Closed summerery7 closed 3 months ago
doosan-robotics
commented
4 months ago 안녕하세요 @summerery7 님,
Doosan ROS Melodic 버전은 더 이상 공식적으로 지원하지 않습니다. ROS1 사용자의 경우 Noetic 환경에서 사용하는 것을 부탁드립니다.
사용 요구 환경은 다음과 같습니다.
해당 환경이 맞지 않으면 DRCF Emulator 는 제대로 동작하지 않을 수 있습니다.
감사합니다.
summerery7
commented
4 months ago 현재 ros1 noetic이며 20.04 LTS를 사용중입니다. process[dsr01m0609/controller_spawner-3]: started with pid [10902] ARCH: 64-bit
Emulator of Doosan Robot Controller [ver M2.52]
[service port = 12345]
[robot model = m0609(config/config_m0609.xml)] process[dsr01m0609-4]: started with pid [10905] process[dsr01/robot_state_publisher-5]: started with pid [10907] process[dsr01/world_tf-6]: started with pid [10908]
이렇게 출력되면 emulator가 작동하고 있는 것 같은데
rviz는 이렇게 나오고 gazebo는 로봇이 스폰되지 않습니다
doosan-robotics
commented
4 months ago @summerery7 님
답변 감사합니다. 보내주신 로그를 살펴본 결과 이전에 실행하셨던 dsr01 으로 스폰 프로세스가 완전히 종료되지 않아서 발생하는 문제로 보입니다.
[ERROR] [1708029214.948697009, 1614.516000000]: SpawnModel: Failure - model name dsr01 already exist.
해당 상황에서 ps ax 에서 gz 또는 이전에 실행하신 launcher 파일 명령어의 프로세스를 종료 후 다시한번 시도 부탁드립니다.
감사합니다
doosan-robotics
commented
3 months ago @summerery7 님
안녕하세요 해당 이슈에 일정 기간 동안 답변이 없어 자동 종결 처리 하겠습니다.
감사합니다.
.. logging to /home/summerer/.ros/log/b9443d70-cc3d-11ee-b7e6-8f7a123c72a7/roslaunch-summerer-932030.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://summerer:39131/
SUMMARY
PARAMETERS
NODES / dsr01m0609 (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) /dsr01m0609/ controller_spawner (controller_manager/spawner)
ROS_MASTER_URI=http://localhost:11311
process[gazebo-1]: started with pid [932046] process[gazebo_gui-2]: started with pid [932048] process[dsr01/controller_spawner-3]: started with pid [932052] ERROR: cannot launch node of type [common/run_drcf.sh]: Cannot locate node of type [run_drcf.sh] in package [common]. Make sure file exists in package path and permission is set to executable (chmod +x) process[dsr01m0609/controller_spawner-5]: started with pid [932057] process[dsr01m0609-6]: started with pid [932058] process[dsr01/robot_state_publisher-7]: started with pid [932059] process[dsr01/world_tf-8]: started with pid [932060] process[dsr01/spawn_create_model-9]: started with pid [932061] [ INFO] [1708029214.678453389]: rate is 100
[ INFO] [1708029214.689954456]: name_space is dsr01, m0609
[ INFO] [1708029214.689989165]: [dsr_hw_interface] constructed [ INFO] [1708029214.740869964]: [dsr_hw_interface] init() ==> setup callback fucntion
[ INFO] [1708029214.740915330]: [dsr_hw_interface] init() ==> arm is standby [ INFO] [1708029214.742976811]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual
Connection refused [ERROR] [1708029214.743147812]: [dsr_control] Error initializing robot [dsr01m0609-6] process has died [pid 932058, exit code 255, cmd /home/summerer/catkin_ws/devel/lib/dsr_control/dsr_control_node /dsr_joint_position_controller/command:=/dsr01/dsr_joint_position_controller/command name:=dsr01m0609 log:=/home/summerer/.ros/log/b9443d70-cc3d-11ee-b7e6-8f7a123c72a7/dsr01m0609-6.log]. log file: /home/summerer/.ros/log/b9443d70-cc3d-11ee-b7e6-8f7a123c72a7/dsr01m0609-6.log [INFO] [1708029214.910918, 1614.478000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1708029214.912214, 1614.479000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1708029214.913571, 1614.480000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1708029214.915216, 1614.482000]: Loading controller: dsr_joint_position_controller [INFO] [1708029214.918880, 1614.486000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1708029214.919674, 1614.487000]: Controller Spawner: Loaded controllers: dsr_joint_position_controller [INFO] [1708029214.921731, 1614.489000]: Started controllers: dsr_joint_position_controller [ERROR] [1708029214.948697009, 1614.516000000]: SpawnModel: Failure - model name dsr01 already exist. [ERROR] [1708029214.949568, 1614.516000]: Spawn service failed. Exiting. [gazebo-1] process has died [pid 932046, exit code 255, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode /home/summerer/catkin_ws/src/doosan-robot/dsr_launcher/worlds/empty.world name:=gazebo log:=/home/summerer/.ros/log/b9443d70-cc3d-11ee-b7e6-8f7a123c72a7/gazebo-1.log]. log file: /home/summerer/.ros/log/b9443d70-cc3d-11ee-b7e6-8f7a123c72a7/gazebo-1.log [ INFO] [1708029215.023663614]: Finished loading Gazebo ROS API Plugin. [ INFO] [1708029215.024253672]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [dsr01/spawn_create_model-9] process has died [pid 932061, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 -urdf -param /dsr01/robot_description -model dsr01 name:=spawn_create_model log:=/home/summerer/.ros/log/b9443d70-cc3d-11ee-b7e6-8f7a123c72a7/dsr01-spawn_create_model-9.log]. log file: /home/summerer/.ros/log/b9443d70-cc3d-11ee-b7e6-8f7a123c72a7/dsr01-spawn_create_model-9.log [WARN] [1708029244.999746, 1644.557000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [dsr01m0609/controller_spawner-5] process has finished cleanly log file: /home/summerer/.ros/log/b9443d70-cc3d-11ee-b7e6-8f7a123c72a7/dsr01m0609-controller_spawner-5.log
common/bin/DRCF에 들어가서 sudo ./DRCF64 12345를 입력하면 summerer@summerer:~/catkin_ws/src/doosan-robot/common/bin/DRCF$ sudo ./DRCF64 sudo: ./DRCF64: 명령이 없습니다 이렇게 뜨고 chmod +x로 권한을 추가해도 오류가 해결되지 않습니다.