song-ms
commented
3 months ago 안녕하세요 @kku1403 님
첫번째로 화면으로 보여주신 connection refuesd 는 가상 에뮬레이터와 연결이 되지 않았을때 발생하는 현상입니다. 말씀 주신 rviz 문제를 파악하기위해서 현 상황에 파악이 필요합니다.
- 생성이 잘 되지 않는다 말씀 주셨는데 RVIZ 모델 생성이 간혈적으로 안된다는 것인지 아니면 처음부터 계속 생성이 안되는 현상인지 확인이 필요합니다.
- connection 에 관련 되어서는 emulator 가 실행 되지 않았을 때 발생 할 수 있습니다. Installation 가이드에 있는 emulator 설치는 잘 되어져 있을까요 ? 설치 되었다면 docker emulator가 launch 커멘드와 함께 잘 부팅이 되어지는지 확인 부탁드립니다.
두번째로 로봇이 심하게 떨린다고 말씀 주신건 사용자가 모델의 PID값 자유도 설정을 드려서 로봇이 시뮬레이션 상에서 떨림이 발생할 수 있습니다. 별도의 독립적 물리엔진 환경이 아닌 실제로봇과 동일한 모션을 표현하고 싶으시다면
rviz 실행 시 로봇 생성이 잘 되지 않구요, gazebo 실행 시에는 로봇 모델이 심하게 떨리는 문제가 발생합니다.
계속 Error initializing robot이란 오류가 뜨는데, 이와 관련된 문제일까요?
kku1403@eunju:~$ roslaunch dsr_launcher single_robot_gazebo.launch mode:=virtual ... logging to /home/kku1403/.ros/log/244fd6ac-e5d8-11ee-bada-0d9ae5e1c966/roslaunch-eunju-5461.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:38447/
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) gazebo_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 [5471] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 244fd6ac-e5d8-11ee-bada-0d9ae5e1c966 process[rosout-1]: started with pid [5481] started core service [/rosout] process[gazebo-2]: started with pid [5488] process[gazebo_gui-3]: started with pid [5492] process[dsr01/controller_spawner-4]: started with pid [5498] process[dsr01/gazebo_robot_state_publisher-5]: started with pid [5499] process[dsr01/drcf-6]: started with pid [5500] Run Emulator of the Doosan Robot Controller dirname: /home/kku1403/catkin_ws/src/doosan-robot/common/bin/DRCF/run_drcf.sh server_port: 12345 robot model: m1013 start 'emulator' ... process[dsr01m1013/controller_spawner-7]: started with pid [5503] process[dsr01m1013-8]: started with pid [5510] process[dsr01/world_tf-9]: started with pid [5515] permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Get "http://%2Fvar%2Frun%2Fdocker.sock/v1.44/containers/json?filters=%7B%22name%22%3A%7B%22emulator%22%3Atrue%7D%7D": dial unix /var/run/docker.sock: connect: permission denied process[dsr01/spawn_create_model-10]: started with pid [5518] permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post "http://%2Fvar%2Frun%2Fdocker.sock/v1.44/containers/emulator/start": dial unix /var/run/docker.sock: connect: permission denied Error: failed to start containers: emulator ARCH: 64-bit [dsr01/drcf-6] process has finished cleanly log file: /home/kku1403/.ros/log/244fd6ac-e5d8-11ee-bada-0d9ae5e1c966/dsr01-drcf-6*.log [INFO] [1710842698.975560, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1710842699.001346, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1710842699.040114076]: Finished loading Gazebo ROS API Plugin. [ INFO] [1710842699.040774197]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1710842699.073003965]: Finished loading Gazebo ROS API Plugin. [ INFO] [1710842699.073672901]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1710842699.265476030]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1710842699.279450298, 0.003000000]: Physics dynamic reconfigure ready. ../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available. [ INFO] [1710842699.683822033]: rate is 100
[ INFO] [1710842699.687470654]: name_space is dsr01, m1013
[ INFO] [1710842699.687493640]: [dsr_hw_interface] constructed [ INFO] [1710842699.724745957]: [dsr_hw_interface] init() ==> setup callback fucntion
[ INFO] [1710842699.724782119]: [dsr_hw_interface] init() ==> arm is standby [ INFO] [1710842699.725436140]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual
Connection refused [ERROR] [1710842699.725564218]: [dsr_control] Error initializing robot [ INFO] [1710842699.835322050, 0.173000000]: Loading gazebo_ros_control plugin [ INFO] [1710842699.835421284, 0.173000000]: Starting gazebo_ros_control plugin in namespace: /dsr01 [ INFO] [1710842699.835696023, 0.173000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [dsr01m1013-8] process has died [pid 5510, exit code 255, cmd /home/kku1403/catkin_ws/devel/lib/dsr_control/dsr_control_node /dsr_joint_position_controller/command:=/dsr01/dsr_joint_position_controller/command name:=dsr01m1013 log:=/home/kku1403/.ros/log/244fd6ac-e5d8-11ee-bada-0d9ae5e1c966/dsr01m1013-8.log]. log file: /home/kku1403/.ros/log/244fd6ac-e5d8-11ee-bada-0d9ae5e1c966/dsr01m1013-8.log [ INFO] [1710842699.986935731, 0.173000000]: Loaded gazebo_ros_control. [INFO] [1710842700.180375, 0.365000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1710842700.181837, 0.367000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1710842700.183078, 0.368000]: Loading controller: dsr_joint_position_controller [INFO] [1710842700.188502, 0.374000]: Controller Spawner: Loaded controllers: dsr_joint_position_controller [INFO] [1710842700.191438, 0.377000]: Started controllers: dsr_joint_position_controller [dsr01/spawn_create_model-10] process has finished cleanly log file: /home/kku1403/.ros/log/244fd6ac-e5d8-11ee-bada-0d9ae5e1c966/dsr01-spawn_create_model-10.log [WARN] [1710842729.091213, 29.224000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [dsr01m1013/controller_spawner-7] process has finished cleanly log file: /home/kku1403/.ros/log/244fd6ac-e5d8-11ee-bada-0d9ae5e1c966/dsr01m1013-controller_spawner-7*.log