SyrianSpock
commented
6 years ago Can you try running rosparam set use_sim_time true and then relaunch the node?
Closed mfe7 closed 6 years ago
SyrianSpock
commented
6 years ago Can you try running rosparam set use_sim_time true and then relaunch the node?
mfe7
commented
6 years ago use_sim_time is indeed set to true
No errors when I build:
mfe@mfe-ubuntu:~/realsense_ws$ catkin build realsense_gazebo_plugin
---------------------------------------------------------------------
Profile: default
Extending: [env] /home/mfe/ford_ws/devel:/opt/ros/kinetic
Workspace: /home/mfe/realsense_ws
---------------------------------------------------------------------
Source Space: [exists] /home/mfe/realsense_ws/src
Log Space: [missing] /home/mfe/realsense_ws/logs
Build Space: [exists] /home/mfe/realsense_ws/build
Devel Space: [exists] /home/mfe/realsense_ws/devel
Install Space: [unused] /home/mfe/realsense_ws/install
DESTDIR: [unused] None
---------------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
---------------------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
---------------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
---------------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------------
[build] Found '1' packages in 0.0 seconds.
[build] Updating package table.
Warning: generated devel space setup files have been deleted.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.4 seconds ]
Starting >>> realsense_gazebo_plugin
__________________________________________________________________________________________________________________
Warnings << realsense_gazebo_plugin:cmake /home/mfe/realsense_ws/logs/realsense_gazebo_plugin/build.cmake.000.log
CMake Warning (dev) at /usr/local/lib/python2.7/dist-packages/cmake/data/share/cmake-3.10/Modules/FindBoost.cmake:911 (if):
Policy CMP0054 is not set: Only interpret if() arguments as variables or
keywords when unquoted. Run "cmake --help-policy CMP0054" for policy
details. Use the cmake_policy command to set the policy and suppress this
warning.
Quoted variables like "chrono" will no longer be dereferenced when the
policy is set to NEW. Since the policy is not set the OLD behavior will be
used.
Call Stack (most recent call first):
/usr/local/lib/python2.7/dist-packages/cmake/data/share/cmake-3.10/Modules/FindBoost.cmake:1542 (_Boost_MISSING_DEPENDENCIES)
/usr/share/OGRE/cmake/modules/FindOGRE.cmake:309 (find_package)
/usr/local/lib/cmake/gazebo/gazebo-config.cmake:175 (find_package)
CMakeLists.txt:15 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
cd /home/mfe/realsense_ws/build/realsense_gazebo_plugin; catkin build --get-env realsense_gazebo_plugin | catkin env -si /usr/local/bin/cmake /home/mfe/realsense_ws/src/realsense_gazebo_plugin --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/mfe/realsense_ws/devel/.private/realsense_gazebo_plugin -DCMAKE_INSTALL_PREFIX=/home/mfe/realsense_ws/install; cd -
..................................................................................................................
Finished <<< realsense_gazebo_plugin [ 19.5 seconds ]
[build] Summary: All 2 packages succeeded!
[build] Ignored: None.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 20.9 seconds total. When I run the tests, not much seems to happen so I do ctrl+c after 20sec:
mfe@mfe-ubuntu:~/realsense_ws/src/realsense_gazebo_plugin$ rostest realsense_gazebo_plugin realsense_streams.test
... logging to /home/mfe/.ros/log/rostest-mfe-ubuntu-2623.log
[ROSUNIT] Outputting test results to /home/mfe/.ros/test_results/realsense_gazebo_plugin/rostest-test_realsense_streams.xml
[ INFO]: Finished loading Gazebo ROS API Plugin.
[ INFO]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
RealSensePlugin: The rs_camera plugin is attach to model realsense_camera
[ INFO]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO]: Physics dynamic reconfigure ready.
[Testcase: testrealsense_plugin_test] ... ERROR!
ERROR: max time [60.0s] allotted for test [realsense_plugin_test] of type [realsense_gazebo_plugin/test_realsense_streams]
File "/usr/lib/python2.7/unittest/case.py", line 329, in run
testMethod()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostest/runner.py", line 148, in fn
self.test_parent.run_test(test)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostest/rostest_parent.py", line 132, in run_test
return self.runner.run_test(test)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 684, in run_test
(test.time_limit, test.test_name, test.package, test.type))
--------------------------------------------------------------------------------
[ROSTEST]-----------------------------------------------------------------------
SUMMARY
* RESULT: FAIL
* TESTS: 0
* ERRORS: 1
* FAILURES: 0
rostest log file is in /home/mfe/.ros/log/rostest-mfe-ubuntu-2623.logI could not reproduce this on Ubuntu 18.04 + ROS Melodic + Gazebo 9. I ran
$ roslaunch realsense_gazebo_plugin realsense_urdf.launchthen in a second terminal
$ roslaunch realsense_gazebo_plugin depth_proc.launchand I get
$ rostopic hz /realsense/camera/depth_registered/points
average rate: 20.892
min: 0.000s max: 0.159s std dev: 0.02522s window: 7242
average rate: 20.894
min: 0.000s max: 0.159s std dev: 0.02523s window: 7256
average rate: 20.891
min: 0.000s max: 0.159s std dev: 0.02523s window: 7270Please reopen this issue if it's still not working.
The nodes are starting up without errors, but I can't echo the realsense topics. This is on Ubuntu 16.04, Kinetic, Gazebo 9.