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micpalmia / youbot_ros_tools

A KUKA youBot description for ROS.
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"roslaunch youbot_gazebo youbot.launch" not working #17

Open vikasshiv opened 10 years ago

vikasshiv commented 10 years ago

Hi,

I am attempting to use your youbot simulator package and achieve teleoperation in gazebo. I am still using ROS groovy; we haven't upgraded to ROS hydro since we're attempting to set up a multi-robot simulation involving the Baxter as well, and they highly recommend sticking to Groovy.

The package compiles without any problems, but when I attempt to launch the simulator with the youbot, the output looks like this:

`[ 20:22 svikas-FX6860: catkin_ws ] roslaunch youbot_gazebo youbot.launch ... logging to /home/svikas/.ros/log/1aa1e82e-1e92-11e4-8caf-386077896d21/roslaunch-svikas-FX6860-27201.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://svikas-FX6860:54892/

SUMMARY

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [27221] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1aa1e82e-1e92-11e4-8caf-386077896d21 process[rosout-1]: started with pid [27234] started core service [/rosout] process[gazebo-2]: started with pid [27248] 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[gazebo_gui-3]: started with pid [27256] 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-4]: started with pid [27262] [ INFO] [1407457360.610230458]: Finished loading Gazebo ROS API Plugin. [ INFO] [1407457360.610598093]: 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: 128.8.140.219 Msg Waiting for master Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 128.8.140.219 spawn_model script started [ INFO] [1407457360.905509272, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1407457360.933415948, 0.049000000]: Physics dynamic reconfigure ready. [INFO] [WallTime: 1407457361.052488] [0.000000] Loading model xml from ros parameter [INFO] [WallTime: 1407457361.057168] [0.000000] Waiting for service /gazebo/spawn_urdf_model [INFO] [WallTime: 1407457361.058817] [0.000000] Calling service /gazebo/spawn_urdf_model Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. [INFO] [WallTime: 1407457362.214209] [0.691000] Spawn status: SpawnModel: Successfully spawned model [spawn_urdf-4] process has finished cleanly log file: /home/svikas/.ros/log/1aa1e82e-1e92-11e4-8caf-386077896d21/spawn_urdf-4*.log [ INFO] [1407457362.637441304, 0.691000000]: Loading gazebo_ros_control plugin [ INFO] [1407457362.637623148, 0.691000000]: Starting gazebo_ros_control plugin in namespace: /youbot [ INFO] [1407457362.638482283, 0.691000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.`

For some reason, the simulator is stalling at the final line. I was getting a warning regarding deprecation of PLUGINLIB_DECLARE_CLASS, but I handled that. I took a look at Issue #13 (which seemed relevant) and compared my launch output to the one there, and saw that I was not getting the extra line "Loaded gazebo_ros_control". I am baffled as to why its not working.

The simulator at this point looks as follows: gazebo_youbot_failure

I anyway went ahead to attempted to launch youbot_control to see what happens, and that too failed with the following output:

[ 20:22 svikas-FX6860: catkin_ws ] roslaunch youbot_control youbot_control.launch ... logging to /home/svikas/.ros/log/1aa1e82e-1e92-11e4-8caf-386077896d21/roslaunch-svikas-FX6860-27713.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://svikas-FX6860:43253/

SUMMARY

PARAMETERS

NODES /youbot/ controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[youbot/controller_spawner-1]: started with pid [27731] [INFO] [WallTime: 1407458083.856221] [0.000000] Controller Spawner: Waiting for service /youbot/controller_manager/load_controller

Any idea why this is happening? Any guidance would be deeply appreciated.

Extra info that could be relevant: distro: Ubuntu 12.04 gazebo_ros: installed as described in http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros but using the instructions for ROS Groovy.

Please let me know if I would need to provide any additional info. I'm new to ROS, so I might have missed out on providing some essential info/log file.

vikasshiv commented 10 years ago

UPDATE: I now realized that the errors pop up most of the time, but not ALL the time. Sometimes, it works perfectly and I see the robot spawned correctly with all the functionality present. However, most of the time, it either doesn't load gazebo_ros_control correctly with one of the following errors:

Sometimes it loads gazebo_ros_control correctly and even roslaunching youbot_control works fine, but the teleop app doesn't work fine. If you enter base_move, it just hangs there until you close it manually. At this time, gazebo looks like this: youbot_in_ground

I'm wondering if its something upstream of youbot, such as some obscure race condition. I can't imagine any other reason why different things happen across different instantiations. I found some other possibly related questions on gazebosim/ros.org:

However, the solution suggested there is to install a standalone version of gazebo, which I already have done. So I'm not sure what else can be done. Anyone else has had a similar experience?

Thanks in advance for all your help.