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RobotnikAutomation / rbvogui_sim

Packages for the simulation of the RB-VOGUI, RB-VOGUI-XL and RB-VOGUI-6W robots (including UR arms)
https://robotnik.eu/es/productos/robots-moviles/rb-vogui/
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When I run this command: roslaunchrbvogui _ sim _ brinuprbvogui _ complete. launchrobot _ model: = rbvogui robot _ xacro: = rbvogui _ std.urdf.xacro run _ localization: = true run _ navigation: = true. #13

Open yyds623 opened 3 months ago

yyds623 commented 3 months ago

roslaunch rbvogui_sim_bringup rbvogui_complete.launch robot_model:=rbvogui robot_xacro:=rbvogui_std.urdf.xacro run_localization:=true run_navigation:=true ... logging to /home/zxcv/.ros/log/341f9fde-eac6-11ee-b94c-b93d09b9055a/roslaunch-ubuntu-2846.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://localhost:33577/

SUMMARY

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) rviz (rviz/rviz) /robot/ amcl (amcl/amcl) controller_spawner (controller_manager/spawner) front_laser_filter (laser_filters/scan_to_scan_filter_chain) map_server (map_server/map_server) move_base (move_base/move_base) rear_laser_filter (laser_filters/scan_to_scan_filter_chain) robot_state_publisher (robot_state_publisher/robot_state_publisher) twist_mux (twist_mux/twist_mux) urdf_spawner_robot_model (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [2860] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 341f9fde-eac6-11ee-b94c-b93d09b9055a process[rosout-1]: started with pid [2871] started core service [/rosout] process[gazebo-2]: started with pid [2878] process[gazebo_gui-3]: started with pid [2883] process[robot/urdf_spawner_robot_model-4]: started with pid [2885] process[robot/robot_state_publisher-5]: started with pid [2888] process[robot/controller_spawner-6]: started with pid [2890] process[robot/twist_mux-7]: started with pid [2891] process[rviz-8]: started with pid [2892] process[robot/amcl-9]: started with pid [2894] process[robot/map_server-10]: started with pid [2900] process[robot/move_base-11]: started with pid [2901] process[robot/front_laser_filter-12]: started with pid [2903] process[robot/rear_laser_filter-13]: started with pid [2904] [ INFO] [1711384752.569426167]: Subscribed to map topic. [INFO] [1711384753.637777, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1711384753.709763, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1711384753.725775, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ INFO] [1711384755.137616580]: Finished loading Gazebo ROS API Plugin. [ INFO] [1711384755.141943461]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1711384755.629167338]: Finished loading Gazebo ROS API Plugin. [ INFO] [1711384755.633923486]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1711384756.809885784]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1711384756.846204654, 95.570000000]: Physics dynamic reconfigure ready. [ WARN] [1711384757.054520000, 95.759000000]: No laser scan received (and thus no pose updates have been published) for 95.759000 seconds. Verify that data is being published on the /robot/front_laser/scan topic. [ WARN] [1711384757.056059555, 95.760000000]: No laser scan received (and thus no pose updates have been published) for 95.760000 seconds. Verify that data is being published on the /robot/front_laser/scan topic. [INFO] [1711384757.056691, 95.759000]: Calling service /gazebo/spawn_urdf_model [ WARN] [1711384757.057515555, 95.761000000]: Timed out waiting for transform from robot_base_footprint to robot_map to become available before running costmap, tf error: canTransform: target_frame robot_map does not exist. canTransform: source_frame robot_base_footprint does not exist.. canTransform returned after 95.761 timeout was 0.1. [ INFO] [1711384757.075555323, 95.767000000]: Received a 896 X 928 map @ 0.050 m/pix

[ INFO] [1711384757.315488502, 95.843000000]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1711384757.482608962, 95.843000000]: Done initializing likelihood field model. [ INFO] [1711384757.874350592, 95.843000000]: Laser Plugin: Using the 'robotNamespace' param: '/robot/' [ INFO] [1711384757.874456363, 95.843000000]: Starting GazeboRosLaser Plugin (ns = /robot/) [ INFO] [1711384757.884493917, 95.843000000]: GPU Laser Plugin (ns = /robot/) , set to "" [ INFO] [1711384757.885361161, 95.843000000]: LoadThread function completed [INFO] [1711384757.890142, 95.843000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1711384757.958934930, 95.843000000]: Camera Plugin: Using the 'robotNamespace' param: '/robot/' [ INFO] [1711384757.964031044, 95.843000000]: Camera Plugin (ns = /robot/) , set to "" [ INFO] [1711384758.091231841, 95.843000000]: Loading gazebo_ros_control plugin [ INFO] [1711384758.091434908, 95.843000000]: Starting gazebo_ros_control plugin in namespace: /robot/ [ INFO] [1711384758.092302475, 95.843000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot/robot_description] on the ROS param server. [ERROR] [1711384758.225805036, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_right_motor_wheel_joint [ERROR] [1711384758.227965116, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_right_wheel_joint [ERROR] [1711384758.229483063, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_left_motor_wheel_joint [ERROR] [1711384758.230299082, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_left_wheel_joint [ERROR] [1711384758.231076649, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_left_motor_wheel_joint [ERROR] [1711384758.231906067, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_left_wheel_joint [ERROR] [1711384758.232644856, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_right_motor_wheel_joint [ERROR] [1711384758.233201776, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_right_wheel_joint [ INFO] [1711384758.246394555, 95.843000000]: Loaded gazebo_ros_control. [INFO] [1711384758.474023, 95.968000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1711384758.477740, 95.970000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1711384758.487123, 95.977000]: Loading controller: robotnik_base_control [ INFO] [1711384758.691409517, 96.141000000]: Dynamic Reconfigure: DynamicParams: Kinematic parameters: direction wheels init range: 3.14 direction wheels moving range: 3.14

[ INFO] [1711384758.694029801, 96.149000000]: /robot/robotnik_base_control::initController: everything is OK! [INFO] [1711384758.695668, 96.149000]: Loading controller: joint_read_command_controller [robot/urdf_spawner_robot_model-4] process has finished cleanly log file: /home/zxcv/.ros/log/341f9fde-eac6-11ee-b94c-b93d09b9055a/robot-urdf_spawner_robot_model-4*.log [INFO] [1711384758.748620, 96.192000]: Loading controller: joint_read_state_controller [INFO] [1711384758.767670, 96.203000]: Controller Spawner: Loaded controllers: robotnik_base_control, joint_read_command_controller, joint_read_state_controller [ INFO] [1711384758.773395639, 96.205000000]: /robot/robotnik_base_control: Starting! [INFO] [1711384758.773950, 96.205000]: Started controllers: robotnik_base_control, joint_read_command_controller, joint_read_state_controller [ INFO] [1711384759.131560320, 96.534000000]: global_costmap: Using plugin "static_map_layer" [ INFO] [1711384759.145898733, 96.542000000]: Requesting the map... [ INFO] [1711384759.364408170, 96.743000000]: Resizing costmap to 896 X 928 at 0.050000 m/pix [ INFO] [1711384759.472725805, 96.842000000]: Received a 896 X 928 map at 0.050000 m/pix [ INFO] [1711384759.475017119, 96.842000000]: global_costmap: Using plugin "inflation_layer" [ INFO] [1711384759.639421453, 97.004000000]: local_costmap: Using plugin "obstacle_laser_layer" [ INFO] [1711384759.665804983, 97.028000000]: Subscribed to Topics: front_laser rear_laser [ INFO] [1711384759.762992663, 97.135000000]: local_costmap: Using plugin "inflation_layer" [ INFO] [1711384759.914769909, 97.284000000]: Created local_planner teb_local_planner/TebLocalPlannerROS Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 97.304000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ WARN] [1711384759.957613142, 97.321000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 97.304000 according to authority unknown_publisher Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 97.304000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ WARN] [1711384759.989057653, 97.356000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.4410 seconds [ INFO] [1711384760.184868830, 97.545000000]: Footprint model 'polygon' loaded for trajectory optimization. [ INFO] [1711384760.185832399, 97.546000000]: Parallel planning in distinctive topologies disabled. [ INFO] [1711384760.454134315, 97.778000000]: Costmap conversion plugin costmap_converter::CostmapToPolygonsDBSMCCH loaded. [ INFO] [1711384760.978654122, 98.254000000]: Recovery behavior will clear layer 'obstacle_laser_layer' [ INFO] [1711384760.985358468, 98.258000000]: Recovery behavior will clear layer 'obstacle_laser_layer' [ INFO] [1711384761.164980839, 98.403000000]: odom received! [ WARN] [1711384761.175377471, 98.412000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2560 seconds Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 103.724000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ WARN] [1711384766.901763431, 103.746000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 103.724000 according to authority unknown_publisher

yyds623 commented 3 months ago

Save the child.