Open salonijain12 opened 4 years ago
Hi Team,
I have done following changes to add Namespace to fetch robot using following steps:
1) Created an initial launch file: world.launch world.launch.pdf
2) Added group tag in test.launch file test.launch.pdf
3) Done changes in robot launch file : fetch1.launch.xml fetch1.launch.xml.pdf
4) But while running the launch file controllers are not loaded: $ roslaunch fetch_gazebo world.launch ... logging to /home/saloni/.ros/log/c36e2a96-05ee-11ea-af1d-645d866d6703/roslaunch-saloni-31479.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 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
========
PARAMETERS
NODES /fetch/head_camera/ crop_decimate (nodelet/nodelet) head_camera_nodelet_manager (nodelet/nodelet) /fetch/ cmd_vel_mux (topic_tools/mux) fetch_urdf_spawner (gazebo_ros/spawn_model) prepare_robot (fetch_gazebo/prepare_simulated_robot.py) publish_base_scan_raw (topic_tools/relay) robot_state_publisher_fetch (robot_state_publisher/robot_state_publisher) /fetch/head_camera/depth_downsample/ points_downsample (nodelet/nodelet) / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient)
auto-starting new master process[master]: started with pid [31495] ROS_MASTER_URI=http://localhost:11311
setting /run_id to c36e2a96-05ee-11ea-af1d-645d866d6703
process[rosout-1]: started with pid [31508]
started core service [/rosout]
process[gazebo-2]: started with pid [31532]
process[gazebo_gui-3]: started with pid [31537]
process[fetch/robot_state_publisher_fetch-4]: started with pid [31542]
process[fetch/fetch_urdf_spawner-5]: started with pid [31543]
process[fetch/prepare_robot-6]: started with pid [31545]
process[fetch/head_camera/head_camera_nodelet_manager-7]: started with pid [31562]
process[fetch/head_camera/crop_decimate-8]: started with pid [31573]
process[fetch/head_camera/depth_downsample/points_downsample-9]: started with pid [31581]
process[fetch/publish_base_scan_raw-10]: started with pid [31582]
process[fetch/cmd_vel_mux-11]: started with pid [31585]
[ INFO] [1573633363.968230450]: Loading nodelet /fetch/head_camera/crop_decimate of type image_proc/crop_decimate to manager /head_camera/head_camera_nodelet_manager with the following remappings:
[ INFO] [1573633363.968283371]: /fetch/head_camera/camera/camera_info -> /fetch/head_camera/depth_registered/camera_info
[ INFO] [1573633363.968299604]: /fetch/head_camera/camera/image_raw -> /fetch/head_camera/depth_registered/image_raw
[ INFO] [1573633363.968311020]: /fetch/head_camera/camera_out -> /fetch/head_camera/depth_downsample
[ INFO] [1573633363.969758065]: waitForService: Service [/head_camera/head_camera_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1573633363.983960138]: Loading nodelet /fetch/head_camera/depth_downsample/points_downsample of type depth_image_proc/point_cloud_xyz to manager /head_camera/head_camera_nodelet_manager with the following remappings:
[ INFO] [1573633363.984009947]: /fetch/head_camera/depth_downsample/image_rect -> /fetch/head_camera/depth_downsample/image_raw
[ INFO] [1573633363.985894670]: waitForService: Service [/head_camera/head_camera_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1573633364.009415616]: Initializing nodelet with 2 worker threads.
SpawnModel script started
[ INFO] [1573633364.302867097]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1573633364.303202612]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1573633364.341493274]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1573633364.341824684]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1573633364.407805, 0.000000]: Loading model XML from ros parameter
[INFO] [1573633364.410538, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1573633365.253207415, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1573633365.315970, 0.091000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1573633365.410676271, 0.166000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1573633365.602576515, 0.166000000]: Laser Plugin: Using the 'robotNamespace' param: '/fetch/'
[ INFO] [1573633365.602611054, 0.166000000]: Starting Laser Plugin (ns = /fetch/)
[ INFO] [1573633365.603967636, 0.166000000]: Laser Plugin (ns = /fetch/)
Controllers are not loaded from "libfetch_gazebo_plugin.so" which is called from fetch.gazebo.xacro.
I have also tried to add robotNamespace in xacro under the plugin name="fetch_gazebo_plugin" But still facing the same error. Please help to resolve the issue.
Thanks and Regards, Saloni
Hey bro! I have the similar issue. I found this in the closed issues. https://github.com/fetchrobotics/fetch_gazebo/issues/18 . If you have any possible solution, please let me konw.
Hi team,
I am trying to create a world in Gazebo comprising of multiple robots and for which I need to add namespace to Fetch robot. Please help me with the steps/ procedure for same.
I am using gazebo7 with ROS Kinetic and Ubuntu 16.04
Thanks and Regards, Saloni