mengchaoheng
commented
2 years ago and have a error:
parallels@ubuntu-linux-20-04-desktop:~/hunter_ws$ roslaunch hunter2_gazebo hunter2_gazebo.launch
... logging to /home/parallels/.ros/log/bbaa9e3a-b0ea-11ec-a241-852e8e8269b4/roslaunch-ubuntu-linux-20-04-desktop-743149.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu-linux-20-04-desktop:42069/
SUMMARY
========
PARAMETERS
* /ackermann_steering_controller/allow_multiple_cmd_vel_publishers: True
* /ackermann_steering_controller/angular/z/has_acceleration_limits: True
* /ackermann_steering_controller/angular/z/has_velocity_limits: True
* /ackermann_steering_controller/angular/z/max_acceleration: 3.0
* /ackermann_steering_controller/angular/z/max_velocity: 3.0
* /ackermann_steering_controller/base_frame_id: base_link
* /ackermann_steering_controller/enable_odom_tf: True
* /ackermann_steering_controller/estimate_velocity_from_position: True
* /ackermann_steering_controller/front_steer: front_steer_joint
* /ackermann_steering_controller/linear/x/has_acceleration_limits: True
* /ackermann_steering_controller/linear/x/has_velocity_limits: True
* /ackermann_steering_controller/linear/x/max_acceleration: 2.0
* /ackermann_steering_controller/linear/x/max_velocity: 10.0
* /ackermann_steering_controller/odom_frame_id: /ackermann_steeri...
* /ackermann_steering_controller/open_loop: False
* /ackermann_steering_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /ackermann_steering_controller/publish_cmd: True
* /ackermann_steering_controller/publish_rate: 5
* /ackermann_steering_controller/rear_wheel: rear_wheel_joint
* /ackermann_steering_controller/steer_pos_multiplier: 1.0
* /ackermann_steering_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /ackermann_steering_controller/type: ackermann_steerin...
* /ackermann_steering_controller/wheel_radius: 0.1
* /ackermann_steering_controller/wheel_radius_multiplier: 1.0
* /ackermann_steering_controller/wheel_separation_h: 0.60986
* /ackermann_steering_controller/wheel_separation_h_multiplier: 1.0
* /front_steer_left_joint_position_controller/joint: front_steer_left_...
* /front_steer_left_joint_position_controller/pid/d: 0
* /front_steer_left_joint_position_controller/pid/i: 10
* /front_steer_left_joint_position_controller/pid/i_clamp: 100
* /front_steer_left_joint_position_controller/pid/p: 100
* /front_steer_left_joint_position_controller/type: position_controll...
* /gains/left_rear_joint/d: 10.0
* /gains/left_rear_joint/i: 0.5
* /gains/left_rear_joint/i_clamp: 3.0
* /gains/left_rear_joint/p: 100000.0
* /gains/right_rear_joint/d: 10.0
* /gains/right_rear_joint/i: 0.5
* /gains/right_rear_joint/i_clamp: 3.0
* /gains/right_rear_joint/p: 100000.0
* /gazebo/enable_ros_network: True
* /joint_state_publisher/publish_rate: 100
* /joint_state_publisher/type: joint_state_contr...
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 50.0
* /rosdistro: noetic
* /rosversion: 1.15.14
* /rqt_robot_steering/default_topic: ackermann_steerin...
* /rqt_robot_steering/default_vw_max: 0.69
* /rqt_robot_steering/default_vw_min: -0.69
* /rqt_robot_steering/default_vx_max: 1.0
* /rqt_robot_steering/default_vx_min: -1.0
* /steer_bot_hardware_gazebo/enable_ackermann_link: True
* /steer_bot_hardware_gazebo/front_steer: front_steer_joint
* /steer_bot_hardware_gazebo/rear_wheel: rear_wheel_joint
* /steer_bot_hardware_gazebo/virtual_front_steers: ['front_steer_lef...
* /steer_bot_hardware_gazebo/virtual_front_wheels: ['front_left_whee...
* /steer_bot_hardware_gazebo/virtual_rear_wheels: ['left_rear_joint...
* /steer_bot_hardware_gazebo/wheel_separation_h: 0.60986
* /steer_bot_hardware_gazebo/wheel_separation_w: 0.47
* /use_sim_time: True
NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
hunter_spawn (gazebo_ros/spawn_model)
robot_state_publisher (robot_state_publisher/state_publisher)
rqt_robot_steering (rqt_robot_steering/rqt_robot_steering)
auto-starting new master
process[master]: started with pid [743166]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to bbaa9e3a-b0ea-11ec-a241-852e8e8269b4
process[rosout-1]: started with pid [743186]
started core service [/rosout]
process[gazebo-2]: started with pid [743193]
process[gazebo_gui-3]: started with pid [743196]
process[controller_spawner-4]: started with pid [743201]
ERROR: cannot launch node of type [robot_state_publisher/state_publisher]: Cannot locate node of type [state_publisher] in package [robot_state_publisher]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[rqt_robot_steering-6]: started with pid [743204]
process[hunter_spawn-7]: started with pid [743205]
[INFO] [1648728276.674664, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1648728276.683518, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1648728276.685617, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1648728276.761262284]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1648728276.761946456]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1648728276.823551538]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1648728276.824460906]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[WARN] [1648728306.797808, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-4] process has finished cleanly
log file: /home/parallels/.ros/log/bbaa9e3a-b0ea-11ec-a241-852e8e8269b4/controller_spawner-4*.log
dashun1234
git clone https://github.com/agilexrobotics/ugv_sim/hunter.git ???