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ipa320 / cob_simulation

The cob_simulation stack includes packages to work with Care-O-bot within simulation environments, e.g. gazebo.
www.care-o-bot.org
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How to solve "Could not load controller 'head_controller' " error? #79

Closed b2220333 closed 9 years ago

b2220333 commented 9 years ago

I use ubuntu 12.04 64bits with ROS Hydro.

I follow:http://wiki.ros.org/cob_bringup_sim

How can I run cob simulation? Thank you~~

ira@ira:~$ export ROBOT=cob4-2 ira@ira:~$ export ROBOT_ENV=ipa-apartment ira@ira:~$ roslaunch cob_bringup_sim robot.launch ... logging to /home/ira/.ros/log/fb4185b4-10fa-11e5-97c2-b8ee65344b7e/roslaunch-ira-18445.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.

while processing /opt/ros/hydro/share/cob_default_robot_config/upload_param.launch: while processing /opt/ros/hydro/share/cob_default_robot_config/cob4-2/upload_param_cob4-2.launch: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/opt/ros/hydro/share/cob_default_robot_config/cob4-2/upload_param_cob4-2.launch' ira@ira:~$

If I try:

ira@ira:~$ export ROBOT=cob4-1 ira@ira:~$ export ROBOT_ENV=ipa-apartment ira@ira:~$ roslaunch cob_bringup_sim robot.launch ... logging to /home/ira/.ros/log/33ac2c88-10fb-11e5-85e0-b8ee65344b7e/roslaunch-ira-18538.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.

started roslaunch server http://ira:50663/

SUMMARY

PARAMETERS

NODES /relayboard/ relayboard_node (cob_relayboard/relayboard_sim.py) / arm_controller_spawner (controller_manager/spawner) base_controller_spawner (controller_manager/spawner) fake_joint_calibration (rostopic/rostopic) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) head_controller_spawner (controller_manager/spawner) joint_state_controller_spawner (controller_manager/spawner) pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics) robot_state_publisher (robot_state_publisher/robot_state_publisher) sensorring_controller_spawner (controller_manager/spawner) spawn_gazebo_model (gazebo_ros/spawn_model) spawn_urdf_world (gazebo_ros/spawn_model) torso_controller_spawner (controller_manager/spawner) world_joint_state_publisher (joint_state_publisher/joint_state_publisher) world_state_publisher (robot_state_publisher/state_publisher) world_tf_publisher (cob_gazebo_worlds/tf_publisher.py) /base_controller/ base_drive_chain_node (cob_base_drive_chain/cob_base_drive_chain_sim_node) cob_base_velocity_smoother (cob_base_velocity_smoother/cob_base_velocity_smoother) undercarriage_ctrl_node (cob_undercarriage_ctrl/cob_undercarriage_ctrl_node)

auto-starting new master process[master]: started with pid [18558] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 33ac2c88-10fb-11e5-85e0-b8ee65344b7e process[rosout-1]: started with pid [18571] started core service [/rosout] running rosparam delete /objects ERROR: parameter [/objects] is not set process[gazebo-2]: started with pid [18588] process[gazebo_gui-3]: started with pid [18596] Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[spawn_urdf_world-4]: started with pid [18604] Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[world_state_publisher-5]: started with pid [18605] Msg Waiting for master.process[world_joint_state_publisher-6]: started with pid [18628] [ INFO] [1434110681.982384843]: Finished loading Gazebo ROS API Plugin. Msg Waiting for master[ INFO] [1434110681.983166801]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.2.158 ERROR: cannot launch node of type [cob_gazebo_worlds/tf_publisher.py]: can't locate node [tf_publisher.py] in package [cob_gazebo_worlds] process[spawn_gazebo_model-8]: started with pid [18657] spawn_model script started process[robot_state_publisher-9]: started with pid [18658] process[pr2_mechanism_diagnostics-10]: started with pid [18684] process[fake_joint_calibration-11]: started with pid [18701] [INFO] [WallTime: 1434110682.311028] [0.000000] Loading model xml from ros parameter [INFO] [WallTime: 1434110682.322590] [0.000000] Waiting for service /gazebo/spawn_urdf_model process[joint_state_controller_spawner-12]: started with pid [18711] spawn_model script started process[base_controller_spawner-13]: started with pid [18769] process[base_controller/base_drive_chain_node-14]: started with pid [18779] [ INFO] [1434110682.560261534]: IniDirectory loaded from Parameter-Server is: /opt/ros/hydro/share/cob_hardware_config/cob4-1/config/base/ [ INFO] [1434110682.581846857]: Initializing Base Drive Chain [ INFO] [1434110682.581973928]: Initializing CanCtrlItf [ INFO] [1434110682.581994497]: Initializing done [INFO] [WallTime: 1434110682.609653] [0.000000] Loading model xml from ros parameter [INFO] [WallTime: 1434110682.616163] [0.000000] Waiting for service /gazebo/spawn_urdf_model [INFO] [WallTime: 1434110682.625622] [0.000000] Calling service /gazebo/spawn_urdf_model [INFO] [WallTime: 1434110682.626465] [0.000000] Calling service /gazebo/spawn_urdf_model process[base_controller/undercarriage_ctrl_node-15]: started with pid [18873] [ INFO] [1434110682.664266237, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1434110682.682257818]: Timeout loaded from Parameter-Server is: 0.200000s [ INFO] [1434110682.684144529]: IniDirectory loaded from Parameter-Server is: /opt/ros/hydro/share/cob_hardware_config/cob4-1/config/base/ [ INFO] [1434110682.693001763]: Undercarriage control successfully initialized. process[base_controller/cob_base_velocity_smoother-16]: started with pid [18937] process[relayboard/relayboard_node-17]: started with pid [18973] process[torso_controller_spawner-18]: started with pid [18991]

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.2.158 process[head_controller_spawner-19]: started with pid [19008] process[arm_controller_spawner-20]: started with pid [19012] process[sensorring_controller_spawner-21]: started with pid [19020] Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. [ INFO] [1434110684.364991386, 1.196000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434110684.365069827, 1.196000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434110684.366301494, 1.196000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434110684.755732237, 1.196000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434110684.755772371, 1.196000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434110684.756845119, 1.196000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434110685.145785461, 1.196000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434110685.145837402, 1.196000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434110685.146931441, 1.196000000]: Laser Plugin (ns = /) , set to "" [INFO] [WallTime: 1434110685.169648] [1.196000] Spawn status: SpawnModel: Successfully spawned model [spawn_gazebo_model-8] process has finished cleanly log file: /home/ira/.ros/log/33ac2c88-10fb-11e5-85e0-b8ee65344b7e/spawn_gazebomodel-8.log [ INFO] [1434110687.665389079, 1.196000000]: Loading gazebo_ros_control plugin [ INFO] [1434110687.665476107, 1.196000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1434110687.666322176, 1.196000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ INFO] [1434110687.927646910, 1.196000000]: Loaded gazebo_ros_control. [ERROR] [1434110687.943140112, 1.209000000]: Could not load controller 'head_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434110687.943182535, 1.209000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [INFO] [WallTime: 1434110688.363840] [1.390000] Spawn status: SpawnModel: Successfully spawned model [ INFO] [1434110688.382603741, 1.407000000]: Physics dynamic reconfigure ready. [ERROR] [1434110688.404081817, 1.428000000]: Could not load controller 'arm_left_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434110688.404133257, 1.428000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [ERROR] [1434110688.404721532, 1.429000000]: Could not load controller 'torso_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434110688.404764092, 1.429000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [ERROR] [1434110688.405295344, 1.430000000]: Could not load controller 'sensorring_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434110688.405333843, 1.430000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [spawn_urdf_world-4] process has finished cleanly log file: /home/ira/.ros/log/33ac2c88-10fb-11e5-85e0-b8ee65344b7e/spawn_urdfworld-4.log [ERROR] [WallTime: 1434110688.944142] [1.657000] Failed to load head_controller [ERROR] [WallTime: 1434110689.405347] [1.853000] Failed to load arm_left_controller [ERROR] [WallTime: 1434110689.405959] [1.853000] Failed to load torso_controller [ERROR] [WallTime: 1434110689.406387] [1.853000] Failed to load sensorring_controller [ERROR] [1434110689.408691960, 1.854000000]: Could not load controller 'arm_right_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434110689.408759536, 1.854000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [ERROR] [WallTime: 1434110690.409351] [2.276000] Failed to load arm_right_controller

floweisshardt commented 9 years ago

your're trying to run a Care-O-bot 4 (cob4-2) which is not supported on ROS hydro. Please try the indigo version.

b2220333 commented 9 years ago

What I can use only is in hydro. Is there any latest type of cob robot I could use like cob4-1? Thank you~

floweisshardt commented 9 years ago

cob3-3 should we well supported in hydro. All cob4 robots are only available in indigo.

b2220333 commented 9 years ago

I try cob3-3,but still have errors: How to solve it?Thank you~

ira@ira:~/code/ros_hydro/src$ export ROBOT=cob3-3 ira@ira:~/code/ros_hydro/src$ export ROBOT_ENV=ipa-apartment ira@ira:~/code/ros_hydro/src$ roslaunch cob_bringup_sim robot.launch ... logging to /home/ira/.ros/log/4d085082-1108-11e5-a9c3-b8ee65344b7e/roslaunch-ira-9642.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.

started roslaunch server http://ira:42992/

SUMMARY

PARAMETERS

NODES /sound_controller/ sound_node (cob_sound/sound) /laser_top/ scanner_top_filter (cob_sick_s300/cob_scan_filter) /relayboard/ relayboard_node (cob_relayboard/relayboard_sim.py) / arm_controller_spawner (controller_manager/spawner) base_controller_spawner (controller_manager/spawner) cam3d_nodelet_manager (nodelet/nodelet) cam3d_relay_depth_camera_info (topic_tools/relay) cam3d_relay_depth_image (topic_tools/relay) cam3d_relay_depth_points (topic_tools/relay) cam3d_relay_rgb_image_color (topic_tools/relay) cam3d_throttle (nodelet/nodelet) collision_velocity_filter (cob_collision_velocity_filter/collision_velocity_filter) dashboard_aggregator (pr2_dashboard_aggregator/dashboard_aggregator.py) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) fake_diagnostics_ira_9642_189877865246355027 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_4145708051757125413 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_4154292010377443324 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_4754163276185940229 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_537700541864497024 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_5490003396638602291 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_5513061225928005629 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_6108212327006534503 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_6407960270562499082 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_7710678779227027262 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_9642_8378885242316596785 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_joint_calibration (rostopic/rostopic) footprint_observer (cob_footprint_observer/footprint_observer) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py) gazebo_topics (cob_controller_configuration_gazebo/gazebo_topics.py) head_controller_spawner (controller_manager/spawner) joint_state_controller_spawner (controller_manager/spawner) light_controller (cob_light/cob_light) local_costmap_node (costmap_2d/costmap_2d_node) pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics) robot_state_publisher (robot_state_publisher/robot_state_publisher) sdh_controller_spawner (controller_manager/spawner) spawn_gazebo_model (gazebo_ros/spawn_model) spawn_urdf_world (gazebo_ros/spawn_model) torso_controller_spawner (controller_manager/spawner) tray_controller_spawner (controller_manager/spawner) tray_sensors (cob_phidgets/simulated_range_sensors.py) voltage_filter (cob_voltage_control/savitzky_golay.py) world_joint_state_publisher (joint_state_publisher/joint_state_publisher) world_state_publisher (robot_state_publisher/state_publisher) world_tf_publisher (cob_gazebo_worlds/tf_publisher.py) /dsa_controller/ simulated_tactile_sensors (schunk_simulated_tactile_sensors/simulated_tactile_sensors.py) /base_controller/ base_drive_chain_node (cob_base_drive_chain/cob_base_drive_chain_sim_node) cob_base_velocity_smoother (cob_base_velocity_smoother/cob_base_velocity_smoother) undercarriage_ctrl_node (cob_undercarriage_ctrl/cob_undercarriage_ctrl_node) /laser_rear/ scanner_rear_filter (cob_sick_s300/cob_scan_filter) /laser_front/ scanner_front_filter (cob_sick_s300/cob_scan_filter)

auto-starting new master process[master]: started with pid [9662] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4d085082-1108-11e5-a9c3-b8ee65344b7e process[rosout-1]: started with pid [9675] started core service [/rosout] running rosparam delete /objects ERROR: parameter [/objects] is not set process[gazebo-2]: started with pid [9692] process[gazebo_gui-3]: started with pid [9698] Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[spawn_urdf_world-4]: started with pid [9707] Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[world_state_publisher-5]: started with pid [9709] process[world_joint_state_publisher-6]: started with pid [9731] Msg Waiting for master.ERROR: cannot launch node of type [cob_gazebo_worlds/tf_publisher.py]: can't locate node [tf_publisher.py] in package [cob_gazebo_worlds] [ INFO] [1434116308.425675579]: Finished loading Gazebo ROS API Plugin. Msg Waiting for master[ INFO] [1434116308.426159535]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.2.158 process[spawn_gazebo_model-8]: started with pid [9763] spawn_model script started process[robot_state_publisher-9]: started with pid [9766] process[pr2_mechanism_diagnostics-10]: started with pid [9799] [INFO] [WallTime: 1434116308.748535] [0.000000] Loading model xml from ros parameter process[fake_joint_calibration-11]: started with pid [9858] [INFO] [WallTime: 1434116308.758783] [0.000000] Waiting for service /gazebo/spawn_urdf_model [INFO] [WallTime: 1434116308.761432] [0.000000] Calling service /gazebo/spawn_urdf_model process[joint_state_controller_spawner-12]: started with pid [9907] spawn_model script started process[base_controller_spawner-13]: started with pid [9911] process[base_controller/base_drive_chain_node-14]: started with pid [9916] [ INFO] [1434116309.005911499]: IniDirectory loaded from Parameter-Server is: /opt/ros/hydro/share/cob_hardware_config/cob3-3/config/base/ [INFO] [WallTime: 1434116309.006378] [0.000000] Loading model xml from ros parameter [INFO] [WallTime: 1434116309.020511] [0.000000] Waiting for service /gazebo/spawn_urdf_model [INFO] [WallTime: 1434116309.022856] [0.000000] Calling service /gazebo/spawn_urdf_model [ INFO] [1434116309.032910408]: Initializing Base Drive Chain [ INFO] [1434116309.033052685]: Initializing CanCtrlItf [ INFO] [1434116309.033085148]: Initializing done [ INFO] [1434116309.067683374, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. process[base_controller/undercarriage_ctrl_node-15]: started with pid [9982] [ INFO] [1434116309.099012310]: Timeout loaded from Parameter-Server is: 0.200000s [ INFO] [1434116309.101753346]: IniDirectory loaded from Parameter-Server is: /opt/ros/hydro/share/cob_hardware_config/cob3-3/config/base/ [ INFO] [1434116309.111205748]: Undercarriage control successfully initialized. process[base_controller/cob_base_velocity_smoother-16]: started with pid [10041] process[laser_front/scanner_front_filter-17]: started with pid [10075] process[laser_rear/scanner_rear_filter-18]: started with pid [10093] process[laser_top/scanner_top_filter-19]: started with pid [10127]

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.2.158 process[head_controller_spawner-20]: started with pid [10155] [INFO] [WallTime: 1434116309.485123] [0.195000] Spawn status: SpawnModel: Successfully spawned model process[arm_controller_spawner-21]: started with pid [10164] process[sdh_controller_spawner-22]: started with pid [10168] process[dsa_controller/simulated_tactile_sensors-23]: started with pid [10171] [spawn_urdf_world-4] process has finished cleanly log file: /home/ira/.ros/log/4d085082-1108-11e5-a9c3-b8ee65344b7e/spawn_urdfworld-4.log process[torso_controller_spawner-24]: started with pid [10185] process[tray_controller_spawner-25]: started with pid [10199] process[tray_sensors-26]: started with pid [10211] process[sound_controller/sound_node-27]: started with pid [10223] process[light_controller-28]: started with pid [10274] [ INFO] [1434116310.321645843]: Open Port on /dev/ttyLed [ WARN] [1434116310.321733716]: Serial connection on /dev/ttyLed failed. [ INFO] [1434116310.321757299]: Simulation Mode Enabled process[local_costmap_node-29]: started with pid [10337] process[footprint_observer-30]: started with pid [10384] process[collision_velocity_filter-31]: started with pid [10435] [ INFO] [1434116310.638834624, 0.622000000]: Loading from pre-hydro parameter style process[voltage_filter-32]: started with pid [10527] process[diagnostic_aggregator-33]: started with pid [10564] [ INFO] [1434116310.725645876, 0.661000000]: Using plugin "obstacle_layer" [ INFO] [1434116310.802530389, 0.683000000]: Subscribed to Topics: laser_scan_sensor_front laser_scan_sensor_rear laser_scan_sensor_top process[dashboard_aggregator-34]: started with pid [10619] [ INFO] [1434116310.912163745, 0.719000000]: Using plugin "inflation_layer" process[cam3d_relay_rgb_image_color-35]: started with pid [10702] process[cam3d_relay_depth_image-36]: started with pid [10776] process[cam3d_relay_depth_points-37]: started with pid [10796] process[cam3d_relay_depth_camera_info-38]: started with pid [10852] process[cam3d_nodelet_manager-39]: started with pid [10878] [ INFO] [1434116311.399344132]: Initializing nodelet with 8 worker threads. process[cam3d_throttle-40]: started with pid [10967] [ INFO] [1434116311.440177014]: Loading nodelet /cam3d_throttle of type cob_cam3d_throttle/Cam3DThrottle to manager cam3d_nodelet_manager with the following remappings: [ INFO] [1434116311.440259786]: /cloud_in -> /cam3d/depth/points [ INFO] [1434116311.440279735]: /cloud_out -> /cam3d_throttled/depth/points [ INFO] [1434116311.440294099]: /depth_image_in -> /cam3d/depth/image_raw [ INFO] [1434116311.440307943]: /depth_image_out -> /cam3d_throttled/depth/image_raw [ INFO] [1434116311.440321411]: /rgb_caminfo_in -> /cam3d/rgb/camera_info [ INFO] [1434116311.440336354]: /rgb_caminfo_out -> /cam3d_throttled/rgb/camera_info [ INFO] [1434116311.440349184]: /rgb_cloud_in -> /cam3d/depth_registered/points [ INFO] [1434116311.440361853]: /rgb_cloud_out -> /cam3d_throttled/depth_registered/points [ INFO] [1434116311.440375403]: /rgb_image_in -> /cam3d/rgb/image_color [ INFO] [1434116311.440388167]: /rgb_image_out -> /cam3d_throttled/rgb/image_color process[relayboard/relayboard_node-41]: started with pid [11012] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/gazebo_services.py]: can't locate node [gazebo_services.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/gazebo_topics.py]: can't locate node [gazebo_topics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] [INFO] [WallTime: 1434116311.862587] [1.012000] 'tactile_data' topic advertized ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] [INFO] [WallTime: 1434116312.152937] [1.167000] adding sensor converting from topic 'range_1_sim' to topic 'range_1' [INFO] [WallTime: 1434116312.157224] [1.170000] adding sensor converting from topic 'range_2_sim' to topic 'range_2' [INFO] [WallTime: 1434116312.160587] [1.173000] adding sensor converting from topic 'range_3_sim' to topic 'range_3' [INFO] [WallTime: 1434116312.163287] [1.174000] adding sensor converting from topic 'range_4_sim' to topic 'range_4' ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [false] with [true]. Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [false] with [true]. Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] [ INFO] [1434116312.769967561, 1.194000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116312.770024645, 1.194000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434116312.771233624, 1.194000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434116313.163640644, 1.194000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116313.163687475, 1.194000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434116313.164825847, 1.194000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434116313.630213298, 1.194000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116313.630257360, 1.194000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434116313.631497125, 1.194000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434116313.882298438, 1.194000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116313.892566698, 1.194000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116313.915672649, 1.194000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116313.917583993, 1.194000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116313.917649616, 1.194000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434116313.918874572, 1.194000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434116313.935435566, 1.194000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116313.935503679, 1.194000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434116313.936764157, 1.194000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434116313.948919310, 1.194000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116313.948987950, 1.194000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434116313.950387575, 1.194000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434116313.960660551, 1.194000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434116313.960738400, 1.194000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434116313.962433327, 1.194000000]: Laser Plugin (ns = /) , set to "" [INFO] [WallTime: 1434116313.966482] [1.194000] Spawn status: SpawnModel: Successfully spawned model [ INFO] [1434116313.984120446, 1.194000000]: Physics dynamic reconfigure ready. [ INFO] [1434116314.073118964, 1.194000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1434116314.130293309, 1.194000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1434116314.187502376, 1.194000000]: Camera Plugin (ns = /) , set to "" [spawn_gazebo_model-8] process has finished cleanly log file: /home/ira/.ros/log/4d085082-1108-11e5-a9c3-b8ee65344b7e/spawn_gazebomodel-8.log [ INFO] [1434116315.056574165, 1.194000000]: Loading gazebo_ros_control plugin [ INFO] [1434116315.056682878, 1.194000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1434116315.057556365, 1.194000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ INFO] [1434116315.318037664, 1.194000000]: Loaded gazebo_ros_control. [ERROR] [1434116315.544058274, 1.226000000]: Could not load controller 'arm_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434116315.544125317, 1.226000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [ERROR] [1434116315.547193209, 1.228000000]: Could not load controller 'torso_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434116315.547492614, 1.228000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [ERROR] [1434116315.581137583, 1.233000000]: Could not load controller 'tray_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434116315.581194066, 1.233000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [ERROR] [1434116315.623913584, 1.239000000]: Could not load controller 'head_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434116315.623984568, 1.239000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [ERROR] [1434116315.624969595, 1.240000000]: Could not load controller 'sdh_controller' because controller type 'effort_controllers/JointTrajectoryController' does not exist. [ERROR] [1434116315.625295130, 1.240000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [ERROR] [WallTime: 1434116316.545316] [1.390000] Failed to load arm_controller [ERROR] [WallTime: 1434116316.548192] [1.390000] Failed to load torso_controller [ERROR] [WallTime: 1434116316.582298] [1.396000] Failed to load tray_controller [ERROR] [WallTime: 1434116316.625295] [1.402000] Failed to load head_controller [ERROR] [WallTime: 1434116316.626723] [1.402000] Failed to load sdh_controller

floweisshardt commented 9 years ago

did you install from source or debians?

b2220333 commented 9 years ago

I run: sudo apt-get install ros-hydro-cob-*

floweisshardt commented 9 years ago

I think you're missing sudo apt-get install ros-hydro-ros-controllers

fmessmer commented 9 years ago

sudo apt-get install ros-hydro-effort-controllers maybe there are more packages you require to install manually...the dependency definitions are not too complete for ros-hydro-cob*... :wink:

b2220333 commented 9 years ago

Yeah~~You're right. I'm missing installing ros-hydro-ros-controllers. I try to install all ros-hydro package by this cmd.

sudo apt-get update; sudo apt-get install ros-hydro-*

I succeed install almost all packages except opencv3.

I run the robot again: export ROBOT=cob3-3 export ROBOT_ENV=ipa-apartment roslaunch cob_bringup_sim robot.launch

This time show the following errors.

ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo]

ERROR: cannot launch node of type [cob_controller_configuration_gazebo/gazebo_services.py]: can't locate node [gazebo_services.py] in package [cob_controller_configuration_gazebo]

How to do next? Thank you very much~~

full log:

ira@ira:~$ export ROBOT=cob3-3 ira@ira:~$ export ROBOT_ENV=ipa-apartment ira@ira:~$ roslaunch cob_bringup_sim robot.launch ... logging to /home/ira/.ros/log/93010462-136f-11e5-9ef8-b8ee65344b7e/roslaunch-ira-31156.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.

started roslaunch server http://ira:35623/

SUMMARY

PARAMETERS

NODES /sound_controller/ sound_node (cob_sound/sound) /laser_top/ scanner_top_filter (cob_sick_s300/cob_scan_filter) /relayboard/ relayboard_node (cob_relayboard/relayboard_sim.py) / arm_controller_spawner (controller_manager/spawner) base_controller_spawner (controller_manager/spawner) cam3d_nodelet_manager (nodelet/nodelet) cam3d_relay_depth_camera_info (topic_tools/relay) cam3d_relay_depth_image (topic_tools/relay) cam3d_relay_depth_points (topic_tools/relay) cam3d_relay_rgb_image_color (topic_tools/relay) cam3d_throttle (nodelet/nodelet) collision_velocity_filter (cob_collision_velocity_filter/collision_velocity_filter) dashboard_aggregator (pr2_dashboard_aggregator/dashboard_aggregator.py) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) fake_diagnostics_ira_31156_1040209752188936074 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_2836123049822931764 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_3979249478230486480 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_5402115211724136032 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_5406672470842046552 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_5911021562484625635 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_6244288944346490506 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_631192287291304063 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_6789359344991974336 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_6879850068142707892 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_diagnostics_ira_31156_8782370526813026888 (cob_controller_configuration_gazebo/fake_diagnostics.py) fake_joint_calibration (rostopic/rostopic) footprint_observer (cob_footprint_observer/footprint_observer) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gazebo_services (cob_controller_configuration_gazebo/gazebo_services.py) gazebo_topics (cob_controller_configuration_gazebo/gazebo_topics.py) head_controller_spawner (controller_manager/spawner) joint_state_controller_spawner (controller_manager/spawner) light_controller (cob_light/cob_light) local_costmap_node (costmap_2d/costmap_2d_node) pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics) robot_state_publisher (robot_state_publisher/robot_state_publisher) sdh_controller_spawner (controller_manager/spawner) spawn_gazebo_model (gazebo_ros/spawn_model) spawn_urdf_world (gazebo_ros/spawn_model) torso_controller_spawner (controller_manager/spawner) tray_controller_spawner (controller_manager/spawner) tray_sensors (cob_phidgets/simulated_range_sensors.py) voltage_filter (cob_voltage_control/savitzky_golay.py) world_joint_state_publisher (joint_state_publisher/joint_state_publisher) world_state_publisher (robot_state_publisher/state_publisher) world_tf_publisher (cob_gazebo_worlds/tf_publisher.py) /dsa_controller/ simulated_tactile_sensors (schunk_simulated_tactile_sensors/simulated_tactile_sensors.py) /base_controller/ base_drive_chain_node (cob_base_drive_chain/cob_base_drive_chain_sim_node) cob_base_velocity_smoother (cob_base_velocity_smoother/cob_base_velocity_smoother) undercarriage_ctrl_node (cob_undercarriage_ctrl/cob_undercarriage_ctrl_node) /laser_rear/ scanner_rear_filter (cob_sick_s300/cob_scan_filter) /laser_front/ scanner_front_filter (cob_sick_s300/cob_scan_filter)

auto-starting new master process[master]: started with pid [31176] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 93010462-136f-11e5-9ef8-b8ee65344b7e process[rosout-1]: started with pid [31189] started core service [/rosout] running rosparam delete /objects ERROR: parameter [/objects] is not set process[gazebo-2]: started with pid [31197] process[gazebo_gui-3]: started with pid [31205] process[spawn_urdf_world-4]: started with pid [31211] process[world_state_publisher-5]: started with pid [31214] process[world_joint_state_publisher-6]: started with pid [31215] ERROR: cannot launch node of type [cob_gazebo_worlds/tf_publisher.py]: can't locate node [tf_publisher.py] in package [cob_gazebo_worlds] process[spawn_gazebo_model-8]: started with pid [31218] process[robot_state_publisher-9]: started with pid [31232] process[pr2_mechanism_diagnostics-10]: started with pid [31273] process[fake_joint_calibration-11]: started with pid [31290] process[joint_state_controller_spawner-12]: started with pid [31294] process[base_controller_spawner-13]: started with pid [31301] process[base_controller/base_drive_chain_node-14]: started with pid [31302] [ INFO] [1434380571.543611024]: IniDirectory loaded from Parameter-Server is: /opt/ros/hydro/share/cob_hardware_config/cob3-3/config/base/ [ INFO] [1434380571.552445566]: Initializing Base Drive Chain [ INFO] [1434380571.552529867]: Initializing CanCtrlItf [ INFO] [1434380571.552550483]: Initializing done process[base_controller/undercarriage_ctrl_node-15]: started with pid [31345] [ INFO] [1434380571.771625857]: Timeout loaded from Parameter-Server is: 0.200000s [ INFO] [1434380571.773121881]: IniDirectory loaded from Parameter-Server is: /opt/ros/hydro/share/cob_hardware_config/cob3-3/config/base/ [ INFO] [1434380571.777278627]: Undercarriage control successfully initialized. process[base_controller/cob_base_velocity_smoother-16]: started with pid [31407] process[laser_front/scanner_front_filter-17]: started with pid [31439] process[laser_rear/scanner_rear_filter-18]: started with pid [31455] process[laser_top/scanner_top_filter-19]: started with pid [31471] process[head_controller_spawner-20]: started with pid [31487] process[arm_controller_spawner-21]: started with pid [31491] process[sdh_controller_spawner-22]: started with pid [31511] process[dsa_controller/simulated_tactile_sensors-23]: started with pid [31534] process[torso_controller_spawner-24]: started with pid [31551] process[tray_controller_spawner-25]: started with pid [31571] process[tray_sensors-26]: started with pid [31587] Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[sound_controller/sound_node-27]: started with pid [31617] Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[light_controller-28]: started with pid [31673] [ INFO] [1434380576.422044398]: Open Port on /dev/ttyLed [ WARN] [1434380576.422122601]: Serial connection on /dev/ttyLed failed. [ INFO] [1434380576.422148146]: Simulation Mode Enabled Msg Waiting for master.process[local_costmap_node-29]: started with pid [31731] process[footprint_observer-30]: started with pid [31741] .process[collision_velocity_filter-31]: started with pid [31814] [ INFO] [1434380577.608481071]: Finished loading Gazebo ROS API Plugin. Msg Waiting for master[ INFO] [1434380577.608891327]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.43.215 process[voltage_filter-32]: started with pid [31932] process[diagnostic_aggregator-33]: started with pid [31945]

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.43.215 process[dashboard_aggregator-34]: started with pid [31983] process[cam3d_relay_rgb_image_color-35]: started with pid [32027] process[cam3d_relay_depth_image-36]: started with pid [32200] process[cam3d_relay_depth_points-37]: started with pid [32229] process[cam3d_relay_depth_camera_info-38]: started with pid [32262] spawn_model script started spawn_model script started process[cam3d_nodelet_manager-39]: started with pid [32375] [INFO] [WallTime: 1434380580.693361] [0.000000] Loading model xml from ros parameter [INFO] [WallTime: 1434380580.698364] [0.000000] Loading model xml from ros parameter [INFO] [WallTime: 1434380580.703177] [0.000000] Waiting for service /gazebo/spawn_urdf_model [INFO] [WallTime: 1434380580.705972] [0.000000] Calling service /gazebo/spawn_urdf_model [INFO] [WallTime: 1434380580.708618] [0.000000] Waiting for service /gazebo/spawn_urdf_model [INFO] [WallTime: 1434380580.710573] [0.000000] Calling service /gazebo/spawn_urdf_model process[cam3d_throttle-40]: started with pid [32413] [ INFO] [1434380581.003202823]: Loading nodelet /cam3d_throttle of type cob_cam3d_throttle/Cam3DThrottle to manager cam3d_nodelet_manager with the following remappings: [ INFO] [1434380581.003296116]: /cloud_in -> /cam3d/depth/points [ INFO] [1434380581.003375178]: /cloud_out -> /cam3d_throttled/depth/points [ INFO] [1434380581.003410925]: /depth_image_in -> /cam3d/depth/image_raw [ INFO] [1434380581.003439593]: /depth_image_out -> /cam3d_throttled/depth/image_raw [ INFO] [1434380581.003470010]: /rgb_caminfo_in -> /cam3d/rgb/camera_info [ INFO] [1434380581.003494973]: /rgb_caminfo_out -> /cam3d_throttled/rgb/camera_info [ INFO] [1434380581.003525867]: /rgb_cloud_in -> /cam3d/depth_registered/points [ INFO] [1434380581.003549716]: /rgb_cloud_out -> /cam3d_throttled/depth_registered/points [ INFO] [1434380581.003573525]: /rgb_image_in -> /cam3d/rgb/image_color [ INFO] [1434380581.003597620]: /rgb_image_out -> /cam3d_throttled/rgb/image_color [ INFO] [1434380581.005560532]: waitForService: Service [/cam3d_nodelet_manager/load_nodelet] has not been advertised, waiting... [ERROR] [1434380581.142609077]: Skipping XML Document "/opt/ros/hydro/share/hector_pose_estimation/hector_pose_estimation_nodelets.xml" which had no Root Element. This likely means the XML is malformed or missing. [ INFO] [1434380581.217914373]: Initializing nodelet with 8 worker threads. process[relayboard/relayboard_node-41]: started with pid [32446] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/gazebo_services.py]: can't locate node [gazebo_services.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/gazebo_topics.py]: can't locate node [gazebo_topics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] [INFO] [WallTime: 1434380582.418056] [0.001000] Spawn status: SpawnModel: Successfully spawned model ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] [ INFO] [1434380582.560366806, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1434380582.560744608, 0.021000000]: waitForService: Service [/cam3d_nodelet_manager/load_nodelet] is now available. [ INFO] [1434380582.565638851, 0.024000000]: Loading from pre-hydro parameter style [ INFO] [1434380582.641164893, 0.066000000]: Using plugin "obstacle_layer" [spawn_urdf_world-4] process has finished cleanly log file: /home/ira/.ros/log/93010462-136f-11e5-9ef8-b8ee65344b7e/spawn_urdfworld-4.log ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] [ INFO] [1434380582.966490417, 0.242000000]: Subscribed to Topics: laser_scan_sensor_front laser_scan_sensor_rear laser_scan_sensor_top ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] [ INFO] [1434380583.053080991, 0.286000000]: Using plugin "inflation_layer" ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] [INFO] [WallTime: 1434380583.403075] [0.503000] adding sensor converting from topic 'range_1_sim' to topic 'range_1' [INFO] [WallTime: 1434380583.406753] [0.505000] adding sensor converting from topic 'range_2_sim' to topic 'range_2' [INFO] [WallTime: 1434380583.411884] [0.507000] adding sensor converting from topic 'range_3_sim' to topic 'range_3' [INFO] [WallTime: 1434380583.422446] [0.512000] adding sensor converting from topic 'range_4_sim' to topic 'range_4' [INFO] [WallTime: 1434380583.448815] [0.528000] 'tactile_data' topic advertized ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] ERROR: cannot launch node of type [cob_controller_configuration_gazebo/fake_diagnostics.py]: can't locate node [fake_diagnostics.py] in package [cob_controller_configuration_gazebo] Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [false] with [true]. Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [false] with [true]. Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. [ INFO] [1434380587.558380419, 2.694000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380587.558426946, 2.694000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434380587.559949921, 2.694000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434380587.911956552, 2.694000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380587.911995384, 2.694000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434380587.913026835, 2.694000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434380588.365614608, 2.694000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380588.365676041, 2.694000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434380588.366779457, 2.694000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434380588.837254000, 2.694000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380588.874621667, 2.694000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380588.878473212, 2.694000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380588.897314595, 2.694000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380588.897453775, 2.694000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434380588.898764807, 2.694000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434380588.914321410, 2.694000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380588.914449735, 2.694000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434380588.915976529, 2.694000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434380588.930827416, 2.694000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380588.930880883, 2.694000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434380588.932005039, 2.694000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1434380588.947666209, 2.694000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1434380588.947720478, 2.694000000]: Starting Laser Plugin (ns = /)! [ INFO] [1434380588.948804119, 2.694000000]: Laser Plugin (ns = /) , set to "" [INFO] [WallTime: 1434380588.954866] [2.694000] Spawn status: SpawnModel: Successfully spawned model [ INFO] [1434380588.965099278, 2.694000000]: Physics dynamic reconfigure ready. [ INFO] [1434380589.186334325, 2.694000000]: Camera Plugin (ns = /) , set to "" [spawn_gazebo_model-8] process has finished cleanly log file: /home/ira/.ros/log/93010462-136f-11e5-9ef8-b8ee65344b7e/spawn_gazebomodel-8.log [ INFO] [1434380589.277425032, 2.694000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1434380589.401348754, 2.694000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1434380590.347541320, 2.694000000]: Loading gazebo_ros_control plugin [ INFO] [1434380590.347707853, 2.694000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1434380590.348678848, 2.694000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ INFO] [1434380591.311976408, 2.694000000]: Loaded gazebo_ros_control.

fmessmer commented 9 years ago

What's the status here? Have you solved this problem? Can we close this issue?

It seems you do not have cob_controller_configuration_gazebo package installed. The fake_diagnostics.py, gazebo_services.py scripts are part of that package....I just checked it...they are released to hydro...you should find them here: /opt/ros/hydro/lib/cob_controller_configuration_gazebo/src