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UbiquityRobotics / magni_robot

Starting point for Magni Robots. Includes launch files and configuration.
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magni_gazebo launch files not working #174

Closed JanLipovsek closed 3 years ago

JanLipovsek commented 3 years ago

Magni_gazebo launch files cant load robot_description parameter

[roslaunch][INFO] 2021-08-16 17:07:11,371: Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt [roslaunch][INFO] 2021-08-16 17:07:11,376: Done checking log file disk usage. Usage is <1GB. [roslaunch][INFO] 2021-08-16 17:07:11,376: roslaunch starting with args ['/opt/ros/noetic/bin/roslaunch', 'magni_gazebo', 'cafe2_world.launch'] [roslaunch][INFO] 2021-08-16 17:07:11,376: roslaunch env is environ({'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SESSION_MANAGER': 'local/lipa-PC:@/tmp/.ICE-unix/2214,unix/lipa-PC:/tmp/.ICE-unix/2214', 'QT_ACCESSIBILITY': '1', 'COLORTERM': 'truecolor', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PKG_CONFIG_PATH': '/home/lipa/tutorials/devel/lib/pkgconfig:/home/lipa/ubiquity/usb_cam/devel/lib/pkgconfig:/home/lipa/ubiquity/track_objects/devel/lib/pkgconfig:/home/lipa/ubiquity/dnn_detect/devel/lib/pkgconfig:/home/lipa/ubiquity/magni/devel/lib/pkgconfig:/home/lipa/ros1/devel/lib/pkgconfig:/home/lipa/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'LC_ADDRESS': 'sl_SI.UTF-8', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'LC_NAME': 'sl_SI.UTF-8', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XMODIFIERS': '@im=ibus', 'DESKTOP_SESSION': 'ubuntu', 'LC_MONETARY': 'sl_SI.UTF-8', 'SSH_AGENT_PID': '2179', 'ROS_PACKAGE_PATH': '/home/lipa/tutorials/src:/home/lipa/ubiquity/usb_cam/src:/home/lipa/ubiquity/track_objects/src:/home/lipa/ubiquity/dnn_detect/src:/home/lipa/ubiquity/partybot/src:/home/lipa/ubiquity/magni/src:/home/lipa/ros1/src:/home/lipa/catkin_ws/src:/opt/ros/noetic/share', 'GTK_MODULES': 'gail:atk-bridge', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/lipa/tutorials/devel/share/common-lisp:/home/lipa/ubiquity/usb_cam/devel/share/common-lisp:/home/lipa/ubiquity/track_objects/devel/share/common-lisp:/home/lipa/ubiquity/dnn_detect/devel/share/common-lisp:/home/lipa/ubiquity/partybot/devel/share/common-lisp:/home/lipa/ubiquity/magni/devel/share/common-lisp:/home/lipa/ros1/devel/share/common-lisp:/home/lipa/catkin_ws/devel/share/common-lisp', 'DBUS_STARTER_BUS_TYPE': 'session', 'PWD': '/home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch', 'LOGNAME': 'lipa', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XDG_SESSION_TYPE': 'x11', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'WINDOWPATH': '2', 'HOME': '/home/lipa', 'USERNAME': 'lipa', 'IM_CONFIG_PHASE': '1', 'LC_PAPER': 'sl_SI.UTF-8', 'LANG': 'en_US.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35:.mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:*.xspf=00;36:', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'VTE_VERSION': '6003', 'CMAKE_PREFIX_PATH': '/home/lipa/tutorials/devel:/home/lipa/ubiquity/usb_cam/devel:/home/lipa/ubiquity/track_objects/devel:/home/lipa/ubiquity/dnn_detect/devel:/home/lipa/ubiquity/partybot/devel:/home/lipa/ubiquity/magni/devel:/home/lipa/ros1/devel:/home/lipa/catkin_ws/devel:/opt/ros/noetic', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/f5476700_e9f7_460c_a81e_926b7fc227d9', 'INVOCATION_ID': '8d28051196f842f7b926a1e175a8f9e8', 'MANAGERPID': '1999', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/lipa/tutorials/devel/lib/python3/dist-packages:/home/lipa/ubiquity/track_objects/devel/lib/python3/dist-packages:/home/lipa/ubiquity/dnn_detect/devel/lib/python3/dist-packages:/home/lipa/ros1/devel/lib/python3/dist-packages:/home/lipa/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LC_IDENTIFICATION': 'sl_SI.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'lipa', 'GNOME_TERMINAL_SERVICE': ':1.107', 'DISPLAY': ':1', 'SHLVL': '1', 'LC_TELEPHONE': 'sl_SI.UTF-8', 'ROS_MASTER_URI': 'http://localhost:11311', 'QT_IM_MODULE': 'ibus', 'LC_MEASUREMENT': 'sl_SI.UTF-8', 'DBUS_STARTER_ADDRESS': 'unix:path=/run/user/1000/bus,guid=5badc050eb2f39b02e782f02611a4ca3', 'ROS_HOSTNAME': 'lipa-PC.local', 'LD_LIBRARY_PATH': '/home/lipa/tutorials/devel/lib:/home/lipa/ubiquity/usb_cam/devel/lib:/home/lipa/ubiquity/track_objects/devel/lib:/home/lipa/ubiquity/dnn_detect/devel/lib:/home/lipa/ubiquity/partybot/devel/lib:/home/lipa/ubiquity/magni/devel/lib:/home/lipa/ros1/devel/lib:/home/lipa/catkin_ws/devel/lib:/opt/ros/noetic/lib', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_TIME': 'sl_SI.UTF-8', 'JOURNAL_STREAM': '8:50437', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PATH': '/opt/ros/noetic/bin:/home/lipa/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/lipa/home/lipa/clion/clion-2020.1.1/bin:/home/lipa/pycharm-community-2020.3.5/bin', 'GDMSESSION': 'ubuntu', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus,guid=5badc050eb2f39b02e782f02611a4ca3', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'LC_NUMERIC': 'sl_SI.UTF-8', 'OLDPWD': '/home/lipa/catkinws', '': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/lipa/.ros/log/f5119c7a-fea0-11eb-8f41-5918bd42ecc4/roslaunch-lipa-PC-30657.log'}) [roslaunch][INFO] 2021-08-16 17:07:11,376: starting in server mode [roslaunch.parent][INFO] 2021-08-16 17:07:11,376: starting roslaunch parent run [roslaunch][INFO] 2021-08-16 17:07:11,377: loading roscore config file /opt/ros/noetic/etc/ros/roscore.xml [roslaunch][INFO] 2021-08-16 17:07:11,495: Added core node of type [rosout/rosout] in namespace [/] [roslaunch.config][INFO] 2021-08-16 17:07:11,496: loading config file /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/cafe2_world.launch [roslaunch][INFO] 2021-08-16 17:07:11,537: Added node of type [gazebo_ros/gzserver] in namespace [/] [roslaunch][INFO] 2021-08-16 17:07:11,537: Added node of type [gazebo_ros/gzclient] in namespace [/] [roslaunch][ERROR] 2021-08-16 17:07:11,794: RLException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/magni.launch: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is [roslaunch][ERROR] 2021-08-16 17:07:11,795: The traceback for the exception was written to the log file [roslaunch][ERROR] 2021-08-16 17:07:11,797: Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 271, in _param_tag value = self.param_value(verbose, name, ptype, *vals) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/loader.py", line 543, in param_value raise ValueError("Cannot load command parameter [%s]: command [%s] returned with code [%s]"%(name, command, p.returncode)) ValueError: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2]

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 633, in _include_tag self._recurse_load(ros_config, launch.childNodes, child_ns, \ File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 679, in _recurse_load self._param_tag(tag, context, ros_config, verbose=verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 285, in _param_tag raise XmlParseException( roslaunch.xmlloader.XmlParseException: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 633, in _include_tag self._recurse_load(ros_config, launch.childNodes, child_ns, \ File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 644, in _include_tag raise XmlParseException("while processing %s:\n%s"%(inc_filename, str(e))) roslaunch.xmlloader.XmlParseException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/config.py", line 461, in load_config_default loader.load(f, config, argv=args, verbose=verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 761, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 733, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 644, in _include_tag raise XmlParseException("while processing %s:\n%s"%(inc_filename, str(e))) roslaunch.xmlloader.XmlParseException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/magni.launch: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/init.py", line 347, in main p.start() File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 305, in start self._start_infrastructure() File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 254, in _start_infrastructure self._load_config() File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 156, in _load_config self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/config.py", line 463, in load_config_default raise RLException(e) roslaunch.core.RLException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/magni.launch: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

[rospy.core][INFO] 2021-08-16 17:07:11,798: signal_shutdown [atexit]

anfederman commented 3 years ago

Noetic/Ubuntu 20.04 doesn't support Gazebo on a Raspberry PI. There was no deb for Gazebo on a pi Unbutu 20.04. I am not sure, but I don't think it exists for either ARM32 or ARM64. At any rate, there isn't a desktop-full for the ARM32 Pi ubuntu.

Magni-gazebo worked fine on Pi running 18.04 melodic. I will try to install magni_gazebo on an AMD64 Ubuntu and see if it works.

On Fri, Aug 20, 2021 at 8:47 AM JanLipovsek @.***> wrote:

Magni_gazebo launch files cant load robot_description parameter

[roslaunch][INFO] 2021-08-16 17:07:11,371: Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt [roslaunch][INFO] 2021-08-16 17:07:11,376: Done checking log file disk usage. Usage is <1GB. [roslaunch][INFO] 2021-08-16 17:07:11,376: roslaunch starting with args ['/opt/ros/noetic/bin/roslaunch', 'magni_gazebo', 'cafe2_world.launch'] [roslaunch][INFO] 2021-08-16 17:07:11,376: roslaunch env is environ({'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SESSION_MANAGER': 'local/lipa-PC:@/tmp/.ICE-unix/2214,unix/lipa-PC:/tmp/.ICE-unix/2214', 'QT_ACCESSIBILITY': '1', 'COLORTERM': 'truecolor', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PKG_CONFIG_PATH': '/home/lipa/tutorials/devel/lib/pkgconfig:/home/lipa/ubiquity/usb_cam/devel/lib/pkgconfig:/home/lipa/ubiquity/track_objects/devel/lib/pkgconfig:/home/lipa/ubiquity/dnn_detect/devel/lib/pkgconfig:/home/lipa/ubiquity/magni/devel/lib/pkgconfig:/home/lipa/ros1/devel/lib/pkgconfig:/home/lipa/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'LC_ADDRESS': 'sl_SI.UTF-8', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'LC_NAME': 'sl_SI.UTF-8', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XMODIFIERS': @.** https://github.com/im=ibus', 'DESKTOP_SESSION': 'ubuntu', 'LC_MONETARY': 'sl_SI.UTF-8', 'SSH_AGENT_PID': '2179', 'ROS_PACKAGE_PATH': '/home/lipa/tutorials/src:/home/lipa/ubiquity/usb_cam/src:/home/lipa/ubiquity/track_objects/src:/home/lipa/ubiquity/dnn_detect/src:/home/lipa/ubiquity/partybot/src:/home/lipa/ubiquity/magni/src:/home/lipa/ros1/src:/home/lipa/catkin_ws/src:/opt/ros/noetic/share', 'GTK_MODULES': 'gail:atk-bridge', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/lipa/tutorials/devel/share/common-lisp:/home/lipa/ubiquity/usb_cam/devel/share/common-lisp:/home/lipa/ubiquity/track_objects/devel/share/common-lisp:/home/lipa/ubiquity/dnn_detect/devel/share/common-lisp:/home/lipa/ubiquity/partybot/devel/share/common-lisp:/home/lipa/ubiquity/magni/devel/share/common-lisp:/home/lipa/ros1/devel/share/common-lisp:/home/lipa/catkin_ws/devel/share/common-lisp', 'DBUS_STARTER_BUS_TYPE': 'session', 'PWD': '/home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch', 'LOGNAME': 'lipa', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XDG_SESSION_TYPE': 'x11', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'WINDOWPATH': '2', 'HOME': '/home/lipa', 'USERNAME': 'lipa', 'IM_CONFIG_PHASE': '1', 'LC_PAPER': 'sl_SI.UTF-8', 'LANG': 'en_US.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32: .tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31: .lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31: .t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31: .lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31: .bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31: .jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31: .ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31: .wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35: .mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35: .pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35: .tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35: .mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35: .ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35: .nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35: .avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35: .xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35: .aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36: .mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36: .oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'VTE_VERSION': '6003', 'CMAKE_PREFIX_PATH': '/home/lipa/tutorials/devel:/home/lipa/ubiquity/usb_cam/devel:/home/lipa/ubiquity/track_objects/devel:/home/lipa/ubiquity/dnn_detect/devel:/home/lipa/ubiquity/partybot/devel:/home/lipa/ubiquity/magni/devel:/home/lipa/ros1/devel:/home/lipa/catkin_ws/devel:/opt/ros/noetic', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/f5476700_e9f7_460c_a81e_926b7fc227d9', 'INVOCATION_ID': '8d28051196f842f7b926a1e175a8f9e8', 'MANAGERPID': '1999', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/lipa/tutorials/devel/lib/python3/dist-packages:/home/lipa/ubiquity/track_objects/devel/lib/python3/dist-packages:/home/lipa/ubiquity/dnn_detect/devel/lib/python3/dist-packages:/home/lipa/ros1/devel/lib/python3/dist-packages:/home/lipa/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm-256color', 'LC_IDENTIFICATION': 'sl_SI.UTF-8', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'lipa', 'GNOME_TERMINAL_SERVICE': ':1.107', 'DISPLAY': ':1', 'SHLVL': '1', 'LC_TELEPHONE': 'sl_SI.UTF-8', 'ROS_MASTER_URI': 'http://localhost:11311', 'QT_IM_MODULE': 'ibus', 'LC_MEASUREMENT': 'sl_SI.UTF-8', 'DBUS_STARTER_ADDRESS': 'unix:path=/run/user/1000/bus,guid=5badc050eb2f39b02e782f02611a4ca3', 'ROS_HOSTNAME': 'lipa-PC.local', 'LD_LIBRARY_PATH': '/home/lipa/tutorials/devel/lib:/home/lipa/ubiquity/usb_cam/devel/lib:/home/lipa/ubiquity/track_objects/devel/lib:/home/lipa/ubiquity/dnn_detect/devel/lib:/home/lipa/ubiquity/partybot/devel/lib:/home/lipa/ubiquity/magni/devel/lib:/home/lipa/ros1/devel/lib:/home/lipa/catkin_ws/devel/lib:/opt/ros/noetic/lib', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_TIME': 'sl_SI.UTF-8', 'JOURNAL_STREAM': '8:50437', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PATH': '/opt/ros/noetic/bin:/home/lipa/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/lipa/home/lipa/clion/clion-2020.1.1/bin:/home/lipa/pycharm-community-2020.3.5/bin', 'GDMSESSION': 'ubuntu', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus,guid=5badc050eb2f39b02e782f02611a4ca3', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'LC_NUMERIC': 'sl_SI.UTF-8', 'OLDPWD': '/home/lipa/catkinws', '': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/lipa/.ros/log/f5119c7a-fea0-11eb-8f41-5918bd42ecc4/roslaunch-lipa-PC-30657.log'}) [roslaunch][INFO] 2021-08-16 17:07:11,376: starting in server mode [roslaunch.parent][INFO] 2021-08-16 17:07:11,376: starting roslaunch parent run [roslaunch][INFO] 2021-08-16 17:07:11,377: loading roscore config file /opt/ros/noetic/etc/ros/roscore.xml [roslaunch][INFO] 2021-08-16 17:07:11,495: Added core node of type [rosout/rosout] in namespace [/] [roslaunch.config][INFO] 2021-08-16 17:07:11,496: loading config file /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/cafe2_world.launch [roslaunch][INFO] 2021-08-16 17:07:11,537: Added node of type [gazebo_ros/gzserver] in namespace [/] [roslaunch][INFO] 2021-08-16 17:07:11,537: Added node of type [gazebo_ros/gzclient] in namespace [/] [roslaunch][ERROR] 2021-08-16 17:07:11,794: RLException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/magni.launch: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is [roslaunch][ERROR] 2021-08-16 17:07:11,795: The traceback for the exception was written to the log file [roslaunch][ERROR] 2021-08-16 17:07:11,797: Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 271, in _param_tag value = self.param_value(verbose, name, ptype, *vals) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/loader.py", line 543, in param_value raise ValueError("Cannot load command parameter [%s]: command [%s] returned with code [%s]"%(name, command, p.returncode)) ValueError: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2]

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 633, in _include_tag self._recurse_load(ros_config, launch.childNodes, child_ns, File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 679, in _recurse_load self._param_tag(tag, context, ros_config, verbose=verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 285, in _param_tag raise XmlParseException( roslaunch.xmlloader.XmlParseException: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 633, in _include_tag self._recurse_load(ros_config, launch.childNodes, child_ns, File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 644, in _include_tag raise XmlParseException("while processing %s:\n%s"%(inc_filename, str(e))) roslaunch.xmlloader.XmlParseException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/config.py", line 461, in load_config_default loader.load(f, config, argv=args, verbose=verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 761, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 733, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 644, in _include_tag raise XmlParseException("while processing %s:\n%s"%(inc_filename, str(e))) roslaunch.xmlloader.XmlParseException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/magni.launch: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/init.py", line 347, in main p.start() File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 305, in start self._start_infrastructure() File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 254, in _start_infrastructure self._load_config() File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 156, in _load_config self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/config.py", line 463, in load_config_default raise RLException(e) roslaunch.core.RLException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/magni.launch: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

[rospy.core][INFO] 2021-08-16 17:07:11,798: signal_shutdown [atexit]

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anfederman commented 3 years ago

I have tested magni_gazebo empty_world launch on my Ubuntu 20.04 AMD64 laptop. It works well. I don't think we need to worry about getting this working on a Raspberry PI. [image: image.png]

On Fri, Aug 20, 2021 at 9:01 AM Alan Federman @.***> wrote:

Noetic/Ubuntu 20.04 doesn't support Gazebo on a Raspberry PI. There was no deb for Gazebo on a pi Unbutu 20.04. I am not sure, but I don't think it exists for either ARM32 or ARM64. At any rate, there isn't a desktop-full for the ARM32 Pi ubuntu.

Magni-gazebo worked fine on Pi running 18.04 melodic. I will try to install magni_gazebo on an AMD64 Ubuntu and see if it works.

On Fri, Aug 20, 2021 at 8:47 AM JanLipovsek @.***> wrote:

Magni_gazebo launch files cant load robot_description parameter

[roslaunch][INFO] 2021-08-16 17:07:11,371: Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt [roslaunch][INFO] 2021-08-16 17:07:11,376: Done checking log file disk usage. Usage is <1GB. [roslaunch][INFO] 2021-08-16 17:07:11,376: roslaunch starting with args ['/opt/ros/noetic/bin/roslaunch', 'magni_gazebo', 'cafe2_world.launch'] [roslaunch][INFO] 2021-08-16 17:07:11,376: roslaunch env is environ({'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'SESSION_MANAGER': 'local/lipa-PC:@/tmp/.ICE-unix/2214,unix/lipa-PC:/tmp/.ICE-unix/2214', 'QT_ACCESSIBILITY': '1', 'COLORTERM': 'truecolor', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PKG_CONFIG_PATH': '/home/lipa/tutorials/devel/lib/pkgconfig:/home/lipa/ubiquity/usb_cam/devel/lib/pkgconfig:/home/lipa/ubiquity/track_objects/devel/lib/pkgconfig:/home/lipa/ubiquity/dnn_detect/devel/lib/pkgconfig:/home/lipa/ubiquity/magni/devel/lib/pkgconfig:/home/lipa/ros1/devel/lib/pkgconfig:/home/lipa/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'LC_ADDRESS': 'sl_SI.UTF-8', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'LC_NAME': 'sl_SI.UTF-8', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XMODIFIERS': @.** https://github.com/im=ibus', 'DESKTOP_SESSION': 'ubuntu', 'LC_MONETARY': 'sl_SI.UTF-8', 'SSH_AGENT_PID': '2179', 'ROS_PACKAGE_PATH': '/home/lipa/tutorials/src:/home/lipa/ubiquity/usb_cam/src:/home/lipa/ubiquity/track_objects/src:/home/lipa/ubiquity/dnn_detect/src:/home/lipa/ubiquity/partybot/src:/home/lipa/ubiquity/magni/src:/home/lipa/ros1/src:/home/lipa/catkin_ws/src:/opt/ros/noetic/share', 'GTK_MODULES': 'gail:atk-bridge', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/lipa/tutorials/devel/share/common-lisp:/home/lipa/ubiquity/usb_cam/devel/share/common-lisp:/home/lipa/ubiquity/track_objects/devel/share/common-lisp:/home/lipa/ubiquity/dnn_detect/devel/share/common-lisp:/home/lipa/ubiquity/partybot/devel/share/common-lisp:/home/lipa/ubiquity/magni/devel/share/common-lisp:/home/lipa/ros1/devel/share/common-lisp:/home/lipa/catkin_ws/devel/share/common-lisp', 'DBUS_STARTER_BUS_TYPE': 'session', 'PWD': '/home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch', 'LOGNAME': 'lipa', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XDG_SESSION_TYPE': 'x11', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'WINDOWPATH': '2', 'HOME': '/home/lipa', 'USERNAME': 'lipa', 'IM_CONFIG_PHASE': '1', 'LC_PAPER': 'sl_SI.UTF-8', 'LANG': 'en_US.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32: .tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31: .lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31: .t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31: .lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31: .bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31: .jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31: .ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31: .wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35: .mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35: .pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35: .tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35: .pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35: .webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35: .vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35: .rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35: .dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35: .ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36: .mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36: .ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'VTE_VERSION': '6003', 'CMAKE_PREFIX_PATH': 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':1.107', 'DISPLAY': ':1', 'SHLVL': '1', 'LC_TELEPHONE': 'sl_SI.UTF-8', 'ROS_MASTER_URI': 'http://localhost:11311', 'QT_IM_MODULE': 'ibus', 'LC_MEASUREMENT': 'sl_SI.UTF-8', 'DBUS_STARTER_ADDRESS': 'unix:path=/run/user/1000/bus,guid=5badc050eb2f39b02e782f02611a4ca3', 'ROS_HOSTNAME': 'lipa-PC.local', 'LD_LIBRARY_PATH': '/home/lipa/tutorials/devel/lib:/home/lipa/ubiquity/usb_cam/devel/lib:/home/lipa/ubiquity/track_objects/devel/lib:/home/lipa/ubiquity/dnn_detect/devel/lib:/home/lipa/ubiquity/partybot/devel/lib:/home/lipa/ubiquity/magni/devel/lib:/home/lipa/ros1/devel/lib:/home/lipa/catkin_ws/devel/lib:/opt/ros/noetic/lib', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_TIME': 'sl_SI.UTF-8', 'JOURNAL_STREAM': '8:50437', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PATH': '/opt/ros/noetic/bin:/home/lipa/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/lipa/home/lipa/clion/clion-2020.1.1/bin:/home/lipa/pycharm-community-2020.3.5/bin', 'GDMSESSION': 'ubuntu', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus,guid=5badc050eb2f39b02e782f02611a4ca3', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'LC_NUMERIC': 'sl_SI.UTF-8', 'OLDPWD': '/home/lipa/catkinws', '': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/home/lipa/.ros/log/f5119c7a-fea0-11eb-8f41-5918bd42ecc4/roslaunch-lipa-PC-30657.log'}) [roslaunch][INFO] 2021-08-16 17:07:11,376: starting in server mode [roslaunch.parent][INFO] 2021-08-16 17:07:11,376: starting roslaunch parent run [roslaunch][INFO] 2021-08-16 17:07:11,377: loading roscore config file /opt/ros/noetic/etc/ros/roscore.xml [roslaunch][INFO] 2021-08-16 17:07:11,495: Added core node of type [rosout/rosout] in namespace [/] [roslaunch.config][INFO] 2021-08-16 17:07:11,496: loading config file /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/cafe2_world.launch [roslaunch][INFO] 2021-08-16 17:07:11,537: Added node of type [gazebo_ros/gzserver] in namespace [/] [roslaunch][INFO] 2021-08-16 17:07:11,537: Added node of type [gazebo_ros/gzclient] in namespace [/] [roslaunch][ERROR] 2021-08-16 17:07:11,794: RLException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/magni.launch: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is [roslaunch][ERROR] 2021-08-16 17:07:11,795: The traceback for the exception was written to the log file [roslaunch][ERROR] 2021-08-16 17:07:11,797: Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 271, in _param_tag value = self.param_value(verbose, name, ptype, *vals) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/loader.py", line 543, in param_value raise ValueError("Cannot load command parameter [%s]: command [%s] returned with code [%s]"%(name, command, p.returncode)) ValueError: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2]

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 633, in _include_tag self._recurse_load(ros_config, launch.childNodes, child_ns, File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 679, in _recurse_load self._param_tag(tag, context, ros_config, verbose=verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 285, in _param_tag raise XmlParseException( roslaunch.xmlloader.XmlParseException: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 633, in _include_tag self._recurse_load(ros_config, launch.childNodes, child_ns, File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 644, in _include_tag raise XmlParseException("while processing %s:\n%s"%(inc_filename, str(e))) roslaunch.xmlloader.XmlParseException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/config.py", line 461, in load_config_default loader.load(f, config, argv=args, verbose=verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 761, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 733, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 699, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 96, in call return f(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/xmlloader.py", line 644, in _include_tag raise XmlParseException("while processing %s:\n%s"%(inc_filename, str(e))) roslaunch.xmlloader.XmlParseException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/magni.launch: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/init.py", line 347, in main p.start() File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 305, in start self._start_infrastructure() File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 254, in _start_infrastructure self._load_config() File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/parent.py", line 156, in _load_config self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/config.py", line 463, in load_config_default raise RLException(e) roslaunch.core.RLException: while processing /home/lipa/catkin_ws/src/magni_robot/magni_gazebo/launch/magni.launch: while processing /home/lipa/catkin_ws/src/magni_robot/magni_description/launch/description.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '--inorder', '/home/lipa/catkin_ws/src/magni_robot/magni_description/urdf/magni.urdf.xacro', 'sonars_installed:=true', 'lidar_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/lidar_extrinsics_top_plate.yaml', 'camera_extrinsics_file:=/home/lipa/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml']] returned with code [2].

Param xml is

[rospy.core][INFO] 2021-08-16 17:07:11,798: signal_shutdown [atexit]

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JanLipovsek commented 3 years ago

Yeah i forgot to mention in my first post that I was trying to run the noetic_devel branch of magni robot on my PC runing ubuntu 20.04. The indigo_devel branch works OK.

JanezCim commented 3 years ago

@JanLipovsek noetic_devel branch is still very much in development, it is in now way a release. There has been a huge reconstruction of how gazebo launches and bringup files are ran at the boot of the robot. So that branch is very prone to errors which we are trying to solve. You can read how the new bringup works here: https://github.com/UbiquityRobotics/magni_robot/blob/noetic-devel/magni_bringup/README.md

anfederman commented 3 years ago

I am guessing since magni_gazebo won't work on a Pi under noetic, it won't be released on the final image? It needs to be broken out as a separate installation. If we intend to continue to support gazebo.

Also if we intend to support it for workstations, we need to modify it to support fiducials. empty_world launch works ok on my laptop, but the fiducial_worlds doesn't show the ceiling markers either on rviz or gazebo.

JanezCim commented 3 years ago

@anfederman afaik till now magni_gazebo was always included within the Pi image even though it was never used there. A bit of dead weight, for downloading and compiling. We could put it in a separate repo but then you have another thing to support and you have to probably change some READMEs - what is your opinion here @rohbotics ?

Im taking a look at the fiducial ceiling markers now.

JanezCim commented 3 years ago

Fiducial ceiling markers should be solved with https://github.com/UbiquityRobotics/magni_robot/pull/176

anfederman commented 3 years ago

Sorry after applying 176:

xacro: in-order processing became default in ROS Melodic. You can drop the option. [Errno 2] No such file or directory: '/home/dr1bot/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml'

I needed to copy the directory 'extinsics' to 'param' and then empty world worked ok on my laptop noetic.

I think you nan fix by editing the magni.launch or by copying the directory, there is a inconsistency that insome cases the extrinsics are under param and in other places under extrinsics.

On Tue, Sep 7, 2021 at 5:53 AM Janez Cimerman @.***> wrote:

Fiducial ceiling markers should be solved with #176 https://github.com/UbiquityRobotics/magni_robot/pull/176

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anfederman commented 3 years ago

Also , fiducial world launches, if you edit the launch and change the camera to:

(as opposed to raspicam_mount)

However the map isn't launched and the ceiling fiducials aren't being displayed.

On Tue, Sep 7, 2021 at 10:20 AM Alan Federman @.***> wrote:

Sorry after applying 176:

xacro: in-order processing became default in ROS Melodic. You can drop the option. [Errno 2] No such file or directory: '/home/dr1bot/catkin_ws/src/magni_robot/magni_description/param/camera_extrinsics_forward.yaml'

I needed to copy the directory 'extinsics' to 'param' and then empty world worked ok on my laptop noetic.

I think you nan fix by editing the magni.launch or by copying the directory, there is a inconsistency that insome cases the extrinsics are under param and in other places under extrinsics.

On Tue, Sep 7, 2021 at 5:53 AM Janez Cimerman @.***> wrote:

Fiducial ceiling markers should be solved with #176 https://github.com/UbiquityRobotics/magni_robot/pull/176

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JanezCim commented 3 years ago

I think you nan fix by editing the magni.launch or by copying the directory, there is a inconsistency that insome cases the extrinsics are under param and in other places under extrinsics.

This was corrected here: https://github.com/UbiquityRobotics/magni_robot/blob/f5560cdef82d67f2936ee2677cd88be1105cdc49/magni_gazebo/launch/magni.launch#L22

(as opposed to raspicam_mount)

This has been corrected here: https://github.com/UbiquityRobotics/magni_robot/blob/f5560cdef82d67f2936ee2677cd88be1105cdc49/magni_gazebo/launch/fiducials/fiducial_world.launch#L4

I've had exactly the same problems that you are having and solved them in bugfix-gazebo-extrinsicsfolder branch along with the fiducials not being displayed. So im not sure where something is going wrong but i suspect your git is not pulling correctly or you are launching a different launch file. Can you copy-paste the command that you are launching this with? You are launching on a PC and NOT on a RPI right?

Im launching on a PC with Noetic installed with command: roslaunch magni_gazebo fiducial_world.launch are you doing the same?

anfederman commented 3 years ago

roslaunch magni_gazebo fiducial_world.launch

everything works, no errors except no upward markers seen on gazebo.

further these warnings:

, set to "" [ WARN] [1631214085.736891296, 0.001000000]: dynamic reconfigure is not enabled for this image topic [raspicam_node/image] becuase is not specified

so I think the markers images aren't being spawned:

Publish frame odom on tf: enabled Warning [parser_urdf.cc:1137] multiple inconsistent exists due to fixed joint reduction overwriting previous value [false] with [true].

[ INFO] [1631214090.998847909, 0.087000000]: Physics dynamic reconfigure ready. [ INFO] [1631214091.056776896, 0.100000000]: Updating map with 0 observations. Map has 16 fiducials [fiducial_marker_spawn-16] process has finished cleanly log file: /home/dr1bot/.ros/log/4a466a56-11a0-11ec-bb02-3f3f629dbd6c/fiducial_marker_spawn-16*.log [ INFO] [1631214093.040701289, 0.500000000]: Updating map with 0 observations. Map has 16 fiducials

On Thu, Sep 9, 2021 at 7:02 AM Janez Cimerman @.***> wrote:

I think you nan fix by editing the magni.launch or by copying the directory, there is a inconsistency that insome cases the extrinsics are under param and in other places under extrinsics.

This was corrected here: https://github.com/UbiquityRobotics/magni_robot/blob/f5560cdef82d67f2936ee2677cd88be1105cdc49/magni_gazebo/launch/magni.launch#L22

(as opposed to raspicam_mount)

This has been corrected here: https://github.com/UbiquityRobotics/magni_robot/blob/f5560cdef82d67f2936ee2677cd88be1105cdc49/magni_gazebo/launch/fiducials/fiducial_world.launch#L4

I've had exactly the same problems that you are having and solved them in that branch along with the fiducials not being displayed. So im not sure where something is going wrong but i suspect your git is not pulling correctly or you are launching a different launch file. Can you copy-paste the command that you are launching this with? You are launching on a PC and NOT on a RPI right?

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anfederman commented 3 years ago

OK here's the breakdown

magni Gazebo fiducial world launch display fiducial grid latest bugfix branch do the fiducials display:

Noetic acer laptop - no Raspberry PI ARM64 noetic - no Jetson Nano melodic - yes

I will try on another laptop/ AMD/Intel platform, but I am losing interest in trying to track this glitch down. On the Acer it is saying not observing markers on the map, on the Pi it is complaining about gravity.

So for now let's close the issue, since it seems it will work on other architectures.

It should be pulled from our regular magni_robot distro - since it isn't supposed to have gazebo on it.

On Thu, Sep 9, 2021 at 12:08 PM Alan Federman @.***> wrote:

roslaunch magni_gazebo fiducial_world.launch

everything works, no errors except no upward markers seen on gazebo.

further these warnings:

, set to "" [ WARN] [1631214085.736891296, 0.001000000]: dynamic reconfigure is not enabled for this image topic [raspicam_node/image] becuase is not specified

so I think the markers images aren't being spawned:

Publish frame odom on tf: enabled Warning [parser_urdf.cc:1137] multiple inconsistent exists due to fixed joint reduction overwriting previous value [false] with [true].

[ INFO] [1631214090.998847909, 0.087000000]: Physics dynamic reconfigure ready. [ INFO] [1631214091.056776896, 0.100000000]: Updating map with 0 observations. Map has 16 fiducials [fiducial_marker_spawn-16] process has finished cleanly log file: /home/dr1bot/.ros/log/4a466a56-11a0-11ec-bb02-3f3f629dbd6c/fiducial_marker_spawn-16*.log [ INFO] [1631214093.040701289, 0.500000000]: Updating map with 0 observations. Map has 16 fiducials

On Thu, Sep 9, 2021 at 7:02 AM Janez Cimerman @.***> wrote:

I think you nan fix by editing the magni.launch or by copying the directory, there is a inconsistency that insome cases the extrinsics are under param and in other places under extrinsics.

This was corrected here: https://github.com/UbiquityRobotics/magni_robot/blob/f5560cdef82d67f2936ee2677cd88be1105cdc49/magni_gazebo/launch/magni.launch#L22

(as opposed to raspicam_mount)

This has been corrected here: https://github.com/UbiquityRobotics/magni_robot/blob/f5560cdef82d67f2936ee2677cd88be1105cdc49/magni_gazebo/launch/fiducials/fiducial_world.launch#L4

I've had exactly the same problems that you are having and solved them in that branch along with the fiducials not being displayed. So im not sure where something is going wrong but i suspect your git is not pulling correctly or you are launching a different launch file. Can you copy-paste the command that you are launching this with? You are launching on a PC and NOT on a RPI right?

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JanezCim commented 3 years ago

If this is really a platform issue someone else should try to test this if it works. @JanLipovsek can you try launching roslaunch magni_gazebo fiducial_world.launch on thebugfix-gazebo-extrinsicsfolder branch if it works for you?

JanezCim commented 3 years ago

@JanLipovsek tried this out and it worked on Noetic. So how I would go about this is that if you have a specific platform that this is not working on, you should open a separate issue for that thing specifically and then we can solve it there. For now i'd call this solved

anfederman commented 3 years ago

FIducial world now launched on all four of my tested platforms.

On Mon, Sep 20, 2021 at 1:39 AM Janez Cimerman @.***> wrote:

Closed #174 https://github.com/UbiquityRobotics/magni_robot/issues/174.

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