Enzo-M commented 7 years ago

Hello,

My kernel and distro : Linux version 4.4.0-75-generic (buildd@lgw01-21) (gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.4) ) #96-Ubuntu SMP Thu Apr 20 09:56:33 UTC 2017

I had a lot of errors with the controller_manager not finding the spawner (i solved it by git cloning the controller_manager repertory instead of using apt_get) during the launch.

But now i have other problems on the initialization of different joints of the robot. I don't know how to solve these errors so I'm here for some help.

My terminal output when launching Summit XL simulation:

enzo@cncr-2:~/catkin_ws$ roslaunch summit_xl_sim_bringup summit_xl_complete.launch ... logging to /home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/roslaunch-cncr-2-18633.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order xacro.py is deprecated; please use xacro instead started roslaunch server http://cncr-2:34725/

SUMMARY

PARAMETERS

/axis_angular: 2
/axis_linear_x: 1
/axis_linear_y: 0
/axis_linear_z: 3
/button_dead_man: 11
/button_home: 8
/button_kinematic_mode: 9
/button_output_1: 15
/button_output_2: 13
/button_ptz_pan_left: 7
/button_ptz_pan_right: 5
/button_ptz_tilt_down: 6
/button_ptz_tilt_up: 4
/button_ptz_zoom_tele: 0
/button_ptz_zoom_wide: 3
/button_speed_down: 14
/button_speed_up: 12
/cmd_service_home: /summit_xl_contro...
/cmd_service_io: /modbusio/write...
/cmd_service_set_mode: /summit_xl_contro...
/cmd_topic_ptz: /axiscamera/ptz...
/cmd_topic_vel: /pad_teleop/cmd_vel
/joystick_dead_zone: true
/num_of_buttons: 15
/output_1: 1
/output_2: 2
/pan_increment: 5
/ps3_joy/autorepeat_rate: 10.0
/ps3_joy/deadzone: 0.12
/ps3_joy/dev: /dev/input/js0
/robot_description: <?xml version="1....
/rosdistro: kinetic
/rosversion: 1.12.7
/scale_angular: 1.5
/scale_linear: 1.5
/scale_linear_z: 20.0
/summit_xl/joint_blw_velocity_controller/joint: joint_back_left_w...
/summit_xl/joint_blw_velocity_controller/pid/d: 10.0
/summit_xl/joint_blw_velocity_controller/pid/i: 0.01
/summit_xl/joint_blw_velocity_controller/pid/p: 100.0
/summit_xl/joint_blw_velocity_controller/type: effort_controller...
/summit_xl/joint_brw_velocity_controller/joint: joint_backright...
/summit_xl/joint_brw_velocity_controller/pid/d: 10.0
/summit_xl/joint_brw_velocity_controller/pid/i: 0.01
/summit_xl/joint_brw_velocity_controller/pid/p: 100.0
/summit_xl/joint_brw_velocity_controller/type: effort_controller...
/summit_xl/joint_flw_velocity_controller/joint: joint_frontleft...
/summit_xl/joint_flw_velocity_controller/pid/d: 10.0
/summit_xl/joint_flw_velocity_controller/pid/i: 0.01
/summit_xl/joint_flw_velocity_controller/pid/p: 100.0
/summit_xl/joint_flw_velocity_controller/type: effort_controller...
/summit_xl/joint_frw_velocity_controller/joint: joint_front_right...
/summit_xl/joint_frw_velocity_controller/pid/d: 10.0
/summit_xl/joint_frw_velocity_controller/pid/i: 0.01
/summit_xl/joint_frw_velocity_controller/pid/p: 100.0
/summit_xl/joint_frw_velocity_controller/type: effort_controller...
/summit_xl/joint_pan_position_controller/joint: joint_camera_pan
/summit_xl/joint_pan_position_controller/pid/d: 50.0
/summit_xl/joint_pan_position_controller/pid/i: 0.01
/summit_xl/joint_pan_position_controller/pid/p: 100.0
/summit_xl/joint_pan_position_controller/type: effort_controller...
/summit_xl/joint_read_state_controller/publish_rate: 100.0
/summit_xl/joint_read_state_controller/type: joint_state_contr...
/summit_xl/joint_tilt_position_controller/joint: joint_camera_tilt
/summit_xl/joint_tilt_position_controller/pid/d: 50.0
/summit_xl/joint_tilt_position_controller/pid/i: 0.01
/summit_xl/joint_tilt_position_controller/pid/p: 100.0
/summit_xl/joint_tilt_position_controller/type: effort_controller...
/summit_xl_robot_control/blw_pos_topic: /summitxl/joint...
/summit_xl_robot_control/blw_vel_topic: /summitxl/joint...
/summit_xl_robot_control/brw_pos_topic: /summitxl/joint...
/summit_xl_robot_control/brw_vel_topic: /summitxl/joint...
/summit_xl_robot_control/flw_pos_topic: /summitxl/joint...
/summit_xl_robot_control/flw_vel_topic: /summitxl/joint...
/summit_xl_robot_control/frw_pos_topic: /summitxl/joint...
/summit_xl_robot_control/frw_vel_topic: /summitxl/joint...
/summit_xl_robot_control/joint_back_left_wheel: joint_back_left_w...
/summit_xl_robot_control/joint_back_right_wheel: joint_backright...
/summit_xl_robot_control/joint_blw_steer: joint_back_left_s...
/summit_xl_robot_control/joint_brw_steer: joint_backright...
/summit_xl_robot_control/joint_flw_steer: joint_frontleft...
/summit_xl_robot_control/joint_front_left_wheel: joint_frontleft...
/summit_xl_robot_control/joint_front_right_wheel: joint_front_right...
/summit_xl_robot_control/joint_frw_steer: joint_front_right...
/summit_xl_robot_control/model: summit_xl
/summit_xl_robot_control/publish_odom_tf: False
/summit_xl_robot_control/summit_xl_d_tracks_m: 1.0
/summit_xl_robot_control/summit_xl_wheel_diameter: 0.25
/tilt_increment: 5
/twist_mux/locks: [{'topic': 'e_sto...
/twist_mux/topics: [{'topic': 'pad_t...
/use_sim_time: True
/zoom_increment: 300

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) ps3_joy (joy/joy_node) robot_state_publisher (robot_state_publisher/robot_state_publisher) summit_xl_pad (summit_xl_pad/summit_xl_pad) summit_xl_robot_control (summit_xl_robot_control/summit_xl_robot_control) twist_mux (twist_mux/twist_mux) urdf_spawner (gazebo_ros/spawn_model) /summit_xl/ controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[summit_xl/controller_spawner-1]: started with pid [18654] process[robot_state_publisher-2]: started with pid [18655] process[twist_mux-3]: started with pid [18656] process[ps3_joy-4]: started with pid [18657] process[summit_xl_pad-5]: started with pid [18671] process[gazebo-6]: started with pid [18683] process[gazebo_gui-7]: started with pid [18686] process[urdf_spawner-8]: started with pid [18702] process[summit_xl_robot_control-9]: started with pid [18715] [ INFO] [1493892061.156021824]: summit_xl_robot_control_node - Init [ INFO] [1493892061.160479087]: Robot Model : summitxl [ INFO] [1493892061.215892612]: Opened joystick: /dev/input/js0. deadzone: 0.120000. [ INFO] [1493892061.224011217]: summit_xl_wheeldiameter = 0.25 [ INFO] [1493892061.224059378]: summit_xl_d_tracksm = 1.00 [ INFO] [1493892061.226181772]: NOT PUBLISHING odom->base_footprint tf [ INFO] [1493892061.277524508]: SummitXLPad num_ofbuttons = 15 [ INFO] [1493892061.277593914]: bREG 0 [ INFO] [1493892061.277608156]: bREG 1 [ INFO] [1493892061.277618105]: bREG 2 [ INFO] [1493892061.277628738]: bREG 3 [ INFO] [1493892061.277640441]: bREG 4 [ INFO] [1493892061.277648647]: bREG 5 [ INFO] [1493892061.277657034]: bREG 6 [ INFO] [1493892061.277666054]: bREG 7 [ INFO] [1493892061.277674003]: bREG 8 [ INFO] [1493892061.277681671]: bREG 9 [ INFO] [1493892061.277693802]: bREG 10 [ INFO] [1493892061.277704145]: bREG 11 [ INFO] [1493892061.277714539]: bREG 12 [ INFO] [1493892061.277724397]: bREG 13 [ INFO] [1493892061.277734816]: bREG 14

SpawnModel script started [ INFO] [1493892061.378262779]: Finished loading Gazebo ROS API Plugin. [ INFO] [1493892061.378878944]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1493892061.461683, 0.000000]: Loading model XML from ros parameter [INFO] [1493892061.464889, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1493892061.532412, 0.000000]: Controller Spawner: Waiting for service /summit_xl/controller_manager/load_controller [ INFO] [1493892061.595727038, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1493892061.620291917, 0.046000000]: Physics dynamic reconfigure ready. [INFO] [1493892061.767566, 0.189000]: Calling service /gazebo/spawn_urdf_model

[ INFO] [1493892062.394323217, 0.360000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1493892062.394370684, 0.360000000]: Starting Laser Plugin (ns = /)! [ INFO] [1493892062.396785824, 0.360000000]: Laser Plugin (ns = /) , set to "" [INFO] [1493892062.403627, 0.360000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1493892062.442239353, 0.360000000]: Loading gazebo_ros_control plugin [ INFO] [1493892062.442374782, 0.360000000]: Starting gazebo_ros_control plugin in namespace: /summit_xl [ INFO] [1493892062.443113973, 0.360000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ WARN] [1493892062.601182266, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'joint_front_right_wheel'. [ WARN] [1493892062.602135467, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'joint_front_left_wheel'. [ WARN] [1493892062.603062641, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'joint_back_left_wheel'. [ WARN] [1493892062.603548086, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'joint_back_right_wheel'. [ INFO] [1493892062.608249980, 0.360000000]: Loaded gazebo_ros_control. [ WARN] [1493892062.611388272, 0.360000000]: GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/) missing , defaults to 0.000100 [ WARN] [1493892062.611416739, 0.360000000]: GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/) missing , defaults to 0.000100 [ WARN] [1493892062.611431970, 0.360000000]: GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/) missing , defaults to 0.010000 [ INFO] [1493892062.611492086, 0.360000000]: Starting GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/)! [urdf_spawner-8] process has finished cleanly log file: /home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/urdf_spawner-8.log [INFO] [1493892062.739651, 0.413000]: Controller Spawner: Waiting for service /summit_xl/controller_manager/switch_controller [INFO] [1493892062.742544, 0.416000]: Controller Spawner: Waiting for service /summit_xl/controller_manager/unload_controller [INFO] [1493892062.744441, 0.418000]: Loading controller: joint_blw_velocity_controller [INFO] [1493892062.803965, 0.477000]: Loading controller: joint_brw_velocity_controller [INFO] [1493892062.808881, 0.482000]: Loading controller: joint_frw_velocity_controller [INFO] [1493892062.813744, 0.487000]: Loading controller: joint_flw_velocity_controller [INFO] [1493892062.818717, 0.492000]: Loading controller: joint_pan_position_controller [ERROR] [1493892062.844599970, 0.518000000]: Exception thrown while initializing controller joint_pan_position_controller. Could not find resource 'joint_camera_pan' in 'hardware_interface::EffortJointInterface'. [ERROR] [1493892062.844636121, 0.518000000]: Initializing controller 'joint_pan_position_controller' failed Segmentation fault (core dumped) [gazebo_gui-7] process has died [pid 18686, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/gazebo_gui-7.log]. log file: /home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/gazebo_gui-7.log

[ERROR] [1493892063.850324, 1.518000]: Failed to load joint_pan_position_controller [INFO] [1493892063.850689, 1.518000]: Loading controller: joint_tilt_position_controller [ERROR] [1493892063.884128057, 1.552000000]: Exception thrown while initializing controller joint_tilt_position_controller. Could not find resource 'joint_camera_tilt' in 'hardware_interface::EffortJointInterface'. [ERROR] [1493892063.884165944, 1.552000000]: Initializing controller 'joint_tilt_position_controller' failed [ INFO] [1493892064.284628089, 1.951000000]: SummitXLControllerClass::starting [ERROR] [1493892064.888017, 2.552000]: Failed to load joint_tilt_position_controller [INFO] [1493892064.888350, 2.552000]: Loading controller: joint_read_state_controller [INFO] [1493892064.927273, 2.591000]: Controller Spawner: Loaded controllers: joint_blw_velocity_controller, joint_brw_velocity_controller, joint_frw_velocity_controller, joint_flw_velocity_controller, joint_read_state_controller [INFO] [1493892064.930122, 2.594000]: Started controllers: joint_blw_velocity_controller, joint_brw_velocity_controller, joint_frw_velocity_controller, joint_flw_velocity_controller, joint_read_statecontroller [ INFO] [1493892065.284760983, 2.947000000]: SummitXLControllerClass::starting_

I don't understand why my gazebo is constantly dying.

Thank you for helping me please.

JanRuettinger commented 6 years ago

I have a similar issue: Could not find resource 'joint_back_right_steer' in 'hardware_interface::EffortJointInterface'.

RomanRobotnik commented 5 years ago

Do you have installed the package ros-kinetic-effort-controllers?

xjtuwyq commented 5 years ago

Can you describe in detail about How you solve the controller manager problem? I meet the same. Thanks in advance.

vecf commented 5 years ago

Firstly, if you simply want a stable camera view at an appropriate angle, consider switching the PTZ Camera A's topic in RVIZ to /summit_xl_a/front_rgbd_camera/rgb/image_raw. If however, you want to be able to control the PTZ camera, read the rest of this post.

I found the problem to be in the package summit_xl_control. in the config file: summit_xl_control/config/summit_xl_a_control.yaml

I changed the "type" field of the "joint_pan_position_controller" and "joint_tilt_position_controller" from velocity_controllers/JointPositionController to position_controllers/JointPositionController. The issue is that the sensor uses the PositionJointInterface which requires the position_controllers to be loaded and not the velocity_controllers. However, This causes the following errors, due to the "gravity bug":

[ WARN] [1549347112.630936629, 0.002000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity. [ WARN] [1549347112.630997293, 0.002000000]: As a result, gravity will not be simulated correctly for your model. [ WARN] [1549347112.631032544, 0.002000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9. [ WARN] [1549347112.631067450, 0.002000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612

To fix this, I changed from position_controllers/JointPositionController to effort_controllers/JointPositionController. An additional change is required then in the robotnik_sensores package. In .../robotnik_sensors/urdf/axis.urdf.xacro, the 4 harwareInterface tags have to be updated from hardware_interface/PositionJointInterface to hardware_interface/EffortJointInterface. Also in this file, set the pan_joint's lower and upper limits to -1.5708 and 1.5708 to avoid problems with the controllers angle error calculation. This changes the controller from a position_controllers to effort_controllers and gets rid of the gravity bug. Stable PID values for the effort_controller are: {p: 100.0, i: 0.0, d: 12.5}

akileshrajan commented 3 years ago

Firstly, if you simply want a stable camera view at an appropriate angle, consider switching the PTZ Camera A's topic in RVIZ to /summit_xl_a/front_rgbd_camera/rgb/image_raw. If however, you want to be able to control the PTZ camera, read the rest of this post.

I found the problem to be in the package summit_xl_control. in the config file: summit_xl_control/config/summit_xl_a_control.yaml

I changed the "type" field of the "joint_pan_position_controller" and "joint_tilt_position_controller" from velocity_controllers/JointPositionController to position_controllers/JointPositionController. The issue is that the sensor uses the PositionJointInterface which requires the position_controllers to be loaded and not the velocity_controllers. However, This causes the following errors, due to the "gravity bug":

[ WARN] [1549347112.630936629, 0.002000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity. [ WARN] [1549347112.630997293, 0.002000000]: As a result, gravity will not be simulated correctly for your model. [ WARN] [1549347112.631032544, 0.002000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9. [ WARN] [1549347112.631067450, 0.002000000]: For details, see ros-simulation/gazebo_ros_pkgs#612

To fix this, I changed from position_controllers/JointPositionController to effort_controllers/JointPositionController. An additional change is required then in the robotnik_sensores package. In .../robotnik_sensors/urdf/axis.urdf.xacro, the 4 harwareInterface tags have to be updated from hardware_interface/PositionJointInterface to hardware_interface/EffortJointInterface. Also in this file, set the pan_joint's lower and upper limits to -1.5708 and 1.5708 to avoid problems with the controllers angle error calculation. This changes the controller from a position_controllers to effort_controllers and gets rid of the gravity bug. Stable PID values for the effort_controller are: {p: 100.0, i: 0.0, d: 12.5}

Has anyone fixed this issue using this solution? I am currently facing the same issue and the solution doesn't seem to work. The config file summit_xl_control/config/summit_xl_a_control.yaml is nowhere to be found. I used the setup instructions mentioned in the git. I am using ROS Kinetic and gazebo 7 on ubuntu 16.04

RobotnikAutomation / summit_xl_sim

Summit XL errors during launch and planting #15

SUMMARY