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doosan-robotics / doosan-robot

ROS for Doosan Robot
BSD 3-Clause "New" or "Revised" License
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rviz error #165

Open Jeong-bhin opened 1 year ago

Jeong-bhin commented 1 year ago

hello.

I would like to seek help with an error that the robot form cannot be recognized on rviz.

DRCF was executed with root authority and the following problem occurred.

Screenshot from 2023-08-07 18-48-39

The environment I'm currently using is:

The error code is:

mbr@mbr-System-Product-Name:~/catkin_ws$ roslaunch dsr_launcher single_robot_rviz.launch model:=m1509 mode:=real host:=192.168.137.50 port:=12345 ... logging to /home/mbr/.ros/log/d11519da-3505-11ee-a8ed-95cd31c59434/roslaunch-mbr-System-Product-Name-21091.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://localhost:42967/

SUMMARY

PARAMETERS

NODES / dmodel (dsr_launcher/dmodel.py) dsr01m1509 (dsr_control/dsr_control_node) /dsr01/ controller_spawner (controller_manager/spawner) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawn_create_model (gazebo_ros/spawn_model) world_tf (tf/static_transform_publisher) /dsr01m1509/ controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

process[dsr01/controller_spawner-1]: started with pid [21107] process[dsr01m1509/controller_spawner-2]: started with pid [21108] process[dsr01m1509-3]: started with pid [21109] process[dsr01/robot_state_publisher-4]: started with pid [21110] process[dsr01/world_tf-5]: started with pid [21111] process[dsr01/spawn_create_model-6]: started with pid [21112] process[dmodel-7]: started with pid [21113] [ INFO] [1691401692.055172642]: rate is 100

[ INFO] [1691401692.062873240]: name_space is dsr01, m1509

[ INFO] [1691401692.062889475]: [dsr_hw_interface] constructed [ INFO] [1691401692.092797693]: [dsr_hw_interface] init() ==> setup callback fucntion

[ INFO] [1691401692.092856197]: [dsr_hw_interface] init() ==> arm is standby [ INFO] [1691401692.094177184]: host 192.168.137.50, port=12345 bCommand: 1, mode: real

[INFO] [1691401692.165047]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1691401692.166318]: Controller Spawner: Waiting for service controller_manager/load_controller [callback OnMonitoringAccessControlCB] eAccCtrl: 3 [callback OnTpInitializingCompletedCB] tp initializing completed [ INFO] [1691401692.196158788]: On Monitor State [callback OnMonitoringStateCB] current state: (3) SAFE_OFF [callback OnMonitoringAccessControlCB] eAccCtrl: 2 access control granted [ INFO] [1691401692.197148838]: On Monitor State [callback OnMonitoringStateCB] current state: (3) SAFE_OFF [ INFO] [1691401692.620365255]: On Monitor State [callback OnMonitoringStateCB] current state: (3) SAFE_OFF

[ INFO] [1691401692.651182038]: Real Robot Mode [ INFO] [1691401692.651198268]: DRCF version = GF02100001 [ INFO] [1691401692.651211324]: DRFL version = GL010118 [ INFO] [1691401692.651223551]: m_nVersionDRCF = 2100001

[ INFO] [1691401693.872500001]: On Monitor State [callback OnMonitoringStateCB] current state: (1) STANDBY [ INFO] [1691401693.894411744]: [init]::read 0-pos: 0.000 [ INFO] [1691401693.894493313]: [init]::read 1-pos: 0.000 [ INFO] [1691401693.894523230]: [init]::read 2-pos: 0.000 [ INFO] [1691401693.894547102]: [init]::read 3-pos: 0.000 [ INFO] [1691401693.894577271]: [init]::read 4-pos: 0.000 [ INFO] [1691401693.894600731]: [init]::read 5-pos: 0.000 [ INFO] [1691401693.923708850]: [dsr_control] controller_manager is updating! [INFO] [1691401693.976694]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1691401693.983685]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1691401693.989229]: Loading controller: dsr_joint_position_controller [INFO] [1691401694.004514]: Loading controller: dsr_joint_publisher [INFO] [1691401694.024532]: Controller Spawner: Loaded controllers: dsr_joint_position_controller, dsr_joint_publisher [INFO] [1691401694.034509]: Started controllers: dsr_joint_position_controller, dsr_joint_publisher [WARN] [1691401722.368508]: Controller Spawner couldn't find the expected controller_manager ROS interface. [dsr01/controller_spawner-1] process has finished cleanly log file: /home/mbr/.ros/log/d11519da-3505-11ee-a8ed-95cd31c59434/dsr01-controller_spawner-1*.log

MoveitCommander works fine, but when I launch it in rviz, I keep getting errors. Any help would be appreciated!

fpdlwhfwm commented 1 year ago

혹시 해결하셨나요??

Jeong-bhin commented 1 year ago

혹시 해결하셨나요??

아니요 해결하지 못했습니다

doosan-robotics commented 10 months ago

안녕하세요 @Jeong-bhin 님

답변이 늦어져서 죄송합니다. 현재 해당 문제 대한 이슈를 해결한 버전으로 2월 말에 릴리즈 계획 중에 있습니다. 조금만 양해 부탁드립니다.

song-ms commented 8 months ago

@Jeong-bhin @fpdlwhfwm 님

해당 이슈를 해결하여 Main 브랜치에 업데이트 되었음을 알려드립니다. 이에 따른 설치 가이드가 다소 변경되었으니 유의하여 확인 부탁드립니다.

vyasakash231 commented 7 months ago

still getting the same error.