[problem] roslaunch interface_nbvp_rotors flat_exploration.launch

[wkyoun]

when I run following commands

roslaunch interface_nbvp_rotors flat_exploration.launch

it results in following errors

IOError: [Errno 2] No such file or directory: '/home/wkyoun/catkin_build/src/rotors/rotors_description/urdf/firefly_vi_sensor.gazebo'

So, I tried to find firefly_vi_sensor.gazebo file, but I cannot find.

The full error scripts is as followings:

wkyoun@wkyoun-15Z960-GA70K:~/catkin_build/src/nbvplanner/interface_nbvp_rotors$ roslaunch interface_nbvp_rotors flat_exploration.launch

... logging to /home/wkyoun/.ros/log/c88b0a6a-424e-11e6-a811-1002b5120fb1/roslaunch-wkyoun-15Z960-GA70K-21991.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
  File "/opt/ros/indigo/share/xacro/xacro.py", line 62, in <module>
    xacro.main()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/__init__.py", line 673, in main
    f = open(args[0])
IOError: [Errno 2] No such file or directory: '/home/wkyoun/catkin_build/src/rotors/rotors_description/urdf/firefly_vi_sensor.gazebo'
while processing /home/wkyoun/catkin_build/src/nbvplanner/interface_nbvp_rotors/launch/mav_inspector.launch:
while processing /home/wkyoun/catkin_build/src/rotors/rotors_gazebo/launch/spawn_mav.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [     /opt/ros    /indigo/share/xacro/xacro.py '/home/wkyoun/catkin_build/src/rotors/rotors_description    /urdf/firefly_vi_sensor.gazebo'     enable_logging:=false     enable_ground_truth:=true     enable_mavlink_interface:=false     log_file:=firefly     mav_name:=firefly] returned with code [1]. 

Param xml is <param command="     $(find xacro)/xacro.py '$(arg model)'         enable_logging:=$(arg enable_logging)     enable_ground_truth:=$(arg enable_ground_truth)         enable_mavlink_interface:=$(arg enable_mavlink_interface)     log_file:=$(arg log_file)         mav_name:=$(arg mav_name)" name="robot_description"/>
The traceback for the exception was written to the log file

[Zeta611]

The current master branch does not seem to have firefly_vi_sensor.gazebo file..

[birchera]

Thank you for pointing out. I am working on a solution that will solve this divergence problem and also prevent similar ones in the future.

[wkyoun]

@birchera Thank you for the reply. I am really looking forward to run your nbvp ROS example ASAP.

[Zeta611]

@won13y For now, simply use the version of rotors_simulator before April 4th. https://github.com/ethz-asl/rotors_simulator/tree/4f763acdec2225809b9937adca0740730d53ddc1 worked for my case.

[wkyoun]

@Zeta611

Thank you for the reply. I would really appreciate.

I tried to run the the version of rotors_simulator before April 4th, but

https://github.com/ethz-asl/rotors_simulator/tree/4f763acdec2225809b9937adca0740730d53ddc1

The problem occured

In order to run the following sections

Basic Usage

Launch the simulator with a hex-rotor helicopter model, in our case, the AscTec Firefly.

$ roslaunch rotors_gazebo mav_empty_world.launch mav_name:=firefly

it does not include mav_empty_world.launch in launch folder of rotors_gazebo

mav_empty_world.launch

Would you please let me know how to run the nbvplanner example?

I was able to run successfully RotorS Gazebo Simulator,

but what I really want to run is the nbvplanner as described in following paper and wiki

Receding Horizon "Next-Best-View" Planner for 3D Exploration

https://github.com/ethz-asl/nbvplanner/wiki

In particular, following command need to be excuted in order to run the nbvplanner

roslaunch interface_nbvp_rotors flat_exploration.launch

but, as I described above, the above command produces the failure due to firefly_vi_sensor.gazebo file

Thank you in advance!

[Zeta611]

mav_empty_world.launch

does not exist in this version, but

roslaunch interface_nbvp_rotors flat_exploration.launch

should be executed fine. Have you tried rebuilding your catkin workspace? Make sure to build it in release mode using:

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

[wkyoun]

@Zeta611 Thank you very much

I tried to execute the the version of rotors_simulator before April 4th,

https://github.com/ethz-asl/rotors_simulator/tree/4f763acdec2225809b9937adca0740730d53ddc1

roslaunch interface_nbvp_rotors flat_exploration.launch

It finally works! Thank you!

I hope that Master branch is also available for me to execute nbvp planner ASAP!

I really appreciate your help!

[Zeta611]

@won13y, I’m happy to hear that it works! :D

[birchera]

I am glad to hear you found a solution in the meantime. #5 should now do the trick.

Thanks for reporting!