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WalkingMachine / sara_description

This repo contains the URDF model of sara
Apache License 2.0
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World not loading and SARA janky #34

Open Philippe117 opened 4 years ago

Philippe117 commented 4 years ago

Branch: feature/total_revision

$ roslaunch sara_install/src/sara_description/description/launch/sara_description.launch sim:=true
... logging to /home/walking/.ros/log/df9ea11a-3a2c-11ea-b08b-34f39a49e891/roslaunch-sara-lenovo-21680.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.

started roslaunch server http://sara-lenovo:36634/

SUMMARY
========

PARAMETERS
 * /gazebo_ros_control/pid_gains/gripper_finger1_finger_tip_joint/d: 0.0
 * /gazebo_ros_control/pid_gains/gripper_finger1_finger_tip_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/gripper_finger1_finger_tip_joint/p: 10.0
 * /gazebo_ros_control/pid_gains/gripper_finger1_inner_knuckle_joint/d: 0.01
 * /gazebo_ros_control/pid_gains/gripper_finger1_inner_knuckle_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/gripper_finger1_inner_knuckle_joint/p: 10.0
 * /gazebo_ros_control/pid_gains/gripper_finger1_joint/d: 0.01
 * /gazebo_ros_control/pid_gains/gripper_finger1_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/gripper_finger1_joint/p: 10.0
 * /gazebo_ros_control/pid_gains/gripper_finger2_finger_tip_joint/d: 0.0
 * /gazebo_ros_control/pid_gains/gripper_finger2_finger_tip_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/gripper_finger2_finger_tip_joint/p: 10.0
 * /gazebo_ros_control/pid_gains/gripper_finger2_inner_knuckle_joint/d: 0.01
 * /gazebo_ros_control/pid_gains/gripper_finger2_inner_knuckle_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/gripper_finger2_inner_knuckle_joint/p: 10.0
 * /gazebo_ros_control/pid_gains/gripper_finger2_joint/d: 0.01
 * /gazebo_ros_control/pid_gains/gripper_finger2_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/gripper_finger2_joint/p: 10.0
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /sara_arm_trajectory_controller/allow_partial_joints_goal: True
 * /sara_arm_trajectory_controller/constraints/goal_time: 1.0
 * /sara_arm_trajectory_controller/constraints/stopped_velocity_tolerance: 1.0
 * /sara_arm_trajectory_controller/gains/front_actuator_joint/d: 1.0
 * /sara_arm_trajectory_controller/gains/front_actuator_joint/i: 1
 * /sara_arm_trajectory_controller/gains/front_actuator_joint/p: 400000.0
 * /sara_arm_trajectory_controller/gains/right_elbow_pitch_joint/d: 1.0
 * /sara_arm_trajectory_controller/gains/right_elbow_pitch_joint/i: 1
 * /sara_arm_trajectory_controller/gains/right_elbow_pitch_joint/p: 500.0
 * /sara_arm_trajectory_controller/gains/right_elbow_yaw_joint/d: 0.5
 * /sara_arm_trajectory_controller/gains/right_elbow_yaw_joint/i: 1
 * /sara_arm_trajectory_controller/gains/right_elbow_yaw_joint/p: 200.0
 * /sara_arm_trajectory_controller/gains/right_shoulder_pitch_joint/d: 15.0
 * /sara_arm_trajectory_controller/gains/right_shoulder_pitch_joint/i: 1
 * /sara_arm_trajectory_controller/gains/right_shoulder_pitch_joint/p: 4000.0
 * /sara_arm_trajectory_controller/gains/right_shoulder_roll_joint/d: 15.0
 * /sara_arm_trajectory_controller/gains/right_shoulder_roll_joint/i: 1
 * /sara_arm_trajectory_controller/gains/right_shoulder_roll_joint/p: 4000.0
 * /sara_arm_trajectory_controller/gains/right_shoulder_yaw_joint/d: 1.0
 * /sara_arm_trajectory_controller/gains/right_shoulder_yaw_joint/i: 1
 * /sara_arm_trajectory_controller/gains/right_shoulder_yaw_joint/p: 500.0
 * /sara_arm_trajectory_controller/gains/right_wrist_pitch_joint/d: 0.1
 * /sara_arm_trajectory_controller/gains/right_wrist_pitch_joint/i: 1
 * /sara_arm_trajectory_controller/gains/right_wrist_pitch_joint/p: 200.0
 * /sara_arm_trajectory_controller/gains/right_wrist_roll_joint/d: 0.1
 * /sara_arm_trajectory_controller/gains/right_wrist_roll_joint/i: 1
 * /sara_arm_trajectory_controller/gains/right_wrist_roll_joint/p: 200.0
 * /sara_arm_trajectory_controller/joints: ['right_shoulder_...
 * /sara_arm_trajectory_controller/type: effort_controller...
 * /sara_arm_velocity_controller/gains/front_actuator_joint/d: 1.0
 * /sara_arm_velocity_controller/gains/front_actuator_joint/i: 1
 * /sara_arm_velocity_controller/gains/front_actuator_joint/p: 400000.0
 * /sara_arm_velocity_controller/gains/right_elbow_pitch_joint/d: 1.0
 * /sara_arm_velocity_controller/gains/right_elbow_pitch_joint/i: 1
 * /sara_arm_velocity_controller/gains/right_elbow_pitch_joint/p: 500.0
 * /sara_arm_velocity_controller/gains/right_elbow_yaw_joint/d: 0.5
 * /sara_arm_velocity_controller/gains/right_elbow_yaw_joint/i: 1
 * /sara_arm_velocity_controller/gains/right_elbow_yaw_joint/p: 200.0
 * /sara_arm_velocity_controller/gains/right_shoulder_pitch_joint/d: 15.0
 * /sara_arm_velocity_controller/gains/right_shoulder_pitch_joint/i: 1
 * /sara_arm_velocity_controller/gains/right_shoulder_pitch_joint/p: 4000.0
 * /sara_arm_velocity_controller/gains/right_shoulder_roll_joint/d: 15.0
 * /sara_arm_velocity_controller/gains/right_shoulder_roll_joint/i: 1
 * /sara_arm_velocity_controller/gains/right_shoulder_roll_joint/p: 4000.0
 * /sara_arm_velocity_controller/gains/right_shoulder_yaw_joint/d: 1.0
 * /sara_arm_velocity_controller/gains/right_shoulder_yaw_joint/i: 1
 * /sara_arm_velocity_controller/gains/right_shoulder_yaw_joint/p: 500.0
 * /sara_arm_velocity_controller/gains/right_wrist_pitch_joint/d: 0.1
 * /sara_arm_velocity_controller/gains/right_wrist_pitch_joint/i: 1
 * /sara_arm_velocity_controller/gains/right_wrist_pitch_joint/p: 200.0
 * /sara_arm_velocity_controller/gains/right_wrist_roll_joint/d: 0.1
 * /sara_arm_velocity_controller/gains/right_wrist_roll_joint/i: 1
 * /sara_arm_velocity_controller/gains/right_wrist_roll_joint/p: 200.0
 * /sara_arm_velocity_controller/joints: ['right_shoulder_...
 * /sara_arm_velocity_controller/type: effort_controller...
 * /sara_gripper_action_controller/action_monitor_rate: 100
 * /sara_gripper_action_controller/goal_tolerance: 0.005
 * /sara_gripper_action_controller/joint: gripper_finger1_j...
 * /sara_gripper_action_controller/pid/d: 0.1
 * /sara_gripper_action_controller/pid/i: 0.0
 * /sara_gripper_action_controller/pid/i_clamp: 1
 * /sara_gripper_action_controller/pid/p: 0.1
 * /sara_gripper_action_controller/publish_rate: 50
 * /sara_gripper_action_controller/stall_timeout: 0.5
 * /sara_gripper_action_controller/type: position_controll...
 * /sara_head_pitch_controller/joint: head_pitch_joint
 * /sara_head_pitch_controller/pid/d: 0.4
 * /sara_head_pitch_controller/pid/i: 0.2
 * /sara_head_pitch_controller/pid/i_clamp: 1
 * /sara_head_pitch_controller/pid/p: 2.0
 * /sara_head_pitch_controller/publish_rate: 50
 * /sara_head_pitch_controller/type: effort_controller...
 * /sara_head_yaw_controller/joint: head_yaw_joint
 * /sara_head_yaw_controller/pid/d: 0.1
 * /sara_head_yaw_controller/pid/i: 0.0
 * /sara_head_yaw_controller/pid/i_clamp: 1
 * /sara_head_yaw_controller/pid/p: 0.2
 * /sara_head_yaw_controller/publish_rate: 50
 * /sara_head_yaw_controller/type: effort_controller...
 * /use_sim_time: True

NODES
  /
    controller_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/state_publisher)
    urdf_spawner (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[controller_spawner-1]: started with pid [21708]
process[robot_state_publisher-2]: started with pid [21709]
process[gazebo-3]: started with pid [21710]
process[gazebo_gui-4]: started with pid [21715]
process[urdf_spawner-5]: started with pid [21726]
[INFO] [1579377887.438948, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
SpawnModel script started
[ INFO] [1579377887.927831901]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1579377887.928364246]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1579377887.963955634]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1579377887.964846346]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1579377888.020079, 0.000000]: Loading model XML from ros parameter
[INFO] [1579377888.025152, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[WARN] [1579377917.608841, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-1] process has finished cleanly
log file: /home/walking/.ros/log/df9ea11a-3a2c-11ea-b08b-34f39a49e891/controller_spawner-1*.log
Error [parser.cc:581] Unable to find uri[model://turtlebot3_house]
[ INFO] [1579378011.588540382, 0.033000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1579378011.615170216, 0.054000000]: Physics dynamic reconfigure ready.
[INFO] [1579378011.632959, 0.072000]: Calling service /gazebo/spawn_urdf_model
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
[ INFO] [1579378012.427412382, 0.159000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1579378012.427462739, 0.159000000]: Starting Laser Plugin (ns = /)
[ INFO] [1579378012.428811727, 0.159000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[INFO] [1579378012.464324, 0.159000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1579378012.464704, 0.159000]: Waiting for service /gazebo/set_model_configuration
[INFO] [1579378012.466384, 0.159000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1579378012.655702082, 0.159000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1579378012.659142504, 0.159000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ WARN] [1579378012.659188125, 0.159000000]: dynamic reconfigure is not enabled for this image topic [head_xtion/rgb/image_raw] becuase <cameraName> is not specified
[ INFO] [1579378012.717898113, 0.159000000]: Loading gazebo_ros_control plugin
[ERROR] [1579378012.718009512, 0.159000000]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set <legacyModeNS> to true.

[ INFO] [1579378012.718094538, 0.159000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1579378012.719056173, 0.159000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ WARN] [1579378012.833111121, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'head_yaw_joint'.
[ERROR] [1579378012.834545636, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/head_yaw_joint
[ WARN] [1579378012.834679510, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'head_pitch_joint'.
[ERROR] [1579378012.835902009, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/head_pitch_joint
[ WARN] [1579378012.835947961, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the <hardwareInterface> tag in joint 'right_shoulder_roll_joint'.
[ERROR] [1579378012.837306472, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_shoulder_roll_joint
[ WARN] [1579378012.837347818, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the <hardwareInterface> tag in joint 'right_shoulder_pitch_joint'.
[ERROR] [1579378012.838623706, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_shoulder_pitch_joint
[ WARN] [1579378012.838663170, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the <hardwareInterface> tag in joint 'right_shoulder_yaw_joint'.
[ERROR] [1579378012.840074212, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_shoulder_yaw_joint
[ WARN] [1579378012.840121353, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the <hardwareInterface> tag in joint 'right_elbow_pitch_joint'.
[ERROR] [1579378012.841493941, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_elbow_pitch_joint
[ WARN] [1579378012.841547715, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the <hardwareInterface> tag in joint 'right_elbow_yaw_joint'.
[ERROR] [1579378012.842886119, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_elbow_yaw_joint
[ WARN] [1579378012.842924693, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the <hardwareInterface> tag in joint 'right_wrist_pitch_joint'.
[ERROR] [1579378012.844179001, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_wrist_pitch_joint
[ WARN] [1579378012.844340095, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the <hardwareInterface> tag in joint 'right_wrist_roll_joint'.
[ERROR] [1579378012.846575048, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_wrist_roll_joint
[ WARN] [1579378012.846625946, 0.159000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'right_finger_joint'.
[ERROR] [1579378012.848057022, 0.159000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_finger_joint
[ INFO] [1579378012.858826786, 0.159000000]: Loaded gazebo_ros_control.
[ INFO] [1579378012.865826805, 0.159000000]: PlanarMovePlugin missing <enableYAxis>, defaults to "1"
[ WARN] [1579378012.872862669, 0.160000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1579378012.872914680, 0.160000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1579378012.872950991, 0.160000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1579378012.872976832, 0.160000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
[ INFO] [1579378012.906701791, 0.180000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1579378012.954396619, 0.213000000]: Physics dynamic reconfigure ready.
[INFO] [1579378013.467829, 0.591000]: Calling service /gazebo/set_model_configuration
[INFO] [1579378013.472715, 0.594000]: Set model configuration status: SetModelConfiguration: success
[urdf_spawner-5] process has finished cleanly
log file: /home/walking/.ros/log/df9ea11a-3a2c-11ea-b08b-34f39a49e891/urdf_spawner-5*.log
[gazebo_gui-4] process has finished cleanly
log file: /home/walking/.ros/log/df9ea11a-3a2c-11ea-b08b-34f39a49e891/gazebo_gui-4*.log
^C[gazebo-3] killing on exit
[robot_state_publisher-2] killing on exit
[gazebo-3] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done
Philippe117 commented 4 years ago

Branche de travail: fix/total_revision/model_installation