Unable to launch youbot simulation on ROS Indigo

Hello,

I'm having problems similar to #1 and #2 , but on ROS Indigo and the indigo-devel branch. After reading the discussion on those issues, I still wasn't able to get it working. I'm using Gazebo 4 btw.

My steps: I ran catkin_make, sourced the workspace where the youbot_simulation and youbot_description packages are, I started roscore, and then I did:

roslaunch youbot_gazebo_robot youbot.launch

I'm getting terminal output similar to #2 (at least from the looks of it):

NODES
  /
    arm_1_arm_controller_spawner (controller_manager/spawner)
    arm_1_gripper_controller_spawner (controller_manager/spawner)
    base_controller_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_world_model (gazebo_ros/spawn_model)
    joint_state_controller_spawner (controller_manager/spawner)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_robot (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [26472]
process[gazebo_world_model-2]: started with pid [26478]
process[spawn_robot-3]: started with pid [26481]
process[joint_state_controller_spawner-4]: started with pid [26484]
process[base_controller_spawner-5]: started with pid [26488]
process[arm_1_arm_controller_spawner-6]: started with pid [26490]
[ INFO] [1446829704.436109175]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1446829704.438164623]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[arm_1_gripper_controller_spawner-7]: started with pid [26526]
process[robot_state_publisher-8]: started with pid [26530]
spawn_model script started
spawn_model script started
[INFO] [WallTime: 1446829704.695297] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1446829704.697375] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1446829704.721771] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [WallTime: 1446829704.773716] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1446829704.776611] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [WallTime: 1446829704.776851] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1446829704.813112] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [WallTime: 1446829704.823972] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [WallTime: 1446829704.999723] [0.000000] Calling service /gazebo/spawn_urdf_model
[ INFO] [1446829705.054216116, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [WallTime: 1446829705.080355] [0.047000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1446829705.228408] [0.154000] Spawn status: SpawnModel: Successfully spawned model
Warning [parser_urdf.cc:1071] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [false] with [true].
[ INFO] [1446829705.787264374, 0.554000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1446829705.787334454, 0.554000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1446829705.788340899, 0.554000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[INFO] [WallTime: 1446829705.795162] [0.554000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1446829705.802289081, 0.554000000]: Physics dynamic reconfigure ready.
[gazebo_world_model-2] process has finished cleanly
log file: /home/cornell/.ros/log/d76e76a4-84a6-11e5-8b14-3417ebd579fa/gazebo_world_model-2*.log
[spawn_robot-3] process has finished cleanly
log file: /home/cornell/.ros/log/d76e76a4-84a6-11e5-8b14-3417ebd579fa/spawn_robot-3*.log

and then after a few seconds:

[WARN] [WallTime: 1446829734.847849] [29.356000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [WallTime: 1446829734.898973] [29.405000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [WallTime: 1446829734.935518] [29.441000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [WallTime: 1446829734.947853] [29.454000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[joint_state_controller_spawner-4] process has finished cleanly
log file: /home/cornell/.ros/log/d76e76a4-84a6-11e5-8b14-3417ebd579fa/joint_state_controller_spawner-4*.log
[base_controller_spawner-5] process has finished cleanly
log file: /home/cornell/.ros/log/d76e76a4-84a6-11e5-8b14-3417ebd579fa/base_controller_spawner-5*.log
[arm_1_arm_controller_spawner-6] process has finished cleanly
log file: /home/cornell/.ros/log/d76e76a4-84a6-11e5-8b14-3417ebd579fa/arm_1_arm_controller_spawner-6*.log
[arm_1_gripper_controller_spawner-7] process has finished cleanly
log file: /home/cornell/.ros/log/d76e76a4-84a6-11e5-8b14-3417ebd579fa/arm_1_gripper_controller_spawner-7*.log

Some highlights from the output:

Controller Spawner: Waiting for service controller_manager/load_controller
Warning [parser_urdf.cc:1071] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [false] with [true].
[gazebo_world_model-2] process has finished cleanly
[spawn_robot-3] process has finished cleanly
Controller Spawner couldn't find the expected controller_manager ROS interface.

So, am I launching things properly? If so, how should I got about debugging the issues above?

Thank you very much for your time :smiley:

a2s-institute / youbot_simulation

Unable to launch youbot simulation on ROS Indigo #4