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homebrew-bionics / oslsim

A ROS package that provides the necessary interfaces to simulate the Open-source leg (OSL) proposed by the Neurobionics Lab at UMich
MIT License
18 stars 5 forks source link

Invalid parameter when initializing #1

Open avegetablechicken opened 2 years ago

avegetablechicken commented 2 years ago

I install ros melodic on ubuntu18.04 and compile oslsim according instructions. However, when i was running roslaunch oslsim main.launch control:=true, there existed an error as below:

$ roslaunch oslsim main.launch control:=true

... logging to /home/user/.ros/log/7cc08b3c-b647-11ec-8165-30d042e761b4/dell-3175.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.

Invalid parameter "robot_ns"

when instantiating macro: dc_motor (/home/user/catkin_ws/src/gazebo_ros_motors/xacro/dc_motor.xacro)

in file: /home/user/catkin_ws/src/oslsim/urdf/oslsim.xacro

RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '/home/user/catkin_ws/src/oslsim/urdf/oslsim.xacro']] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro '$(find oslsim)/urdf/oslsim.xacro'" name="robot_description"/>

The traceback for the exception was written to the log file

It seems that dc_motor.xacro in gazebo does not support robot_ns. How can I figure it out?

avegetablechicken commented 2 years ago

I got to run the program by deleting "robot_ns" propety in $(find oslsim)/urdf/oslsim.xacro and resetting gazebo_ros_motors to the commit before "allow specifying axis". But simulation could not carry on. The program ran into segment fault.

avegetablechicken commented 2 years ago

I got to run the program by deleting "robot_ns" propety in $(find oslsim)/urdf/oslsim.xacro and resetting gazebo_ros_motors to the commit before "allow specifying axis". But simulation could not carry on. The program ran into segment fault.

current console output

$ roslaunch oslsim main.launch control:=true

... logging to /home/user/.ros/log/ee9d0af2-b64f-11ec-8165-30d042e761b4/roslaunch-user-Precision-3640-Tower-24256.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.

Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.

Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.

started roslaunch server http://user-Precision-3640-Tower:45817/

SUMMARY

========

PARAMETERS

 * /gazebo/enable_ros_network: True

 * /oslsim/ankle_position_controller/joint: ankle

 * /oslsim/ankle_position_controller/pid/d: 0.01

 * /oslsim/ankle_position_controller/pid/i: 0.1

 * /oslsim/ankle_position_controller/pid/p: 10

 * /oslsim/ankle_position_controller/type: effort_controller...

 * /oslsim/hip_position_controller/joint: hip

 * /oslsim/hip_position_controller/pid/d: 0.01

 * /oslsim/hip_position_controller/pid/i: 0.1

 * /oslsim/hip_position_controller/pid/p: 10

 * /oslsim/hip_position_controller/type: effort_controller...

 * /oslsim/joint_state_controller/publish_rate: 50

 * /oslsim/joint_state_controller/type: joint_state_contr...

 * /oslsim/knee_position_controller/joint: knee

 * /oslsim/knee_position_controller/pid/d: 0.01

 * /oslsim/knee_position_controller/pid/i: 0.1

 * /oslsim/knee_position_controller/pid/p: 10

 * /oslsim/knee_position_controller/type: effort_controller...

 * /oslsim/osl_hip_position_controller/joint: osl_hip

 * /oslsim/osl_hip_position_controller/pid/d: 0.01

 * /oslsim/osl_hip_position_controller/pid/i: 0.1

 * /oslsim/osl_hip_position_controller/pid/p: 10

 * /oslsim/osl_hip_position_controller/type: effort_controller...

 * /robot_description: <?xml version="1....

 * /robot_state_publisher/ignore_timestamp: True

 * /robot_state_publisher/publish_frequency: 50.0

 * /robot_state_publisher/tf_prefix: oslsim

 * /rosdistro: melodic

 * /rosversion: 1.14.13

 * /use_sim_time: True

NODES

  /

    gazebo (gazebo_ros/gzserver)

    gazebo_gui (gazebo_ros/gzclient)

    loadcell (oslsim/loadcell.py)

    oslsim_controller (oslsim/controller.py)

    oslsim_pid_tuner (oslsim/tuner.py)

    oslsim_walker (oslsim/walk.py)

    robot_state_publisher (robot_state_publisher/robot_state_publisher)

    urdf_spawner (gazebo_ros/spawn_model)

  /oslsim/

    controller_spawner (controller_manager/spawner)

auto-starting new master

process[master]: started with pid [24269]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to ee9d0af2-b64f-11ec-8165-30d042e761b4

process[rosout-1]: started with pid [24280]

started core service [/rosout]

process[gazebo-2]: started with pid [24287]

process[gazebo_gui-3]: started with pid [24292]

process[urdf_spawner-4]: started with pid [24297]

process[robot_state_publisher-5]: started with pid [24298]

process[oslsim/controller_spawner-6]: started with pid [24299]

process[loadcell-7]: started with pid [24301]

process[oslsim_walker-8]: started with pid [24306]

process[oslsim_controller-9]: started with pid [24308]

process[oslsim_pid_tuner-10]: started with pid [24311]

Traceback (most recent call last):

  File "/home/user/catkin_ws/src/oslsim/scripts/tuner.py", line 3, in <module>

    from pid_tune.msg import PidTune

ImportError: No module named pid_tune.msg

**[oslsim_pid_tuner-10] process has died [pid 24311, exit code 1, cmd /home/user/catkin_ws/src/oslsim/scripts/tuner.py __name:=oslsim_pid_tuner __log:=/home/user/.ros/log/ee9d0af2-b64f-11ec-8165-30d042e761b4/oslsim_pid_tuner-10.log].**

log file: /home/user/.ros/log/ee9d0af2-b64f-11ec-8165-30d042e761b4/oslsim_pid_tuner-10*.log

[ INFO] [1649321497.328313550]: Finished loading Gazebo ROS API Plugin.

[ INFO] [1649321497.329255534]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

[ INFO] [1649321497.379634393]: Finished loading Gazebo ROS API Plugin.

[ INFO] [1649321497.380564372]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...

[INFO] [1649321497.421449, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller

Traceback (most recent call last):

  File "/home/user/catkin_ws/src/oslsim/scripts/controller.py", line 7, in <module>

    from pid_tune.msg import PidTune

ImportError: No module named pid_tune.msg

**[oslsim_controller-9] process has died [pid 24308, exit code 1, cmd /home/user/catkin_ws/src/oslsim/scripts/controller.py __name:=oslsim_controller __log:=/home/user/.ros/log/ee9d0af2-b64f-11ec-8165-30d042e761b4/oslsim_controller-9.log].**

log file: /home/user/.ros/log/ee9d0af2-b64f-11ec-8165-30d042e761b4/oslsim_controller-9*.log

[ INFO] [1649321497.932864370]: waitForService: Service [/gazebo/set_physics_properties] is now available.

[ INFO] [1649321497.943053186]: Physics dynamic reconfigure ready.

[ INFO] [1649321498.206633334]: <initialOrientationAsReference> set to: 0

[ INFO] [1649321498.206680501]: <robotNamespace> set to: /oslsim/

[ INFO] [1649321498.206698697]: <topicName> set to: /oslsim/imu/osl_shank

[ INFO] [1649321498.206713168]: <frameName> set to: osl_shank

[ INFO] [1649321498.206735281]: <updateRateHZ> set to: 50

[ INFO] [1649321498.206750341]: <gaussianNoise> set to: 0

[ INFO] [1649321498.206769913]: <xyzOffset> set to: 0 0 0

[ INFO] [1649321498.206795379]: <rpyOffset> set to: 0 -0 0

[ INFO] [1649321498.208368022]: <initialOrientationAsReference> set to: 0

[ INFO] [1649321498.208383085]: <robotNamespace> set to: /oslsim/

[ INFO] [1649321498.208396086]: <topicName> set to: /oslsim/imu/foot

[ INFO] [1649321498.208408836]: <frameName> set to: osl_foot

[ INFO] [1649321498.208424771]: <updateRateHZ> set to: 50

[ INFO] [1649321498.208439017]: <gaussianNoise> set to: 0

[ INFO] [1649321498.208455464]: <xyzOffset> set to: 0 0 0

[ INFO] [1649321498.208471671]: <rpyOffset> set to: 0 -0 0

[ INFO] [1649321498.324499873]: Loading gazebo_ros_control plugin

[ INFO] [1649321498.324567161]: Starting gazebo_ros_control plugin in namespace: /oslsim

[ INFO] [1649321498.324978590]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.

[urdf_spawner-4] process has finished cleanly

log file: /home/user/.ros/log/ee9d0af2-b64f-11ec-8165-30d042e761b4/urdf_spawner-4*.log

[ INFO] [1649321498.436847194]: Loaded gazebo_ros_control.

[ INFO] [1649321498.443837555]: Starting plugin motor_plugin(ns = //)

[ INFO] [1649321498.443926353]: motor_plugin(ns = //): <rosDebugLevel> = Debug

[ INFO] [1649321498.444489905]: motor_plugin(ns = //): <tf_prefix> = 

[ INFO] [1649321498.444901992]: motor_nominal_voltage_ = 50.000000

[ INFO] [1649321498.444919998]: moment_of_inertia_ = 0.000100

[ INFO] [1649321498.444931599]: armature_damping_ratio_ = 0.000100

[ INFO] [1649321498.444942398]: electromotive_force_constant_ = 0.056000

[ INFO] [1649321498.444953314]: electric_resistance_ = 0.186000

[ INFO] [1649321498.444963743]: electric_inductance_ = 0.000138

[ WARN] [1649321498.445155824]: motor_plugin(ns = //): missing <velocity_noise> default is 0

[DEBUG] [1649321498.445188864]: motor_plugin(ns = //): <publish_velocity> = true

[DEBUG] [1649321498.445199067]: motor_plugin(ns = //): <publish_encoder> = true

[DEBUG] [1649321498.445207797]: motor_plugin(ns = //): <publish_current> = true

[DEBUG] [1649321498.445349379]: motor_plugin(ns = //): <publish_motor_joint_state> = true

[ INFO] [1649321498.445834935]: motor_plugin(ns = //): Advertise joint_state

[ INFO] [1649321498.445862046]: motor_plugin(ns = //): Trying to subscribe to osl_ankle/command

[ INFO] [1649321498.447438123]: motor_plugin(ns = //): Subscribed to osl_ankle/command

[ INFO] [1649321498.447453493]: motor_plugin(ns = //): Trying to subscribe to osl_ankle/supply_voltage

[ INFO] [1649321498.448331953]: motor_plugin(ns = //): Subscribed to osl_ankle/command

[ INFO] [1649321498.448606996]: motor_plugin(ns = //): Advertising motor shaft (before gearbox) velocity on osl_ankle/velocity 

[ INFO] [1649321498.448945363]: motor_plugin(ns = //): Advertising encoder counts on osl_ankle/encoder 

[ INFO] [1649321498.449175261]: motor_plugin(ns = //): Advertising actual motor current on osl_ankle/current 

[ INFO] [1649321498.449431699]: motor_plugin(ns = //): Setting up dynamic reconfigure server.

[ INFO] [1649321498.457797424]: Notifying parameter server...

[ INFO] [1649321498.458272143]: DC Motor parameters validated and updated

[ INFO] [1649321498.459888274]: Starting plugin motor_plugin(ns = //)

[ INFO] [1649321498.459921086]: motor_plugin(ns = //): <rosDebugLevel> = Debug

[ INFO] [1649321498.460172348]: motor_plugin(ns = //): <tf_prefix> = 

[ INFO] [1649321498.460261819]: motor_nominal_voltage_ = 50.000000

[ INFO] [1649321498.460276080]: moment_of_inertia_ = 0.000100

[ INFO] [1649321498.460286468]: armature_damping_ratio_ = 0.000100

[ INFO] [1649321498.460297090]: electromotive_force_constant_ = 0.056000

[ INFO] [1649321498.460314499]: electric_resistance_ = 0.186000

[ INFO] [1649321498.460331823]: electric_inductance_ = 0.000138

[ WARN] [1649321498.460351766]: motor_plugin(ns = //): missing <velocity_noise> default is 0

[DEBUG] [1649321498.460372132]: motor_plugin(ns = //): <publish_velocity> = true

[DEBUG] [1649321498.460382616]: motor_plugin(ns = //): <publish_encoder> = true

[DEBUG] [1649321498.460391414]: motor_plugin(ns = //): <publish_current> = true

[DEBUG] [1649321498.460414278]: motor_plugin(ns = //): <publish_motor_joint_state> = true

[ INFO] [1649321498.460672330]: motor_plugin(ns = //): Advertise joint_state

[ INFO] [1649321498.460683190]: motor_plugin(ns = //): Trying to subscribe to osl_knee/command

[ INFO] [1649321498.461942339]: motor_plugin(ns = //): Subscribed to osl_knee/command

[ INFO] [1649321498.461959966]: motor_plugin(ns = //): Trying to subscribe to osl_knee/supply_voltage

[ INFO] [1649321498.462839872]: motor_plugin(ns = //): Subscribed to osl_knee/command

[ INFO] [1649321498.463095982]: motor_plugin(ns = //): Advertising motor shaft (before gearbox) velocity on osl_knee/velocity 

[ INFO] [1649321498.465404916]: motor_plugin(ns = //): Advertising encoder counts on osl_knee/encoder 

[ INFO] [1649321498.465816275]: motor_plugin(ns = //): Advertising actual motor current on osl_knee/current 

[ INFO] [1649321498.465838156]: motor_plugin(ns = //): Setting up dynamic reconfigure server.

**[ERROR] [1649321498.465877614]: Tried to advertise a service that is already advertised in this node [/motor_plugin/set_parameters]**

[ INFO] [1649321498.469692678]: Notifying parameter server...

[ INFO] [1649321498.469713655]: DC Motor parameters validated and updated

[INFO] [1649321498.625820, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller

[INFO] [1649321498.627175, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller

[INFO] [1649321498.628285, 0.000000]: Loading controller: joint_state_controller

[INFO] [1649321498.632079, 0.000000]: Loading controller: hip_position_controller

[INFO] [1649321498.649398, 0.000000]: Loading controller: osl_hip_position_controller

[INFO] [1649321498.661972, 0.000000]: Loading controller: knee_position_controller

[INFO] [1649321498.674925, 0.000000]: Loading controller: ankle_position_controller

[INFO] [1649321498.687966, 0.000000]: Controller Spawner: Loaded controllers: joint_state_controller, hip_position_controller, osl_hip_position_controller, knee_position_controller, ankle_position_controller

Segmentation fault (core dumped)

**[gazebo_gui-3] process has died [pid 24292, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/user/.ros/log/ee9d0af2-b64f-11ec-8165-30d042e761b4/gazebo_gui-3.log].**

log file: /home/user/.ros/log/ee9d0af2-b64f-11ec-8165-30d042e761b4/gazebo_gui-3*.log
Barath2908 commented 1 year ago

Facing the same error, was it resolved?

avegetablechicken commented 1 year ago

Facing the same error, was it resolved?

No. Always the same error

QiYue-day commented 4 months ago

The first error occurred because in subsequent work, a robot_ns parameter was added to the 'oslsim.xacro' file in the 'oslsim' package, but this parameter was not added to the corresponding motor files, resulting in an error. I attempted to revert oslsim to a previous version (you can check when this parameter was added to avoid it), fortunately, the previous error disappeared. Unfortunately, there are new errors now.

QiYue-day commented 4 months ago

root@Qiyue:~/catkin_ws/src/oslsim# roslaunch oslsim main.launch control:=true ... logging to /root/.ros/log/aefbcd28-06d6-11ef-b9e5-00155d1306d2/roslaunch-Qiyue-16978.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.

Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. started roslaunch server http://Qiyue:43773/

SUMMARY

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) loadcell (oslsim/loadcell.py) oslsim_controller (oslsim/controller.py) oslsim_walker (oslsim/walk.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) urdf_spawner (gazebo_ros/spawn_model) /oslsim/ controller_spawner (controller_manager/spawner)

auto-starting new master process[master]: started with pid [16995] ROS_MASTER_URI=http://localhost:11311

setting /run_id to aefbcd28-06d6-11ef-b9e5-00155d1306d2 process[rosout-1]: started with pid [17006] started core service [/rosout] process[gazebo-2]: started with pid [17009] process[gazebo_gui-3]: started with pid [17013] process[urdf_spawner-4]: started with pid [17017] process[robot_state_publisher-5]: started with pid [17021] process[oslsim/controller_spawner-6]: started with pid [17022] process[loadcell-7]: started with pid [17026] process[oslsim_walker-8]: started with pid [17027] process[oslsim_controller-9]: started with pid [17028] the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' [INFO] [1714470460.782308, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1714470460.796848062]: Finished loading Gazebo ROS API Plugin. [ INFO] [1714470460.799451539]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1714470460.813382649]: Finished loading Gazebo ROS API Plugin. [ INFO] [1714470460.814629139]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1714470461.025757358]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1714470461.036387422]: Physics dynamic reconfigure ready. [urdf_spawner-4] process has finished cleanly log file: /root/.ros/log/aefbcd28-06d6-11ef-b9e5-00155d1306d2/urdf_spawner-4.log Segmentation fault [gazebo_gui-3] process has died [pid 17013, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/root/.ros/log/aefbcd28-06d6-11ef-b9e5-00155d1306d2/gazebo_gui-3.log]. log file: /root/.ros/log/aefbcd28-06d6-11ef-b9e5-00155d1306d2/gazebo_gui-3.log

QiYue-day commented 4 months ago

Rolling back my program seems to make it run, but when I open the interface, I encounter a similar issue as yours, and I can't find my log files. I haven't resolved this problem.

QiYue-day commented 4 months ago

I found that its osl_shank.dae file is incorrect. You can delete this file, and it seems it doesn't affect the normal operation of other components such as sensors