Update Gazebo with new masses and sensor suite

[chsahit]

Closes #161 Closes #196

[chsahit]

@iRapha ok updated this PR because I was doing everything on this branch

[chsahit]

Not sure why builds are failing. According to the circle ci tests No SHA Files found, caching will not take place which doesnt mean a lot to me. According to the simulation tests gazebo is timing out, don't know how to deal with that either.

[jgkamat]

The SHA files thing is just a missing config file, it dosen't cause a failure, it just means your builds are slower than they could be (in theory) #156

I think this is the error you want to look at:

[ INFO] [1493243463.256351398]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1493243463.878368355]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1493243463.878766596]: Starting Laser Plugin (ns = /)!
spawn_model script started
[INFO] [WallTime: 1493243455.707552] Loading model xml from file
[INFO] [WallTime: 1493243455.708049] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1493243463.255404] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1493243463.902857] Spawn status: SpawnModel: Successfully spawned model
[spawn_model-10] process has finished cleanly
log file: /home/developer/.ros/log/686fa93c-2aca-11e7-98b7-0242ac120002/spawn_model-10*.log
[spawner-9] killing on exit
[gazebo-8] killing on exit
[buzzmobile/sim_car_interface-7] killing on exit
[buzzmobile/lidar_to_frame-6] killing on exit
[buzzmobile/steering-5] killing on exit
[buzzmobile/frame_merger-4] killing on exit
[buzzmobile/gps_mapper-2] killing on exit
[buzzmobile/bearing-1] killing on exit
----------------------------- Captured stderr call -----------------------------
Traceback (most recent call last):
  File "/home/developer/catkin_ws/src/buzzmobile/buzzmobile/sense/maps_querier/maps_querier.py", line 14, in <module>
    import googlemapskey as gmpskey
ImportError: No module named googlemapskey
[buzzmobile/maps_querier-3] process has died [pid 35068, exit code 1, cmd /home/developer/catkin_ws/src/buzzmobile/buzzmobile/sense/maps_querier/maps_querier.py __name:=maps_querier __log:=/home/developer/.ros/log/686fa93c-2aca-11e7-98b7-0242ac120002/buzzmobile-maps_querier-3.log].
log file: /home/developer/.ros/log/686fa93c-2aca-11e7-98b7-0242ac120002/buzzmobile-maps_querier-3*.log
libdc1394 error: Failed to initialize libdc1394
libdc1394 error: Failed to initialize libdc1394
libdc1394 error: Failed to initialize libdc1394
libdc1394 error: Failed to initialize libdc1394
Error opening log file: "/home/developer/.gazebo/gzserver.log"
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for masterMsg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 172.18.0.2
Error [RenderEngine.cc:665] Can't open display: 
Warning [RenderEngine.cc:88] Unable to create X window. Rendering will be disabled
Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
Error [CameraSensor.cc:85] Unable to create CameraSensor. Rendering is disabled.
[WARN] [WallTime: 1493243474.454752] Controller Spawner couldn't find the expected controller_manager ROS interface.
[gazebo-8] escalating to SIGTERM
========================== 1 failed in 42.20 seconds ===========================

From the simulation test.

Seems like a missing dependency, so not too big of a deal

[irapha]

As a note, @chsahit when you're looking for what caused a circleci build failure, you can either find the failure through the gh badges (see image)

or through the runtests.sh in circleci. This second one is a little misleading because the "error" technically occurs in the exit.sh, but trust

[jgkamat]

(also, you can see the pop up thingy for random commits through clicking on the check/x, or for random branches through the branches menu like this):

[irapha]

(and a gh issue)

On Wed, May 10, 2017 at 6:53 PM Sahit Chintalapudi notifications@github.com wrote:

@chsahit commented on this pull request.

In buzzmobile/simulation/sim_car_interface/src/sim_car_interface.cpp https://github.com/gtagency/buzzmobile/pull/193#discussion_r115891360:

@@ -35,13 +35,13 @@ double speed_measured_right = 0.0; double steer_set_point = 0.0;

// TODO(sahit): change to rosparams -constexpr double chassis_length = 0.33246; -constexpr double chassis_width = 0.28732; +constexpr double chassis_length = 1.8; +constexpr double chassis_width = 1.57;

@joshuamorton https://github.com/joshuamorton yeah the dims don't match at all and these were the numbers I got from RJ... In the CAD those are the dimensions of the car, when (if) I get access to the car, I'll check myself which measurements are correct. For now we should merge it in but with a TODO.

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[joshuamorton]

I was going to add that that seems reasonable, yeah.

On Thu, May 11, 2017 at 1:22 PM Raphael Gontijo Lopes < notifications@github.com> wrote:

@iRapha commented on this pull request.

In buzzmobile/plan/steering/steering.py https://github.com/gtagency/buzzmobile/pull/193#discussion_r116092388:

@@ -41,7 +41,7 @@ BRAKING_DISTANCE = rospy.get_param('braking_distance') THRESHHOLD = rospy.get_param('braking_score_threshhold') BUZZMOBILE_WIDTH = rospy.get_param('buzzmobile_width') -MAX_SPEED = rospy.get_param('max_speed', 2.0) #TODO don't be a murder machine +MAX_SPEED = rospy.get_param('max_speed', 1.0) #TODO measure car max speed

Yes. And I think that if rosparam server isn't up, this should throw an exception and error out.

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[irapha]

bump

[joshuamorton]

Pls fix.

Traceback (most recent call last):
  File "/home/developer/catkin_ws/src/buzzmobile/buzzmobile/sense/maps_querier/maps_querier.py", line 14, in <module>
    import googlemapskey as gmpskey
ImportError: No module named googlemapskey

[chsahit]

@joshuamorton I pulled from master and git reports that my branch is already up to date

[joshuamorton]

Weird, its giving some really unhelpful diffs that include already merged changes.

[chsahit]

So I didn't change anything but I went to the circle CI console and hit build and now we're passing... @joshuamorton @iRapha

[joshuamorton]

It may be because I pushed to pyros.

On Thu, Jun 15, 2017, 3:13 PM Sahit Chintalapudi notifications@github.com wrote:

So I didn't change anything but I went to the circle CI console and hit build and now we're passing... @joshuamorton https://github.com/joshuamorton @iRapha https://github.com/irapha

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[irapha]

holy guacamoli

[irapha]

Feel free to merge. But before you do, please double check this PR's description to make sure it actually closes the issues listed