axis2
    Subscribe at /hrim_actuator_rotaryservo_000000000001/state_axis1
    New publisher at /hrim_actuator_rotaryservo_000000000001/goal_axis1
    Subscribe at /hrim_actuator_rotaryservo_000000000002/state_axis1
    New publisher at /hrim_actuator_rotaryservo_000000000002/goal_axis1
    Subscribe at /hrim_actuator_rotaryservo_000000000002/state_axis2
    New publisher at /hrim_actuator_rotaryservo_000000000002/goal_axis2
    Subscribe at /hrim_actuator_rotaryservo_000000000003/state_axis1
    New publisher at /hrim_actuator_rotaryservo_000000000003/goal_axis1
    Subscribe at /hrim_actuator_rotaryservo_000000000003/state_axis2
    New publisher at /hrim_actuator_rotaryservo_000000000003/goal_axis2
    [INFO] [hros_cognition_ubuntu]: HROSCognitionMaraComponentsNode::on_configure() is finished.
    Gazebo multi-robot simulator, version 9.0.0
    Copyright (C) 2012 Open Source Robotics Foundation.
    Released under the Apache 2 License.
    http://gazebosim.org

    Gazebo multi-robot simulator, version 9.0.0
    Copyright (C) 2012 Open Source Robotics Foundation.
    Released under the Apache 2 License.
    http://gazebosim.org

    [INFO] [minimal_client]: service not available, waiting again...
    [INFO] [minimal_client]: service not available, waiting again...
    [Msg] Waiting for master.
    [Msg] Connected to gazebo master @ http://127.0.0.1:11345
    [Msg] Publicized address: 192.168.70.145
    [INFO] [gazebo_ros_node]: ROS was initialized without arguments.
    [Msg] Waiting for master.
    [Msg] Connected to gazebo master @ http://127.0.0.1:11345
    [Msg] Publicized address: 192.168.70.145
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/ament_index"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/colcon-core"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/doc"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/gripper_minimal_service"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/gripper_minimal_subscriber"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hans_modular_gazebo"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hans_t30_description"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hans_t49_description"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hans_t9_4_description"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hrim_actuator_gripper_msgs"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hrim_actuator_gripper_srvs"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hrim_actuator_rotaryservo_actions"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hrim_actuator_rotaryservo_msgs"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hrim_actuator_rotaryservo_srvs"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hrim_generic_msgs"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hrim_generic_srvs"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/hros_cognition_mara_components"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/mara_bringup"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/mara_contact_publisher"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/mara_description"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/mara_gazebo"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/mara_gazebo_plugins"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/mara_minimal_publisher"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/mara_minimal_subscriber"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/mara_minimal_trajectory_action"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/mara_utils_scripts"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/orocos_kdl"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/python_orocos_kdl"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/robotiq_140_gripper_description"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/robotiq_85_gripper_description"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/robotiq_gazebo"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/robotiq_gripper_gazebo_plugins"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/robotiq_hande_gripper_description"
    [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/duttonide/ros2_mara_ws/install/share/urdfdom_py"
    [INFO] [minimal_client]: Result True SpawnEntity: Successfully spawned entity [mara]
    [INFO] [launch]: process[spawn_mara.py-3]: process has finished cleanly
    [Err] [REST.cc:205] Error in REST request

    libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual. Object will appear white
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual. Object will appear white
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual_1. Object will appear white
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual_1. Object will appear white
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual_2. Object will appear white
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual_2. Object will appear white
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual_3. Object will appear white
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual_3. Object will appear white
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual_4. Object will appear white
    [Wrn] [Visual.cc:1019] Unable to get Material[Gazebo/Brown] for Geometry[mara::table::table_visual_4. Object will appear white
    gzclient: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed.
    [INFO] [joint_state]: Going to publish joint [motor1]
    [INFO] [joint_state]: Going to publish joint [motor2]
    [INFO] [joint_state]: Going to publish joint [motor3]
    [INFO] [joint_state]: Going to publish joint [motor4]
    [INFO] [joint_state]: Going to publish joint [motor5]
    [INFO] [joint_state]: Going to publish joint [motor6]
    [INFO] [joint_state]: Going to publish joint [joint_finger]
    [ERROR] [rclcpp]: Couldn't add guard_condition to wait set: guard_conditions set is full, at /tmp/binarydeb/ros-crystal-rcl-0.6.6/src/rcl/wait.c:411
    terminate called after throwing an instance of 'std::runtime_error'
      what():  Couldn't fill wait set
    [ERROR] [launch]: process[gazebo-1] process has died [pid 75378, exit code 255, cmd 'gazebo --verbose -s libgazebo_ros_factory.so'].
ROBOTIS-Will commented 3 years ago

Hi @Duttonide I cannot provide technical support on other products. Please request support to the product supplier or you may be able to find similar questions from the ROS community. Thank you.