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doosan-robotics / doosan-robot

ROS for Doosan Robot
BSD 3-Clause "New" or "Revised" License
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[dsr_control] Error initializing robot #142

Open xwn-github opened 1 year ago

xwn-github commented 1 year ago

运行环境：Ubuntu18.04 ros melodic 我按照melodic-devel的教程使用ros时遇到问题，我怀疑时功能包有问题，一下是报错信息： ` xls@ubuntu:~/doosan_melodic$ roslaunch dsr_launcher single_robot_gazebo.launch mode:=virtual ... logging to /home/xls/.ros/log/02641c4e-c705-11ed-9964-000c2956cbbf/roslaunch-ubuntu-24095.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://ubuntu:36479/

SUMMARY

PARAMETERS

NODES / dsr01m1013 (dsr_control/dsr_control_node) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) /dsr01/ controller_spawner (controller_manager/spawner) drcf (common/run_drcf.sh) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawn_create_model (gazebo_ros/spawn_model) world_tf (tf/static_transform_publisher) /dsr01m1013/ controller_spawner (controller_manager/spawner)

auto-starting new master process[master]: started with pid [24108] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 02641c4e-c705-11ed-9964-000c2956cbbf process[rosout-1]: started with pid [24120] started core service [/rosout] process[gazebo-2]: started with pid [24127] process[gazebo_gui-3]: started with pid [24132] process[dsr01/controller_spawner-4]: started with pid [24137] Run Emulator of the Doosan Robot Controller (for melodic) dirname: /home/xls/doosan_melodic/src/doosan-robot/common/bin/DRCF/run_drcf.sh server_port: 12345 robot model: m1013 process[dsr01/drcf-5]: started with pid [24138]

    Emulator of Doosan Robot Controller [ver M2.52]               
              [service port = 12345]                          
              [robot model = m1013(config/config_m1013.xml)]

process[dsr01m1013/controller_spawner-6]: started with pid [24141] process[dsr01m1013-7]: started with pid [24143] process[dsr01/robot_state_publisher-8]: started with pid [24144] process[dsr01/world_tf-9]: started with pid [24145] process[dsr01/spawn_create_model-10]: started with pid [24152] [ INFO] [1679305986.088481230]: rate is 100

[ INFO] [1679305986.138211361]: name_space is dsr01, m1013

[ INFO] [1679305986.138288674]: [dsr_hw_interface] constructed [ INFO] [1679305986.334882206]: [dsr_hw_interface] init() ==> setup callback fucntion

[ INFO] [1679305986.335099640]: [dsr_hw_interface] init() ==> arm is standby [ INFO] [1679305986.343361043]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual

Connection refused [ERROR] [1679305986.343721972]: [dsr_control] Error initializing robot /home/xls/doosan_melodic/src/doosan-robot/common/bin/DRCF/run_drcf.sh: line 16: 24140 Segmentation fault (core dumped) ./DRCF64 $1 $2 [INFO] [1679305986.454610, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller ================================================================================REQUIRED process [dsr01/drcf-5] has died! process has died [pid 24138, exit code 139, cmd /home/xls/doosan_melodic/src/doosan-robot/common/bin/DRCF/run_drcf.sh 12345 m1013 name:=drcf log:=/home/xls/.ros/log/02641c4e-c705-11ed-9964-000c2956cbbf/dsr01-drcf-5.log]. log file: /home/xls/.ros/log/02641c4e-c705-11ed-9964-000c2956cbbf/dsr01-drcf-5*.log Initiating shutdown!

[dsr01/spawn_create_model-10] killing on exit [dsr01/world_tf-9] killing on exit Traceback (most recent call last): File "/opt/ros/melodic/lib/gazebo_ros/spawn_model", line 29, in from gazebo_ros import gazebo_interface File "/opt/ros/melodic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py", line 10, in from gazebo_msgs.srv import File "/opt/ros/melodic/lib/python2.7/dist-packages/gazebo_msgs/srv/init.py", line 21, in from ._SetModelState import File "/opt/ros/melodic/lib/python2.7/dist-packages/gazebo_msgs/srv/_SetModelState.py", line 2, in """autogenerated by genpy from gazebo_msgs/SetModelStateRequest.msg. Do not edit.""" KeyboardInterrupt [INFO] [1679305986.590155, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [dsr01m1013-7] killing on exit[dsr01/drcf-5] killing on exit [dsr01/robot_state_publisher-8] killing on exit

[dsr01/controller_spawner-4] killing on exit [gazebo-2] killing on exit [gazebo_gui-3] killing on exit [dsr01m1013/controller_spawner-6] killing on exit [WARN] [1679305986.715474, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [WARN] [1679305986.738577, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done xls@ubuntu:~/doosan_melodic$

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ssowrira commented 1 year ago

Hello, were you able to solve this error? I have been having a very similar issue as well https://github.com/doosan-robotics/doosan-robot/issues/160

xwn-github commented 1 year ago

您好，您能够解决此错误吗？我也遇到了非常相似的问题#160 I didn't fix this either, I switched to noetic

Saketh-Vaishya commented 1 year ago

Same issue.

Saketh-Vaishya commented 1 year ago

@doosan-robotics Can you please help us in resolving this issue , we couldn't be able to run the real mode , we want to know is this because of connection issue or package issue

Saketh-Vaishya commented 1 year ago

您好，您能够解决此错误吗？我也遇到了非常相似的问题#160 I didn't fix this either, I switched to noetic

Saketh-Vaishya commented 1 year ago

I am using noetic , but i couldn't be able to resolve the issue