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gazebosim / gz-sim

Open source robotics simulator. The latest version of Gazebo.
https://gazebosim.org
Apache License 2.0
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initial_position bug #1329

Closed Kakcalu13 closed 2 years ago

Kakcalu13 commented 2 years ago

Environment

If this is not bug, I will close this. So, I was trying to set the initial position on joint_controller. Snippet code since everything else is working flawlessly: head_attach S0 **1.6** 10 0.1 0.01 1 -1 1000 -1000 The line with bold is the one I just added today and it didn't do anything at all. I was following this [doc](https://ignitionrobotics.org/api/gazebo/4.5/classignition_1_1gazebo_1_1systems_1_1JointTrajectoryController.html) It mentioned the initial_position but when I ran that line, it doesn't do anything at all. I ran with `--verbose` this didn't say anything out of original ``` [INFO] [launch]: All log files can be found below /home/bwuk/.ros/log/2022-02-09-15-55-57-013346-robots-3236 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ign gazebo-1]: process started with pid [3238] [INFO] [parameter_bridge-2]: process started with pid [3240] [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1 [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain") [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1 [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain") [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file::/Gazebo/GazeboDrawer.qml:178:3: QML Dialog: Binding loop detected for property "implicitHeight" [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1 [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain") [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1 [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain") [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file::/Gazebo/GazeboDrawer.qml:178:3: QML Dialog: Binding loop detected for property "implicitHeight" [ign gazebo-1] [Msg] Ignition Gazebo Server v3.12.0 [ign gazebo-1] [Msg] Loading SDF world file[/home/bwuk/ko/feagi/third_party/gazebo/smart_car/freenove_4wd_car_description/models/sdf/freenove_smart_car.sdf]. [ign gazebo-1] [Msg] Create service on [/world/free_world/create] [ign gazebo-1] [Msg] Remove service on [/world/free_world/remove] [ign gazebo-1] [Msg] Pose service on [/world/free_world/set_pose] [ign gazebo-1] [Msg] Physics service on [/world/free_world/set_physics] [ign gazebo-1] [Msg] LinearBatteryPlugin configured. Battery name: linear_battery [ign gazebo-1] [Msg] Loaded level [3] [ign gazebo-1] [Msg] Serving world controls on [/world/free_world/control] and [/world/free_world/playback/control] [ign gazebo-1] [Msg] Serving GUI information on [/world/free_world/gui/info] [ign gazebo-1] [Msg] World [free_world] initialized with [1ms] physics profile. [ign gazebo-1] [Msg] Serving world SDF generation service on [/world/free_world/generate_world_sdf] [ign gazebo-1] [Msg] Serving world names on [/gazebo/worlds] [ign gazebo-1] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [ign gazebo-1] [Msg] Resource path get service on [/gazebo/resource_paths/get]. [ign gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths]. [ign gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic [ign gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic [ign gazebo-1] Warning [GenericJoint.hpp:1480] [GenericJoint::setRestPosition] Value of _q0 [0], is out of the limit range [0.1, 3.1] for index [0] of Joint [Joint]. [parameter_bridge-2] [INFO] [1644440158.476666323] [ros_ign_bridge]: Passing message from ROS sensor_msgs/msg/BatteryState to Ignition ignition.msgs.BatteryState (showing msg only once per type) [ign gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf2v95WorldE], which doesn't have `operator<<`. Component will not be serialized. [ign gazebo-1] [Wrn] [Component.hh:144] [Wrn] [Component.hh:144] [Wrn] [Component.hh:144] Trying to serialize component with data type [Trying to serialize component with data type [N3sdf2v95ModelEN3sdf2v95ModelE], which doesn't have ], which doesn't have `operator<<`. Component will not be serialized.`operator<<`. Component will not be serialized. [ign gazebo-1] [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file::/WorldControl/WorldControl.qml:88:3: QML RoundButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file::/WorldControl/WorldControl.qml:88:3: QML RoundButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1 [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain") [ign gazebo-1] [Msg] Ignition Gazebo GUI v3.12.0 [ign gazebo-1] [GUI] [Msg] Loading config [/home/bwuk/.ignition/gazebo/gui.config] [ign gazebo-1] [GUI] [Msg] Video recorder stats topic advertised on [/gui/record_video/stats] [ign gazebo-1] [GUI] [Msg] Transform mode service on [/gui/transform_mode] [ign gazebo-1] [GUI] [Msg] Record video service on [/gui/record_video] [ign gazebo-1] [GUI] [Msg] Move to service on [/gui/move_to] [ign gazebo-1] [GUI] [Msg] Follow service on [/gui/follow] [ign gazebo-1] [GUI] [Msg] View angle service on [/gui/view_angle] [ign gazebo-1] [GUI] [Msg] Move to pose service on [/gui/move_to/pose] [ign gazebo-1] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose] [ign gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions] [ign gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [GzScene3D] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-3/plugins/gui/libGzScene3D.so] [ign gazebo-1] [GUI] [Msg] Using world control service [/world/free_world/control] [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/free_world/stats] [ign gazebo-1] [GUI] [Msg] Added plugin [World control] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-3/plugins/libWorldControl.so] [ign gazebo-1] [GUI] [Msg] Listening to stats on [/world/free_world/stats] [ign gazebo-1] [GUI] [Msg] Added plugin [World stats] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-3/plugins/libWorldStats.so] [ign gazebo-1] [GUI] [Msg] Added plugin [Transform control] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-3/plugins/gui/libTransformControl.so] [ign gazebo-1] [GUI] [Msg] Added plugin [Shapes] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-3/plugins/gui/libShapes.so] [ign gazebo-1] [GUI] [Msg] Screenshot service on [/gui/screenshot] [ign gazebo-1] [GUI] [Msg] Added plugin [Screenshot] to main window [ign gazebo-1] [GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-3/plugins/libScreenshot.so] [ign gazebo-1] [GUI] [Msg] Added plugin [Component inspector] to main window [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file::/ComponentInspector/Physics.qml:89:5: QML Image: Cannot open: file::/ComponentInspector/plottable_icon.svg [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file::/ComponentInspector/Physics.qml:89:5: QML Image: Cannot open: file::/ComponentInspector/plottable_icon.svg [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file::/Gazebo/GazeboDrawer.qml:178:3: QML Dialog: Binding loop detected for property "implicitHeight" [parameter_bridge-2] [INFO] [1644440159.277740001] [ros_ign_bridge]: Passing message from ROS sensor_msgs/msg/Image to Ignition ignition.msgs.Image (showing msg only once per type) [parameter_bridge-2] [INFO] [1644440159.288176213] [ros_ign_bridge]: Passing message from ROS sensor_msgs/msg/LaserScan to Ignition ignition.msgs.LaserScan (showing msg only once per type) [ign gazebo-1] [GUI] [Wrn] [Application.cc:669] [QT] file::/Gazebo/GazeboDrawer.qml:178:3: QML Dialog: Binding loop detected for property "implicitHeight" ```

Description

Steps to reproduce

  1. add 1.6 in the joint_controller plugin inside this sdf
  2. ign gazebo -r freenove_smart_car.sdf inside feagi/third_party/gazebo/smart_car/freenove_4wd_car_description/models/sdf

Output

A log above is all I got. Let me know if you got more commands for me to view for you

Kakcalu13 commented 2 years ago

Unrelated to this topic, just not available yet.

Closing this