benoit-cty
commented
6 years ago Hello, I've not use this project since 2 years. Maybe you could look at another project : https://github.com/swiftgust/ardupilot_gazebo
Open RyanDirgantara opened 6 years ago
benoit-cty
commented
6 years ago Hello, I've not use this project since 2 years. Maybe you could look at another project : https://github.com/swiftgust/ardupilot_gazebo
Hi all!
I tried to execute and plan my quadrotor in the rviz but it failed
the terminal shows this error
[ INFO] [1525671425.754033932, 374.810000000]: gazebo controller manager got pr2.xml from param server, parsing it... [ WARN] [1525671425.756384934, 374.810000000]: No transmissions were specified in the robot description. [ WARN] [1525671425.756426471, 374.810000000]: None of the joints in the robot desription matches up to a motor. The robot is uncontrollable. [ WARN] [1525671425.762532456, 374.810000000]: No transmissions were specified in the robot description. [ WARN] [1525671425.762586627, 374.810000000]: None of the joints in the robot desription matches up to a motor. The robot is uncontrollable. [ INFO] [1525671425.778769349, 374.810000000]: Using imu information on topic raw_imu as source of orientation and angular velocity. [ INFO] [1525671425.783785194, 374.810000000]: Using state information on topic ground_truth/state as source of state information. [ WARN] [1525671425.811582993, 374.830000000]: The complete state of the robot is not yet known. Missing camera_joint, camera_depth_joint, camera_depth_optical_joint, camera_rgb_joint, camera_rgb_optical_joint, sonar_joint [ INFO] [1525671425.816574768, 374.835000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1525671425.872388200, 374.890000000]: Physics dynamic reconfigure ready. [ INFO] [1525671426.109699840, 375.126000000]: MoveitSimpleControllerManager: Added MultiDofFollowJointTrajectory controller for multi_dof_joint_trajectory_action [ INFO] [1525671426.109797074, 375.126000000]: Returned 1 controllers in list [ INFO] [1525671426.125293022, 375.141000000]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1525671426.295654224, 375.311000000]:
[ INFO] [1525671426.295710642, 375.311000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1525671426.295726405, 375.311000000]: MoveGroup context initialization complete
You can start planning now!
[ WARN] [1525671426.914746799, 375.922000000]: The complete state of the robot is not yet known. Missing camera_joint, camera_depth_joint, camera_depth_optical_joint, camera_rgb_joint, camera_rgb_optical_joint, sonar_joint [ INFO] [1525671429.582153323, 378.571000000]: Loading robot model 'quadrotor'... [ WARN] [1525671429.632753644, 378.612000000]: No kinematics plugins defined. Fill and load kinematics.yaml! [ INFO] [1525671429.673415209, 378.654000000]: Starting scene monitor [ INFO] [1525671429.677482250, 378.659000000]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1525671429.999589549, 378.985000000]: Constructing new MoveGroup connection for group 'Quad' in namespace '' [ INFO] [1525671431.156647765, 380.125000000]: Ready to take commands for planning group Quad. [ INFO] [1525671431.156721073, 380.125000000]: Looking around: no [ INFO] [1525671431.156751841, 380.125000000]: Replanning: no [ INFO] [1525671454.041213556, 402.714000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1525671454.041445599, 402.714000000]: Planning attempt 1 of at most 1 Debug: Starting goal sampling thread Debug: Waiting for space information to be set up before the sampling thread can begin computation... [ INFO] [1525671454.043724825, 402.716000000]: Planner configuration 'Quad[RRTkConfigDefault]' will use planner 'geometric::RRT'. Additional configuration parameters will be set when the planner is constructed. Debug: The value of parameter 'goal_bias' is now: '0.050000000000000003' Debug: The value of parameter 'range' is now: '0' Debug: Quad[RRTkConfigDefault]: Planner range detected to be 6.041878 Debug: The value of parameter 'goal_bias' is now: '0.050000000000000003' Debug: The value of parameter 'range' is now: '0' Debug: Quad[RRTkConfigDefault]: Planner range detected to be 6.041878 Debug: The value of parameter 'goal_bias' is now: '0.050000000000000003' Debug: The value of parameter 'range' is now: '0' Debug: Quad[RRTkConfigDefault]: Planner range detected to be 6.041878 Debug: The value of parameter 'goal_bias' is now: '0.050000000000000003' Debug: The value of parameter 'range' is now: '0' Debug: Quad[RRTkConfigDefault]: Planner range detected to be 6.041878 Debug: The value of parameter 'goal_bias' is now: '0.050000000000000003' Debug: The value of parameter 'range' is now: '0' Debug: Quad[RRTkConfigDefault]: Planner range detected to be 6.041878 Debug: ParallelPlan.solveMore: starting planner Quad[RRTkConfigDefault] Debug: ParallelPlan.solveMore: starting planner Quad[RRTkConfigDefault] Debug: ParallelPlan.solveMore: starting planner Quad[RRTkConfigDefault] Debug: ParallelPlan.solveMore: starting planner Quad[RRTkConfigDefault] Info: Quad[RRTkConfigDefault]: Starting planning with 1 states already in datastructure Info: Quad[RRTkConfigDefault]: Starting planning with 1 states already in datastructure Info: Quad[RRTkConfigDefault]: Starting planning with 1 states already in datastructure Info: Quad[RRTkConfigDefault]: Starting planning with 1 states already in datastructure Debug: Beginning sampling thread computation [ INFO] [1525671454.054093675, 402.726000000]: Constraint satisfied:: Joint name: 'Base/trans_x', actual value: 2.393634, desired value: 2.393656, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1525671454.054162546, 402.726000000]: Constraint satisfied:: Joint name: 'Base/trans_y', actual value: 0.802572, desired value: 0.802582, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1525671454.054203568, 402.726000000]: Constraint satisfied:: Joint name: 'Base/trans_z', actual value: 0.448185, desired value: 0.448140, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1525671454.054233400, 402.726000000]: Constraint satisfied:: Joint name: 'Base/rot_x', actual value: 0.000003, desired value: -0.000001, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1525671454.054907492, 402.726000000]: Constraint satisfied:: Joint name: 'Base/rot_y', actual value: 0.000031, desired value: 0.000002, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1525671454.054941324, 402.726000000]: Constraint satisfied:: Joint name: 'Base/rot_z', actual value: 0.161123, desired value: 0.161050, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1525671454.054969290, 402.726000000]: Constraint satisfied:: Joint name: 'Base/rot_w', actual value: 0.986935, desired value: 0.986946, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1525671454.054993641, 402.726000000]: State outside bounds Debug: Stopped goal sampling thread after 0 sampling attempts Info: Quad[RRTkConfigDefault]: Created 5590 states Info: Quad[RRTkConfigDefault]: Created 5218 states Info: Quad[RRTkConfigDefault]: Created 5769 states Info: Quad[RRTkConfigDefault]: Created 5584 states Warning: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.002058 seconds at line 131 in /tmp/binarydeb/ros-kinetic-ompl-1.2.1/src/ompl/tools/multiplan/src/ParallelPlan.cpp [ INFO] [1525671459.046685617, 407.388000000]: Unable to solve the planning problem [ INFO] [1525671459.049969442, 407.392000000]: ABORTED: No motion plan found. No execution attempted.
Do you have any idea? Thank you so much