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SigmaEmbeddedEngineering-eg / Sigmapilot

Sigmpilot is an online demo for Sigma embedded engineering clients representing our skills in autonomous robotics, sensor fusion and simulation environments. Sigmapilot is an all-in-one open-source software for autonomous UGVs and industrial robots. the target industries that ModuLiDAR is working on are farming industry, mining industry, warehouses industry, and construction industry.
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Controller Spawner couldn't find the expected controller_manager ROS interface #1

Closed bj-neilson closed 3 years ago

bj-neilson commented 3 years ago

Hi, The packages you've done look good. Your list of future features looks even better. I've had a go at running the packages but am running into a few errors. I think this problem finding the expected controller_manager ROS interface might be causing several of the issues. Did you have any of these problems as below so far?

Thanks Ben

:~/autobotware_ws$ roslaunch autobotware_simulator robot_navigation.launch sensor:=velodyne world_name:='$(find autobotware_simulator)/worlds/turtlebot3_world.world' map_file:='$(find autobotware_simulator)/maps/map.yaml' ... logging to /home/ben/.ros/log/0e256c5c-b2d7-11eb-929a-30d16b9fbdab/roslaunch-ben-Aspire-2794.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://ben-Aspire:46213/

SUMMARY

PARAMETERS

NODES / amcl (amcl/amcl) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_publisher (joint_state_publisher/joint_state_publisher) map_server (map_server/map_server) move_base (move_base/move_base) point_cloud_assembler (point_cloud_assembler/point_cloud_assembler) robot_state_publisher (robot_state_publisher/robot_state_publisher) rqt_robot_steering (rqt_robot_steering/rqt_robot_steering) rviz (rviz/rviz) rviz_assembler (rviz/rviz) rviz_cluster (rviz/rviz) sgm_lidar_clustering (sgm_lidar_clustering/sgm_lidar_clustering) urdf_spawner (gazebo_ros/spawn_model) /skid_steer_bot/ controller_spawner (controller_manager/spawner) robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master process[master]: started with pid [2817] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0e256c5c-b2d7-11eb-929a-30d16b9fbdab process[rosout-1]: started with pid [2829] started core service [/rosout] process[joint_state_publisher-2]: started with pid [2836] process[robot_state_publisher-3]: started with pid [2837] process[gazebo-4]: started with pid [2838] process[gazebo_gui-5]: started with pid [2842] process[urdf_spawner-6]: started with pid [2848] process[sgm_lidar_clustering-7]: started with pid [2849] process[rviz_cluster-8]: started with pid [2855] process[skid_steer_bot/controller_spawner-9]: started with pid [2857] process[skid_steer_bot/robot_state_publisher-10]: started with pid [2858] process[rqt_robot_steering-11]: started with pid [2860] process[point_cloud_assembler-12]: started with pid [2864] process[rviz_assembler-13]: started with pid [2870] process[map_server-14]: started with pid [2872] process[amcl-15]: started with pid [2873] process[move_base-16]: started with pid [2874] process[rviz-17]: started with pid [2879] [ WARN] [1620792231.125411350]: Request for map failed; trying again... initialize obj_level_filter_flag: 1 gnd_seg_threshold: 0.2 distance_threshold: 0.5 point cloud sub topic: /LiDAR1/pcl point cloud pub topic: clusteredPointCLoud object pub topic: clusteredObjectList initialize [ WARN] [1620792231.209772414]: Transformer::setExtrapolationLimit is deprecated and does not do anything topic_names: /LiDAR1/pcl [INFO] [1620792231.443291, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1620792231.679502515]: Finished loading Gazebo ROS API Plugin. [ INFO] [1620792231.682827108]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1620792231.775294137]: Finished loading Gazebo ROS API Plugin. [ INFO] [1620792231.777715675]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1620792232.192907, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1620792232.214761, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org' [WARN] [1620792261.605422, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [skid_steer_bot/controller_spawner-9] process has finished cleanly log file: /home/ben/.ros/log/0e256c5c-b2d7-11eb-929a-30d16b9fbdab/skid_steer_bot-controller_spawner-9.log Error Code: 11 Msg: Unable to find uri[model://turtlebot3_world] [ INFO] [1620792408.824979260]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1620792408.888664318, 0.035000000]: Physics dynamic reconfigure ready. [INFO] [1620792408.943346, 0.087000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1620792409.494303193, 0.200000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1620792409.501556006, 0.200000000]: Camera Plugin (ns = /) , set to "" Service call failed: transport error completing service call: receive_once[/gazebo/spawn_urdf_model]: DeserializationError cannot deserialize: unknown error handler name 'rosmsg' [ERROR] [1620792419.940837, 0.200000]: Spawn service failed. Exiting. [ INFO] [1620792419.941907352, 0.200000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1620792419.942079448, 0.200000000]: x:0.000000, y:0.000000,z:0.000000,roll:0.000000,pitch:0.000000,yaw:0.000000 [ INFO] [1620792419.942223790, 0.200000000]: Starting Laser Plugin (ns = /) [ INFO] [1620792419.949228264, 0.200000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1620792420.051874323, 0.200000000]: Starting GazeboRosSkidSteerDrive Plugin (ns = //) [ INFO] [1620792420.089983321, 0.200000000]: Loading gazebo_ros_control plugin [ INFO] [1620792420.090285054, 0.200000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1620792420.091749457, 0.200000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [urdf_spawner-6] process has died [pid 2848, exit code 1, cmd /home/ben/catkin_ws/src/AutoOrchards_mower/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -x -2 -y 0.5 -Y 0 -urdf -param robot_description -model skid_steer_bot __name:=urdf_spawner __log:=/home/ben/.ros/log/0e256c5c-b2d7-11eb-929a-30d16b9fbdab/urdf_spawner-6.log]. log file: /home/ben/.ros/log/0e256c5c-b2d7-11eb-929a-30d16b9fbdab/urdf_spawner-6.log [ INFO] [1620792420.230847021, 0.200000000]: Loaded gazebo_ros_control. PointCloud after filtering: 1712 1 before filtering:32768 accumilative filtering:1712 OpenCV Error: Assertion failed (src.type() == CV_8UC1) in findNonZero, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/stat.cpp, line 4043 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/stat.cpp:4043: error: (-215) src.type() == CV_8UC1 in function findNonZero

PointCloud after filtering: 1707 1 before filtering:32768 accumilative filtering:3181 [sgm_lidar_clustering-7] process has died [pid 2849, exit code -6, cmd /home/ben/autobotware_ws/devel/lib/sgm_lidar_clustering/sgm_lidar_clustering name:=sgm_lidar_clustering log:=/home/ben/.ros/log/0e256c5c-b2d7-11eb-929a-30d16b9fbdab/sgm_lidar_clustering-7.log]. log file: /home/ben/.ros/log/0e256c5c-b2d7-11eb-929a-30d16b9fbdab/sgm_lidar_clustering-7*.log PointCloud after filtering: 1698 1 before filtering:32768 accumilative filtering:3727 PointCloud after filtering: 1720 1 before filtering:32768 accumilative filtering:4017

khaledelmadawi commented 3 years ago

I think your problem in the opencv version, as it is 3.2.0, I would recommend you to update ur opencv version to 4.5+

khaledelmadawi commented 3 years ago

issue will be closed