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aerostack2 / aerostack2.github.io

Documentation of the Aerostack2 Project
https://aerostack2.github.io/
MIT License
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Gazebo config simulation example #63

Open RPS98 opened 2 weeks ago

RPS98 commented 2 weeks ago

Fix example: https://aerostack2.github.io/_03_aerial_platforms/_gazebo_simulation/index.html#config-simulation

With PR: https://github.com/aerostack2/aerostack2/pull/500

Current error:

root@rafa:~/project_gazebo# ros2 launch as2_gazebo_assets launch_simulation.py use_sim_time:=true simulation_config_file:=sim_config/world.json 
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-06-20-16-10-48-595815-rafa-1161
[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [ruby $(which gz) sim-1]: process started with pid [1165]
[INFO] [monitor_sim-2]: process started with pid [1167]
[INFO] [create-3]: process started with pid [1170]
[INFO] [parameter_bridge-4]: process started with pid [1172]
[parameter_bridge-4] [INFO] [1718899848.819939799] [world.ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[ruby $(which gz) sim-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[create-3] [INFO] [1718899849.370233991] [ros_gz_sim]: Requested creation of entity.
[create-3] [INFO] [1718899849.370367547] [ros_gz_sim]: OK creation of entity.
[INFO] [create-3]: process has finished cleanly [pid 1170]
[ruby $(which gz) sim-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which gz) sim-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="quadrotor_name"]/model[@name="air_pressure"]/link[@name="internal"]/sensor[@name="air_pressure"]/air_pressure/noise:/root/aerostack2_ws/install/as2_gazebo_assets/share/as2_gazebo_assets/models/quadrotor_base/quadrotor_base.sdf:L181]: XML Element[noise], child of element[air_pressure], not defined in SDF. Copying[noise] as children of [air_pressure].
[ruby $(which gz) sim-1] [Err] [UserCommands.cc:1145] Error Code 14: [/sdf/model[@name="drone_sim_0"]/model[@name="gimbal"]/model[@name="_0"]/model[@name="_1"]/model[@name="_2"]/include[0]/uri:/tmp/quadrotor_base_0.sdf:L252]: Msg: Unable to find uri[model://hd_camera0]
[ruby $(which gz) sim-1] [Err] [UserCommands.cc:1145] Error Code 20: Msg: Child frame with name[gimbal::_0::_1::_2::hd_camera0::hd_camera0] specified by joint with name[hd_camera0_joint] not found in model with name[drone_sim_0].
[ruby $(which gz) sim-1] [Err] [UserCommands.cc:1145] Error Code 25: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [drone_sim_0::hd_camera0_joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
[ruby $(which gz) sim-1] [Err] [UserCommands.cc:1145] Error Code 25: Msg: Graph has __model__ scope but sink vertex named [drone_sim_0::hd_camera0_joint] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [drone_sim_0::hd_camera0_joint].
[ruby $(which gz) sim-1] [Err] [UserCommands.cc:1145] Error Code 26: Msg: relative_to name[gimbal::_0::_1::_2::hd_camera0::hd_camera0] specified by joint with name[hd_camera0_joint] does not match a nested model, link, joint, or frame name in model with name[drone_sim_0].
[ruby $(which gz) sim-1] [Err] [UserCommands.cc:1145] Error Code 28: Msg: PoseRelativeToGraph error, Vertex with name [drone_sim_0::hd_camera0_joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
[ruby $(which gz) sim-1] [Err] [UserCommands.cc:1145] Error Code 28: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [20].
[ruby $(which gz) sim-1] [Err] [UserCommands.cc:1145] Error Code 20: Msg: child frame with name[gimbal::_0::_1::_2::hd_camera0::hd_camera0] specified by joint with name[hd_camera0_joint] not found in model with name[drone_sim_0].
[ruby $(which gz) sim-1] [Err] [UserCommands.cc:1145] Error Code 23: Msg: FrameAttachedToGraph unable to find unique frame with name [gimbal::_0::_1::_2::hd_camera0::hd_camera0] in graph.