KamalanathanN
commented
3 years ago It is working when i change the global_frame in _local_costmapparams.yaml of raw3-3 located in cob_robots/cob_hardware_config/robots/raw3-3/
global_frame: base_link is changed to global_frame: base_footprint
I am using ROS melodic ROBOT=raw3-3 ROBOT_ENV=ipa-apartment when i launch
roslaunch cob_bringup_sim robot.launchi get the following error and warnings:[ WARN] [1606983192.054103739]: No parameter frame on parameter server. Using default value [base_link]. process[diagnostic_aggregator-22]: started with pid [11736] process[dashboard_aggregator-23]: started with pid [11740] process[joy_node_kamal_HP_11620_5007856071874360402-24]: started with pid [11746] process[teleop/teleop_node_kamal_HP_11620_373555137628965711-25]: started with pid [11752] process[collision_velocity_filter-26]: started with pid [11754] process[robot_state_publisher-27]: started with pid [11756] process[joint_state_publisher-28]: started with pid [11764] process[script_server-29]: started with pid [11768] process[light-30]: started with pid [11772] [ WARN] [1606983192.584622618]: Couldn't set gain on joystick force feedback: Bad file descriptor process[fake_diagnostics_kamal_HP_11620_8881534578614238150-31]: started with pid [11774] process[spawn_gazebo_model-32]: started with pid [11780] [ WARN] [1606983192.941316170]: Parameter 'num_leds' is missing. Using default Value: 58 [ INFO] [1606983193.086295070]: Simulation mode enabled [INFO] [1606983194.678529, 0.000000]: fake_driver running [ INFO] [1606983196.340211590]: Finished loading Gazebo ROS API Plugin. [ INFO] [1606983196.353906640]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1606983196.968223707]: Finished loading Gazebo ROS API Plugin. [ INFO] [1606983196.984054097]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1606983198.132808431]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1606983198.328244, 0.000000]: Loading model XML from ros parameter world_description [ INFO] [1606983198.591415928, 0.275000000]: Physics dynamic reconfigure ready. [ INFO] [1606983198.655862875, 0.341000000]: anti_collision_costmap: Using plugin "obstacle_layer" [ INFO] [1606983198.688646649, 0.363000000]: Subscribed to Topics: laser_scan_front laser_scan_rear [INFO] [1606983198.925243, 0.579000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1606983198.942074, 0.609000]: Calling service /gazebo/spawn_urdf_model [ WARN] [1606983199.165900048, 0.818000000]: Used default parameter for 'costmap_obstacle_treshold' [250]. [ WARN] [1606983199.196500995, 0.850000000]: Used default parameter for 'global_frame' [/base_link] [ WARN] [1606983199.199841932, 0.850000000]: Used default parameter for 'robot_base_frame' [/base_link] [INFO] [1606983199.491146, 0.000000]: Waiting for model ipa-apartment before proceeding. Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_front_link'] Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_rear_link'] Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_front_link'] Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_rear_link'] Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_front_link'] Unknown attribute "type" in /robot[@name='raw3-3']/link[@name='base_laser_rear_link'] [INFO] [1606983200.483932, 0.958000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1606983200.562160829, 0.958000000]: Loading gazebo_ros_control plugin [ INFO] [1606983200.562430102, 0.958000000]: Starting gazebo_ros_control plugin in namespace: world [ INFO] [1606983200.563363508, 0.958000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/world_description] on the ROS param server. [ERROR] [1606983200.721090038, 0.958000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_left_joint [ERROR] [1606983200.722829648, 0.958000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_right_joint [ERROR] [1606983200.724313170, 0.958000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_button1_joint [ERROR] [1606983200.725701487, 0.958000000]: No p gain specified for pid. Namespace: /world/gazebo_ros_control/pid_gains/elevator_button2_joint [ INFO] [1606983200.737959493, 0.958000000]: Loaded gazebo_ros_control. [spawn_urdf_world-4] process has finished cleanly log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/spawn_urdf_world-4.log Loaded 'world_joint_state_controller' [INFO] [1606983201.013590, 1.064000]: Loading model XML from ros parameter robot_description Loaded 'elevator_left_joint_position_controller' Started ['world_joint_state_controller'] successfully Loaded 'elevator_right_joint_position_controller' [ WARN] [1606983201.093448246, 1.076000000]: Costmap2DROS transform timeout. Current time: 1.0760, global_pose stamp: 0.0000, tolerance: 0.3000 [ WARN] [1606983201.093560449, 1.076000000]: Could not get robot pose, cancelling reconfiguration [INFO] [1606983201.102125, 1.077000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1606983201.123552, 1.080000]: Calling service /gazebo/spawn_urdf_model Loaded 'elevator_button1_joint_position_controller' Loaded 'elevator_button2_joint_position_controller' Started ['elevator_left_joint_position_controller'] successfully Started ['elevator_right_joint_position_controller'] successfully [world/world_joint_state_controller_spawner-6] process has finished cleanly log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/world-world_joint_state_controller_spawner-6.log [INFO] [1606983201.573697, 0.000000]: script_server is running [ INFO] [1606983202.148193478, 1.124000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1606983202.148366126, 1.124000000]: Starting Laser Plugin (ns = /) [ INFO] [1606983202.156633372, 1.124000000]: Laser Plugin (ns = /), set to ""
[ INFO] [1606983202.455625983, 1.124000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1606983202.456185499, 1.124000000]: Starting Laser Plugin (ns = /)
[ INFO] [1606983202.462115820, 1.124000000]: Laser Plugin (ns = /) , set to ""
[INFO] [1606983202.475454, 1.124000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1606983202.542006136, 1.124000000]: Loading cob_gazebo_ros_control plugin
[ INFO] [1606983202.542359273, 1.124000000]: Enable joint-filtering. Using joint_names from parameter: "joint_names"
[ INFO] [1606983202.542447885, 1.124000000]: Starting cob_gazebo_ros_control plugin in namespace: base
[ INFO] [1606983202.650243449, 1.124000000]: JointFiltering is enabled! DoF: 8
[ INFO] [1606983202.676342950, 1.124000000]: Loaded cob_gazebo_ros_control.
Started ['elevator_button1_joint_position_controller'] successfully
Started ['elevator_button2_joint_position_controller'] successfully
[spawn_gazebo_model-32] process has finished cleanly
log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/spawn_gazebo_model-32.log
[INFO] [1606983202.944438, 1.182000]: Diagnostics change to 0
[INFO] [1606983202.974013, 1.187000]: Motion change to 0
Loaded 'joint_state_controller'
[world/world_controller_spawner-8] process has finished cleanly
log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/world-world_controller_spawner-8.log
[ INFO] [1606983203.121686222, 1.235000000]: configure all steers: s: 15.000000, d: 2.750000, m: 0.100000, v: 10.000000, a: 40.000000
[ INFO] [1606983203.167372272, 1.251000000]: configure steer 0: s: 15.000000, d: 2.750000, m: 0.100000, v: 12.000000, a: 40.000000
[ INFO] [1606983203.217369019, 1.268000000]: configure steer 1: s: 15.000000, d: 2.750000, m: 0.100000, v: 12.000000, a: 40.000000
[ INFO] [1606983203.308563377, 1.291000000]: configure steer 2: s: 15.000000, d: 2.750000, m: 0.100000, v: 12.000000, a: 40.000000
[ INFO] [1606983203.349164621, 1.300000000]: configure steer 3: s: 15.000000, d: 2.750000, m: 0.100000, v: 12.000000, a: 40.000000
Loaded 'twist_controller'
Loaded 'odometry_controller'
Started ['joint_state_controller'] successfully
Started ['twist_controller'] successfully
Started ['odometry_controller'] successfully
[INFO] [1606983203.556343, 1.358000]: Motion change to 1
[base/base_controller_spawner-13] process has finished cleanly
log file: /home/kamal/.ros/log/5f355f6e-353f-11eb-8aeb-183da2628aa4/base-base_controller_spawner-13*.log
[ WARN] [1606983205.999461432, 2.076000000]: Costmap2DROS transform timeout. Current time: 2.0760, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983205.999543542, 2.076000000]: Could not get robot pose, cancelling reconfiguration
[INFO] [1606983206.756076, 2.298000]: Motion change to 0
[ WARN] [1606983209.438091218, 3.076000000]: Costmap2DROS transform timeout. Current time: 3.0760, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983209.438410601, 3.076000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1606983212.895225958, 4.139000000]: Costmap2DROS transform timeout. Current time: 4.1390, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983213.031634286, 4.176000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1606983216.153173877, 5.139000000]: Costmap2DROS transform timeout. Current time: 5.1390, global_pose stamp: 0.0000, tolerance: 0.3000
[ WARN] [1606983216.282310117, 5.176000000]: Could not get robot pose, cancelling reconfiguration
please help me solve this issue.