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jsk-enshu / robot-programming

This is exercise for robot-programming.
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gazebo did not start #79

Closed yuta-inoue closed 7 years ago

yuta-inoue commented 8 years ago 
sfully spawned model
Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_kobuki.so: libgazebo_ros_kobuki.so: cannot open shared object file: No such file or directory
Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_control.so: libgazebo_ros_control.so: cannot open shared object file: No such file or directory
[ INFO] [1476667252.772324507, 0.240000000]: Physics dynamic reconfigure ready.
[urdf_spawner-6] process has finished cleanly
log file: /home/mech-user/.ros/log/a9013ee8-9407-11e6-93ef-e8b1fce1a4c4/urdf_spawner-6*.log
yuta-inoue commented 8 years ago 
sudo apt-get install ros-indigo-gazebo-plugins ros-indigo-kobuki-gazebo-plugins

で解決しそう

yuta-inoue commented 8 years ago 
Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_control.so: libgazebo_ros_control.so: cannot open shared object file: No such file or directory

というエラーもある。

yuta-inoue commented 8 years ago 
[ERROR] [1476668028.097318102, 1.230000000]: Could not load controller 'trajectory_controller' because controller type 'velocity_controllers/JointTrajectoryController' does not exist.
[ERROR] [1476668028.097352650, 1.230000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [WallTime: 1476668029.098392] [2.230000] Failed to load trajectory_controller
yuta-inoue commented 8 years ago 
 2004  sudo apt-get intsall ros-indigo-ros-control
 2005  sudo apt-get install ros-indigo-ros-control
 2006  sudo apt-get install ros-indigo-gazebo-ros-control
 2007  sudo apt-get install ros-indigo-velocity-controller
 2008  sudo apt-get install ros-indigo-joint-state-controller 
 2009* sudo apt-get install ros-indigo-
 2010  sudo apt-get install ros-indigo-velocity-controller
 2011  sudo apt-get install ros-indigo-velocity-controllers

したらうごいていそう。

yuta-inoue commented 8 years ago 
sudo apt-get install ros-indigo-joint-trajectory-controller

も

yuki-asano commented 8 years ago

報告ありがとうございます． 私の手元では，以下を実行すると動くようでした．

sudo apt-get install ros-indigo-gazebo-ros
sudo apt-get install ros-indigo-gazebo-plugins
sudo apt-get install ros-indigo-gazebo-ros-control
sudo apt-get install ros-indigo-kobuki-gazebo
sudo apt-get install ros-indigo-controller-manager
sudo apt-get install ros-indigo-joint-state-controller
sudo apt-get install ros-indigo-joint-trajectory-controller
shihonshugi commented 8 years ago

僕もうまく動きませんでした。

$ roslaunch dxl_armed_turtlebot dxl_armed_turtlebot_gazebo.launch
... logging to /home/mech-user/.ros/log/f5c35fe4-997b-11e6-9b46-e8b1fce9934b/roslaunch-test1-pc-4394.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://test1-pc:34928/

SUMMARY
========

PARAMETERS
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /trajectory_controller/action_monitor_rate: 100
 * /trajectory_controller/constraints/arm_link1_joint/goal: 0.02
 * /trajectory_controller/constraints/arm_link1_joint/trajectory: 0.05
 * /trajectory_controller/constraints/arm_link2_joint/goal: 0.02
 * /trajectory_controller/constraints/arm_link2_joint/trajectory: 0.05
 * /trajectory_controller/constraints/arm_link3_joint/goal: 0.02
 * /trajectory_controller/constraints/arm_link3_joint/trajectory: 0.05
 * /trajectory_controller/constraints/arm_link4_joint/goal: 0.02
 * /trajectory_controller/constraints/arm_link4_joint/trajectory: 0.05
 * /trajectory_controller/constraints/arm_link5_joint/goal: 0.02
 * /trajectory_controller/constraints/arm_link5_joint/trajectory: 0.05
 * /trajectory_controller/constraints/arm_link6_joint/goal: 0.02
 * /trajectory_controller/constraints/arm_link6_joint/trajectory: 0.05
 * /trajectory_controller/constraints/arm_link7_joint/goal: 0.02
 * /trajectory_controller/constraints/arm_link7_joint/trajectory: 0.05
 * /trajectory_controller/constraints/goal_time: 0.5
 * /trajectory_controller/constraints/stopped_velocity_tolerance: 0.02
 * /trajectory_controller/gains/arm_link1_joint/d: 0.0
 * /trajectory_controller/gains/arm_link1_joint/i: 0.0
 * /trajectory_controller/gains/arm_link1_joint/p: 25.0
 * /trajectory_controller/gains/arm_link2_joint/d: 0.0
 * /trajectory_controller/gains/arm_link2_joint/i: 0.0
 * /trajectory_controller/gains/arm_link2_joint/p: 25.0
 * /trajectory_controller/gains/arm_link3_joint/d: 0.0
 * /trajectory_controller/gains/arm_link3_joint/i: 0.0
 * /trajectory_controller/gains/arm_link3_joint/p: 25.0
 * /trajectory_controller/gains/arm_link4_joint/d: 0.0
 * /trajectory_controller/gains/arm_link4_joint/i: 0.0
 * /trajectory_controller/gains/arm_link4_joint/p: 25.0
 * /trajectory_controller/gains/arm_link5_joint/d: 0.0
 * /trajectory_controller/gains/arm_link5_joint/i: 0.0
 * /trajectory_controller/gains/arm_link5_joint/p: 25.0
 * /trajectory_controller/gains/arm_link6_joint/d: 0.0
 * /trajectory_controller/gains/arm_link6_joint/i: 0.0
 * /trajectory_controller/gains/arm_link6_joint/p: 25.0
 * /trajectory_controller/gains/arm_link7_joint/d: 0.0
 * /trajectory_controller/gains/arm_link7_joint/i: 0.0
 * /trajectory_controller/gains/arm_link7_joint/p: 5.0
 * /trajectory_controller/joints: ['arm_link1_joint...
 * /trajectory_controller/state_publish_rate: 100
 * /trajectory_controller/stop_trajectory_duration: 0
 * /trajectory_controller/type: velocity_controll...
 * /use_sim_time: True

NODES
  /
    cmd_vel_renamer (topic_tools/relay)
    controller_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    tuck_arm (dxl_armed_turtlebot/tuck_arm.py)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [4409]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f5c35fe4-997b-11e6-9b46-e8b1fce9934b
process[rosout-1]: started with pid [4422]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [4446]
process[cmd_vel_renamer-3]: started with pid [4447]
process[rviz-4]: started with pid [4448]
process[gazebo-5]: started with pid [4456]
process[gazebo_gui-6]: started with pid [4468]
process[urdf_spawner-7]: started with pid [4481]
process[controller_spawner-8]: started with pid [4486]
process[tuck_arm-9]: started with pid [4495]
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

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

[ INFO] [1477266837.687726671]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.10.1.220
[ INFO] [1477266837.689363850]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.10.1.220
spawn_model script started
[INFO] [WallTime: 1477266837.923429] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1477266837.967657894, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1477266837.992300570, 0.050000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1477266838.038693] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1477266838.043438] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1477266838.044520] [0.000000] Calling service /gazebo/spawn_urdf_model
Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_openni_kinect.so: libgazebo_ros_openni_kinect.so: cannot open shared object file: No such file or directory
[INFO] [WallTime: 1477266839.069264] [0.770000] Spawn status: SpawnModel: Successfully spawned model
Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_kobuki.so: libgazebo_ros_kobuki.so: cannot open shared object file: No such file or directory
Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_control.so: libgazebo_ros_control.so: cannot open shared object file: No such file or directory
Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_p3d.so: libgazebo_ros_p3d.so: cannot open shared object file: No such file or directory
[urdf_spawner-7] process has finished cleanly
log file: /home/mech-user/.ros/log/f5c35fe4-997b-11e6-9b46-e8b1fce9934b/urdf_spawner-7*.log
[WARN] [WallTime: 1477266868.101201] [29.790000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-8] process has finished cleanly
log file: /home/mech-user/.ros/log/f5c35fe4-997b-11e6-9b46-e8b1fce9934b/controller_spawner-8*.log