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justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
188 stars 58 forks source link

Fail to startup #27

Closed rouzinho closed 3 years ago

rouzinho commented 3 years ago

Hi ! NIce work there but I can't startup the simulation. Or actually gazebo start but end up crashing before starting moveit...

... logging to /home/altair/.ros/log/c59f8780-753f-11eb-8ab4-3c6aa7b729ab/roslaunch-altair-88694.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://altair:35151/

SUMMARY
========

PARAMETERS
 * /SIMULATOR_: True
 * /arm/gravity_tip_name: panda_hand
 * /arm/root_name: panda_link0
 * /arm/tip_name: panda_hand
 * /controllers_config/default_controller: panda_simulator/p...
 * /controllers_config/position_controller: panda_simulator/p...
 * /controllers_config/torque_controller: panda_simulator/e...
 * /controllers_config/velocity_controller: panda_simulator/v...
 * /franka_gripper/robot_ip: sim
 * /gazebo/enable_ros_network: True
 * /gripper_config/default_grasp_epsilon/inner: 0.005
 * /gripper_config/default_grasp_epsilon/outer: 0.005
 * /gripper_config/default_speed: 0.1
 * /gripper_config/joint_names: ['panda_finger_jo...
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/effort_joint_gravity_controller/type: panda_sim_control...
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/effort_joint_torque_controller/topic: /panda_simulator/...
 * /panda_simulator/effort_joint_torque_controller/type: panda_sim_control...
 * /panda_simulator/joint_state_controller/publish_rate: 100
 * /panda_simulator/joint_state_controller/type: joint_state_contr...
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/joint: panda_finger_joint1
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/d: 0.5
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/i: 50
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/p: 5000
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/joint: panda_finger_joint2
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/d: 0.5
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/i: 50
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/p: 5000
 * /panda_simulator/panda_gripper_controller/pub_topic: /franka_gripper/j...
 * /panda_simulator/panda_gripper_controller/type: panda_sim_control...
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/d: 25.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/d: 30.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/d: 30.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/d: 50.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/d: 8.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/d: 5.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/i: 1.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/d: 4.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/topic_joint_command: /panda_simulator/...
 * /panda_simulator/position_joint_position_controller/topic_set_speed_ratio: /panda_simulator/...
 * /panda_simulator/position_joint_position_controller/type: panda_sim_control...
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/d: 0.1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/p: 10
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/d: 0.1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/i: 1.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/p: 100
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/p: 0.05
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/d: 0.1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/i: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/p: 0.5
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/p: 1.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/p: 0.05
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/p: 0.05
 * /panda_simulator/velocity_joint_velocity_controller/topic: /panda_simulator/...
 * /panda_simulator/velocity_joint_velocity_controller/type: panda_sim_control...
 * /robot_config/arm_id: panda
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint1: 15.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint2: 7.5
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint3: 10.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint4: 12.5
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint5: 15.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint6: 20.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint7: 20.0
 * /robot_config/joint_config/joint_effort_limit/panda_joint1: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint2: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint3: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint4: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint5: 12
 * /robot_config/joint_config/joint_effort_limit/panda_joint6: 12
 * /robot_config/joint_config/joint_effort_limit/panda_joint7: 12
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint1: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint2: -1.7628
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint3: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint4: -3.0718
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint5: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint6: -0.0175
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint7: -2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint1: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint2: 1.7628
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint3: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint4: -0.0698
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint5: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint6: 3.7525
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint7: 2.8973
 * /robot_config/joint_config/joint_velocity_limit/panda_joint1: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint2: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint3: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint4: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint5: 2.61
 * /robot_config/joint_config/joint_velocity_limit/panda_joint6: 2.61
 * /robot_config/joint_config/joint_velocity_limit/panda_joint7: 2.61
 * /robot_config/joint_names: ['panda_joint1', ...
 * /robot_config/neutral_pose/panda_joint1: -0.0177920602278
 * /robot_config/neutral_pose/panda_joint2: -0.760123541104
 * /robot_config/neutral_pose/panda_joint3: 0.0197826070234
 * /robot_config/neutral_pose/panda_joint4: -2.34205014054
 * /robot_config/neutral_pose/panda_joint5: 0.0298405313558
 * /robot_config/neutral_pose/panda_joint6: 1.54119352986
 * /robot_config/neutral_pose/panda_joint7: 0.753448658975
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /use_sim_time: True

NODES
  /
    base_to_link0 (tf/static_transform_publisher)
    controller_spawner (controller_manager/controller_manager)
    controller_spawner_stopped (controller_manager/controller_manager)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    gripper_action_server_emulator (panda_sim_custom_action_server/start_gripper_action_server.py)
    joint_trajectory_server_emulator (panda_sim_custom_action_server/start_joint_trajectory_server.py)
    panda_gripper_controller_spawner_stopped (controller_manager/controller_manager)
    robot_description (gazebo_ros/spawn_model)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    startup_script (panda_gazebo/force_neutral_pose.py)
    topic_remap (topic_tools/relay)
    world_to_base (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [88707]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c59f8780-753f-11eb-8ab4-3c6aa7b729ab
process[rosout-1]: started with pid [88718]
started core service [/rosout]
process[gazebo-2]: started with pid [88725]
process[gazebo_gui-3]: started with pid [88730]
process[robot_description-4]: started with pid [88735]
process[base_to_link0-5]: started with pid [88736]
process[world_to_base-6]: started with pid [88737]
process[controller_spawner-7]: started with pid [88742]
process[controller_spawner_stopped-8]: started with pid [88748]
process[panda_gripper_controller_spawner_stopped-9]: started with pid [88750]
process[robot_state_publisher-10]: started with pid [88751]
process[topic_remap-11]: started with pid [88753]
process[joint_trajectory_server_emulator-12]: started with pid [88761]
process[gripper_action_server_emulator-13]: started with pid [88768]
process[startup_script-14]: started with pid [88770]
[ INFO] [1614020233.765319897]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1614020233.770067651]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1614020233.803572784]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1614020233.805753050]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
/home/altair/.themes/WhiteSur-light/gtk-2.0/menubar-toolbar.rc:166: error: invalid string constant "misc_button_label", expected valid string constant
[ INFO] [1614020235.133350323]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1614020235.406484999, 0.151000000]: Physics dynamic reconfigure ready.
[ INFO] [1614020235.419390794, 0.151000000]: Loading gazebo_ros_control plugin
[ INFO] [1614020235.421845752, 0.151000000]: Starting gazebo_ros_control plugin in namespace: 
[ INFO] [1614020235.422297885, 0.151000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1614020235.546770962, 0.151000000]: Loaded gazebo_ros_control.
[ INFO] [1614020235.555778658, 0.151000000]: Unable to find Acceleration values for joint panda_finger_joint1...
[ INFO] [1614020235.555896437, 0.151000000]: Unable to find Acceleration values for joint panda_finger_joint2...
[ INFO] [1614020235.631213566, 0.215000000]: Initializing JointArrayController(type:/panda_simulator/position_joint_position_controller) with 7 joints.
[ INFO] [1614020235.631421744, 0.216000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller
[ INFO] [1614020235.654869085, 0.239000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller
[ INFO] [1614020235.669799615, 0.254000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller
[ INFO] [1614020235.681945903, 0.266000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller
[ INFO] [1614020235.696809529, 0.280000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller
[ INFO] [1614020235.708732240, 0.292000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller
[ INFO] [1614020235.720477100, 0.304000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/position_joint_position_controller'
[ INFO] [1614020235.745322537, 0.329000000]: Initializing JointArrayController(type:/panda_simulator/velocity_joint_velocity_controller) with 7 joints.
[ INFO] [1614020235.745385625, 0.329000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller
[ INFO] [1614020235.761408622, 0.345000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller
[ INFO] [1614020235.776235970, 0.359000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller
[ INFO] [1614020235.791895149, 0.375000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller
[ INFO] [1614020235.815337450, 0.398000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller
[ INFO] [1614020235.860027821, 0.443000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller
[ INFO] [1614020235.885755123, 0.469000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/velocity_joint_velocity_controller'
[ INFO] [1614020235.908492069, 0.491000000]: Initializing PandaGripperController with 2 joints.
[ INFO] [1614020235.908968077, 0.492000000]: Loading sub-controller 'panda_finger_joint1_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller
[ INFO] [1614020235.927127257, 0.510000000]: Loading sub-controller 'panda_finger_joint2_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller
Loaded 'panda_simulator/panda_gripper_controller'
Loaded 'panda_simulator/joint_state_controller'
[ INFO] [1614020235.982535824, 0.565000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_gravity_controller) with 7 joints.
[ INFO] [1614020235.982615372, 0.565000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller
[ INFO] [1614020235.984036071, 0.567000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller
[ INFO] [1614020235.984482764, 0.567000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller
[ INFO] [1614020235.984830693, 0.568000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller
[ INFO] [1614020235.985170006, 0.568000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller
[ INFO] [1614020235.985488650, 0.568000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller
[ INFO] [1614020235.985816361, 0.569000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/effort_joint_gravity_controller'
Started ['panda_simulator/panda_gripper_controller'] successfully
Started ['panda_simulator/position_joint_position_controller'] successfully
[ INFO] [1614020235.995781021, 0.579000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_torque_controller) with 7 joints.
[ INFO] [1614020235.995857193, 0.579000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller
[ INFO] [1614020236.000283847, 0.583000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller
[ INFO] [1614020236.002639880, 0.585000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller
[ INFO] [1614020236.005046177, 0.588000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller
[ INFO] [1614020236.006751958, 0.590000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller
[ INFO] [1614020236.008132262, 0.591000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller
[ INFO] [1614020236.009505021, 0.592000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/effort_joint_torque_controller'
Started ['panda_simulator/joint_state_controller'] successfully
[controller_spawner-7] process has finished cleanly
log file: /home/altair/.ros/log/c59f8780-753f-11eb-8ab4-3c6aa7b729ab/controller_spawner-7*.log
[controller_spawner_stopped-8] process has finished cleanly
log file: /home/altair/.ros/log/c59f8780-753f-11eb-8ab4-3c6aa7b729ab/controller_spawner_stopped-8*.log
[panda_gripper_controller_spawner_stopped-9] process has finished cleanly
log file: /home/altair/.ros/log/c59f8780-753f-11eb-8ab4-3c6aa7b729ab/panda_gripper_controller_spawner_stopped-9*.log
Segmentation fault (core dumped)
[ERROR] [1614020256.122124, 0.612000]: SetModelConfiguration service failed. Exiting.
[gazebo-2] process has died [pid 88725, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/altair/catkin_panda/src/panda_simulator/panda_gazebo/worlds/panda.world __name:=gazebo __log:=/home/altair/.ros/log/c59f8780-753f-11eb-8ab4-3c6aa7b729ab/gazebo-2.log].
log file: /home/altair/.ros/log/c59f8780-753f-11eb-8ab4-3c6aa7b729ab/gazebo-2*.log
[robot_description-4] process has died [pid 88735, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -param robot_description -urdf -model panda -J panda::panda_joint1 0.000 -J panda::panda_joint2 -0.785 -J panda::panda_joint3 0.0 -J panda::panda_joint4 -2.356 -J panda::panda_joint5 0.0 -J panda::panda_joint6 1.57 -J panda::panda_joint7 0.785 __name:=robot_description __log:=/home/altair/.ros/log/c59f8780-753f-11eb-8ab4-3c6aa7b729ab/robot_description-4.log].
log file: /home/altair/.ros/log/c59f8780-753f-11eb-8ab4-3c6aa7b729ab/robot_description-4*.log
justagist commented 3 years ago

Hi, I am not sure why but it looks like the gripper controller is not loading correctly. Did you change anything in the launch files or controller codes? Also, the moveit server should not be started till the simulation is fully loaded.

rouzinho commented 3 years ago

Hi,

I did not modify anything, just followed the installation process. I actually do not have time to launch the moveit server since the segmentation fault happens before that.

justagist commented 3 years ago

I am not sure what could be wrong as I can't replicate it. Can you try rebuilding the package in a clean workspace. If it still persists, please share the log file for the seg fault, and I will try to see what's going on.

rouzinho commented 3 years ago

I did try multiple times with a clean install but always the same issue. I'm closing this issue because I found an alternate panda simulation which is working quite well for my needs. But anyway thanks a lot for the help !