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micpalmia / youbot_ros_tools

A KUKA youBot description for ROS.
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roslaunch youbot_gazebo youbot.launch warnings #13

Open kathrindoerfler opened 10 years ago

kathrindoerfler commented 10 years ago

Hi Mic, thank you very much for your response! Here again the description of the error (terminal log)

I can run "roslaunch youbot_description youbot_rviz.launch" without mistakes, can also move all the joints over the sliders, but "roslaunch youbot_gazebo youbot.launch" gives me back the following warnings, due to that the youbot moves crazily.

dfab@ubudfab:~/catkin_ws/src$ roslaunch youbot_gazebo youbot.launch ... logging to /home/dfab/.ros/log/97849f34-46d0-11e3-a7c6-b8ac6f819722/roslaunch-ubudfab-18444.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://ubudfab:55749/

SUMMARY

PARAMETERS

NODES /youbot/ spawn_robot (gazebo_ros/spawn_model) / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient)

auto-starting new master process[master]: started with pid [18464] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 97849f34-46d0-11e3-a7c6-b8ac6f819722 process[rosout-1]: started with pid [18477] started core service [/rosout] process[gazebo-2]: started with pid [18491] process[gazebo_gui-3]: started with pid [18494] process[youbot/spawn_robot-4]: started with pid [18500] Gazebo multi-robot simulator, version 1.9.1 Copyright (C) 2013 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

Gazebo multi-robot simulator, version 1.9.1 Copyright (C) 2013 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

spawn_model script started Msg Waiting for master.[INFO] [WallTime: 1383734749.856237] [0.000000] Loading model xml from ros parameter [ INFO] [1383734749.859794345]: Finished loading Gazebo ROS API Plugin. Msg Waiting for master [ INFO] [1383734749.862020468]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [WallTime: 1383734749.862642] [0.000000] Waiting for service /gazebo/spawn_urdf_model Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 129.132.204.230 [ INFO] [1383734750.628184768, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1383734750.672613927, 0.057000000]: Physics dynamic reconfigure ready. [INFO] [WallTime: 1383734750.768877] [0.154000] Calling service /gazebo/spawn_urdf_model

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 129.132.204.230 Warning [parser.cc:356] No element in file[data-string] Warning [parser_urdf.cc:956] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. [INFO] [WallTime: 1383734752.711271] [1.061000] Spawn status: SpawnModel: Successfully spawned model [youbot/spawn_robot-4] process has finished cleanly log file: /home/dfab/.ros/log/97849f34-46d0-11e3-a7c6-b8ac6f819722/youbot-spawn_robot-4*.log [ INFO] [1383734753.744620592, 1.061000000]: Loading gazebo_ros_control plugin [ INFO] [1383734753.745080981, 1.061000000]: Starting gazebo_ros_control plugin in namespace: /youbot/ [ INFO] [1383734753.746111300, 1.061000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/youbot_description] on the ROS param server. [ INFO] [1383734754.008085870, 1.061000000]: pluginlib WARNING: In file /tmp/buildd/ros-hydro-gazebo-ros-control-2.3.3-0precise-20131021-0345/src/default_robot_hw_sim.cpp PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros. Base = base_class_type, Derived = derived_class_type [ INFO] [1383734754.098504453, 1.061000000]: Loaded gazebo_ros_control.

The robot looks like this: jumping_kuka

thanks in advance for your help!

P.S.: One mistake in ..catkin_ws/src/youbot_ros_tools/youbot_gazebo/worlds/EmptyRoom/: The path "/home/mic/workspace/hydro/catkin_ws/src/youbot_ros_tools/youbot_gazebo/worlds/EmptyRoom" needs to be replaced with variable.

ghost commented 10 years ago

I dunno if that may help:

http://answers.gazebosim.org/question/4693/robot-shaky-after-the-last-gazebo_ros_pkgs-update/ http://arn-o.github.io/blog/2013/10/11/robot-shaky-after-gazebo-upgrade-to-2-dot-0/

I feel like the carve of Gazebo out of ROS is not stabilized yet.

kathrindoerfler commented 10 years ago

Hi Arno,

thank you for your reply! I could not open the Youtube-Video but the description sounds familiar. I also tried to build your repo, but there were some paths missing during launch, so I ended up trying this one. Maybe I should check yours again and find out if there is the same bug? My version of gazebo is 1.9.1, maybe I should upgrade to 2.0? Which one are you using? The model in rviz is working fine, so the description should be ok.

Thanks, Kathrin

2013/11/6 Arn-O notifications@github.com

I dunno if that may help:

http://answers.gazebosim.org/question/4693/robot-shaky-after-the-last-gazebo_ros_pkgs-update/

http://arn-o.github.io/blog/2013/10/11/robot-shaky-after-gazebo-upgrade-to-2-dot-0/

I feel like the carve of Gazebo out of ROS is not stabilized yet.

— Reply to this email directly or view it on GitHubhttps://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-27875242 .

ghost commented 10 years ago

Ah correct, Google moved it because it looks like it has been watched multiple times by a bot (a webcrawler).

Here is the video:

http://www.youtube.com/watch?v=n1huTANij_Q

I will update my links.

My repo will not fix this either, it is not related to the youBot description. I have tried with the demo bot, the rrbot and also had the issue.

I finally managed to use rviz only, since the dynamics were not that important for my objectives.

Ar.

PS : could you please post in issue in my repo for the broken links?

kathrindoerfler commented 10 years ago

Hi! Yes, yours is a bit shaky, mine is 10 times as much, almost exploding :)

What I would like to get running, is the teleoperation, u do this in rviz?

Thanks a lot, Kathrin

2013/11/6 Arn-O notifications@github.com

Ah correct, Google moved it because it looks like it has been watched multiple times by a bot (a webcrawler).

Here is the video:

http://www.youtube.com/watch?v=n1huTANij_Q

I will update my links.

My repo will not fix this either, it is not related to the youBot description. I have tried with the demo bot, the rrbot and also had the issue.

I finally managed to use rviz only, since the dynamics were not that important for my objectives.

— Reply to this email directly or view it on GitHubhttps://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-27879790 .

ghost commented 10 years ago

Robot explosion is sometimes correlated to inertia issues (it has been painful for me).

Well, no the teleop is not working in rviz but it could be adapted. The joint_state_publisher should be used, with something like that:

def publish_position():
    '''joint position publisher'''    
    msg = JointState()
    msg.header.stamp = rospy.Time.now()
    msg.name = JOINT_NAME_ARRAY
    msg.position = joints_pos
    pub_js.publish(msg)

You have to pass an array of joints pose and not to control each joint one by one.

You will also have to insert a "transform" to move around the robot, it is by default linked to the world frame.

And finally, as there is no inertia in rviz, discrete movement should be sent to the publisher.

I do not have time to work on this now, but if you want to do it, I can support.

micpalmia commented 10 years ago

Kathrin - sorry but, as I am writing my master thesis at the moment, I will not be able to help you out with this now. I hope I can look into this problem after the graduation, but that will not happen before one month from now.

You might want to look into V-REP. Maybe what you want to do can be done with it. http://www.v-rep.eu/

kathrindoerfler commented 10 years ago

Hey Michele and Arno, thanks for your help!

I will need Gazebo for animating a customized robot which is on wheels, that is why I took your implementation as an example. I will try to adapt the teleop for rviz and keep you up to date on it, if it works. And as far a gazebo is concerned, do you use 2.0?

Thanks Kathrin

2013/11/6 Michele Palmia notifications@github.com

Kathrin - sorry but, as I am writing my master thesis at the moment, I will not be able to help you out with this now. I hope I can look into this problem after the graduation, but that will not happen before one month from now.

You might want to look into V-REP. Maybe what you want to do can be done with it. http://www.v-rep.eu/

— Reply to this email directly or view it on GitHubhttps://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-27889139 .

micpalmia commented 10 years ago

I still use Gazebo 1.9 because I'm afraid updating to 2.0 will break up everything (and Arnaud got some bad experiences with that) but I cannot understand why you have problems, so I'm confused. Just a few days ago I helped a fellow student to install Gazebo 1.9 and the model worked perfectly. Weird.

I'd suggest for you to try removing the inclusion of the arm and gripper from the model. That could actually solve the whole issue and you could still experiment with Arno's teleoperation script.

On Wed, Nov 6, 2013 at 5:49 PM, Kathrin3010 notifications@github.comwrote:

Hey Michele and Arno, thanks for your help!

I will need Gazebo for animating a customized robot which is on wheels, that is why I took your implementation as an example. I will try to adapt the teleop for rviz and keep you up to date on it, if it works. And as far a gazebo is concerned, do you use 2.0?

Thanks Kathrin

2013/11/6 Michele Palmia notifications@github.com

Kathrin - sorry but, as I am writing my master thesis at the moment, I will not be able to help you out with this now. I hope I can look into this problem after the graduation, but that will not happen before one month from now.

You might want to look into V-REP. Maybe what you want to do can be done with it. http://www.v-rep.eu/

— Reply to this email directly or view it on GitHub< https://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-27889139>

.

— Reply to this email directly or view it on GitHubhttps://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-27890544 .

kathrindoerfler commented 10 years ago

Hi,

Am 06.11.13 18:00, schrieb Michele Palmia:

I still use Gazebo 1.9 because I'm afraid updating to 2.0 will break up everything (and Arnaud got some bad experiences with that) but I cannot understand why you have problems, so I'm confused. Just a few days ago I helped a fellow student to install Gazebo 1.9 and the model worked perfectly. Weird.

yes, I also cannot find no mistake, and also the warning I get I cannot find anywhere else, maybe I will ask also on the Gazebo page directly.

I'd suggest for you to try removing the inclusion of the arm and gripper from the model. Good idea, I could try that. That could actually solve the whole issue and you could still experiment with Arno's teleoperation script. Thanks a lot Kathrin

On Wed, Nov 6, 2013 at 5:49 PM, Kathrin3010 notifications@github.comwrote:

Hey Michele and Arno, thanks for your help!

I will need Gazebo for animating a customized robot which is on wheels, that is why I took your implementation as an example. I will try to adapt the teleop for rviz and keep you up to date on it, if it works. And as far a gazebo is concerned, do you use 2.0?

Thanks Kathrin

2013/11/6 Michele Palmia notifications@github.com

Kathrin - sorry but, as I am writing my master thesis at the moment, I will not be able to help you out with this now. I hope I can look into this problem after the graduation, but that will not happen before one month from now.

You might want to look into V-REP. Maybe what you want to do can be done with it. http://www.v-rep.eu/

— Reply to this email directly or view it on GitHub<

https://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-27889139>

.

— Reply to this email directly or view it on GitHubhttps://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-27890544 .

— Reply to this email directly or view it on GitHub https://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-27891708.

ghost commented 10 years ago

ros_control is the most sensitive part, the version of Gazebo is not that important (just a personal feeling).

kathrindoerfler commented 10 years ago

reinstalled ros_control from source, nothing changed,... I think now I will start a new simple robot from scratch, maybe I find my bug then. Thanks!

kathrindoerfler commented 10 years ago

Warning [parser.cc:356] No element in file[data-string] Warning [parser_urdf.cc:956] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false].

or these warnings are familiar to you?

ghost commented 10 years ago

The last one is familiar and has been OK until now.

My guess is that ros_control source code is not in line with the Gazebo and ROS versions from the repo. Once again, only a guess.

MatoMA commented 10 years ago

I have the same problem. I think Arn-O is right. This problem is related to ros_control. Gazebo 1.9 works with the repo version of ros_control (apt-get). But it has another problem "can not find controller_interface", which will leads to the crash of youbot_control.

kathrindoerfler commented 10 years ago

Hi, yes I have the same error message, with sthg like "can not find controller_interface". If you have a fix to the problem it would be really nice if you let me know.

2013/12/12 Mato notifications@github.com

I have the same problem. I think Arn-O is right. This problem is related to ros_control. Gazebo 1.9 works with the repo version of ros_control (apt-get). But it has another problem "can not find controller_interface", which will leads to the crash of youbot_control.

— Reply to this email directly or view it on GitHubhttps://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-30457368 .

ghost commented 10 years ago

I'm waiting for the update of the repo. I have posted the issue on answers.gazebo.org, I will post it on answers.ros.org following a comment I have received.

http://answers.gazebosim.org/question/5099/rospack-could-not-find-the-controller_interface/ http://answers.ros.org/question/108626/rospack-could-not-find-the-controller_interface-package-containing-controller_interfacecontrollerbase/

MatoMA commented 10 years ago

Hi,

  1. For the problem of "can not find controller_interface", you can just compile and install ros_control from source. https://github.com/ros-controls/ros_control
  2. For the super-shaky problem, you can change the limit-effort value of each arm joint in youbot_description/urdf/youbot_arm/arm.urdf.xacro. The result is not perfect, but much better. Here is my value:
    • joint_1, limit effort="${1000}" velocity="${3*M_PI}" lower="0" upper="${joint_1_limit}"
    • joint_2, limit effort="${900}" velocity="${3*M_PI}" lower="0" upper="${joint_2_limit}"
    • joint_3, limit effort="${500}" velocity="${3*M_PI}" lower="-${joint_3_limit}" upper="0"
    • joint_4, limit effort="${4}" velocity="${2*M_PI}" lower="0" upper="${joint_4_limit}"
    • joint_5, limit effort="${5}" velocity="${3*M_PI}" lower="0" upper="${joint_5_limit}"
MatoMA commented 10 years ago

Hi, Finally, I use vrep, what recommended by micpalmia. Here is the repo: https://github.com/MatoMA/youBot-PickNPlace/tree/master/youbot_vrep_simulation

ghost commented 10 years ago

Hey Mic, did you really suggest to use VREP?

micpalmia commented 10 years ago

I think a few posts ago I wrote that if somebody here needs to get quickly up and running with a functional (though I don't know how much customizable) YouBot simulation, that might be the easiset way to go. I confirm our lab is working on and with this simulation, so every help with this repo is greatly appreciated.

On Sat, Dec 21, 2013 at 3:20 PM, Arn-O notifications@github.com wrote:

Hey Mic, did you really suggest to use VREP?

— Reply to this email directly or view it on GitHubhttps://github.com/micpalmia/youbot_ros_tools/issues/13#issuecomment-31065283 .

ghost commented 10 years ago

A working simulation in Gazebo is also one of my active target. I focused temporary on other topics, but I will get back to it at the beginning of the next year.

RikClaessens commented 10 years ago

Is there any update on this? I'm also running into the shaking robot problem. The joint values posted just above, do avoid the largest shakes of the robot, but the arm is still moving. Any help would be much appreciated.