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micpalmia / youbot_ros_tools

A KUKA youBot description for ROS.
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Joints not working - Indigo #18

Open 85pando opened 9 years ago

85pando commented 9 years ago

I am trying to use this repo with the ros-indigo release. When starting the different launch files I get the errors seen below. Has anyone tried this with indigo yet or is one stuck with hydro when wanting to work with the kuka youbot?

gazebo:

[ INFO] [1430817908.796286634, 0.341000000]: Loading gazebo_ros_control plugin
[ INFO] [1430817908.796364220, 0.341000000]: Starting gazebo_ros_control plugin in namespace: /youbot/
[ INFO] [1430817908.796975774, 0.341000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/youbot/youbot_description] on the ROS param server.
[ERROR] [1430817908.898610989, 0.341000000]: No valid hardware interface element found in joint 'wheel_joint_fl'.
[ERROR] [1430817908.898651715, 0.341000000]: Failed to load joints for transmission 'wheel_trans_fl'.
[ERROR] [1430817908.898667628, 0.341000000]: No valid hardware interface element found in joint 'wheel_joint_fr'.
[ERROR] [1430817908.898680961, 0.341000000]: Failed to load joints for transmission 'wheel_trans_fr'.
[ERROR] [1430817908.898694953, 0.341000000]: No valid hardware interface element found in joint 'wheel_joint_bl'.
[ERROR] [1430817908.898715039, 0.341000000]: Failed to load joints for transmission 'wheel_trans_bl'.
[ERROR] [1430817908.898738089, 0.341000000]: No valid hardware interface element found in joint 'wheel_joint_br'.
[ERROR] [1430817908.898760373, 0.341000000]: Failed to load joints for transmission 'wheel_trans_br'.
[ERROR] [1430817908.898782996, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_1'.
[ERROR] [1430817908.898806452, 0.341000000]: Failed to load joints for transmission 'arm_trans_1'.
[ERROR] [1430817908.898833760, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_2'.
[ERROR] [1430817908.898858920, 0.341000000]: Failed to load joints for transmission 'arm_trans_2'.
[ERROR] [1430817908.898884508, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_3'.
[ERROR] [1430817908.898908237, 0.341000000]: Failed to load joints for transmission 'arm_trans_3'.
[ERROR] [1430817908.898929976, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_4'.
[ERROR] [1430817908.898951283, 0.341000000]: Failed to load joints for transmission 'arm_trans_4'.
[ERROR] [1430817908.898967109, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_5'.
[ERROR] [1430817908.898985873, 0.341000000]: Failed to load joints for transmission 'arm_trans_5'.
[ERROR] [1430817908.899011299, 0.341000000]: No valid hardware interface element found in joint 'gripper_finger_joint_l'.
[ERROR] [1430817908.899032622, 0.341000000]: Failed to load joints for transmission 'gripper_finger_l_trans'.
[ERROR] [1430817908.899054743, 0.341000000]: No valid hardware interface element found in joint 'gripper_finger_joint_r'.
[ERROR] [1430817908.899074690, 0.341000000]: Failed to load joints for transmission 'gripper_finger_r_trans'.
[ INFO] [1430817908.971122081, 0.341000000]: Loaded gazebo_ros_control.

youbot_control

[INFO] [WallTime: 1430819196.735777] [0.000000] Controller Spawner: Waiting for service /youbot/controller_manager/load_controller
[INFO] [WallTime: 1430819196.736601] [0.000000] Controller Spawner: Waiting for service /youbot/controller_manager/switch_controller
[INFO] [WallTime: 1430819196.737389] [0.000000] Controller Spawner: Waiting for service /youbot/controller_manager/unload_controller
[INFO] [WallTime: 1430819196.738192] [0.000000] Loading controller: arm_joint_1_position_controller
[ERROR] [WallTime: 1430819197.741166] [1287.219000] Failed to load arm_joint_1_position_controller
[INFO] [WallTime: 1430819197.741462] [1287.220000] Loading controller: arm_joint_2_position_controller
[ERROR] [WallTime: 1430819198.744250] [1288.221000] Failed to load arm_joint_2_position_controller
[INFO] [WallTime: 1430819198.744506] [1288.221000] Loading controller: arm_joint_3_position_controller
[ERROR] [WallTime: 1430819199.746742] [1289.222000] Failed to load arm_joint_3_position_controller
[INFO] [WallTime: 1430819199.747152] [1289.223000] Loading controller: arm_joint_4_position_controller
[ERROR] [WallTime: 1430819200.750289] [1290.225000] Failed to load arm_joint_4_position_controller
[INFO] [WallTime: 1430819200.750508] [1290.225000] Loading controller: arm_joint_5_position_controller
[ERROR] [WallTime: 1430819201.753576] [1291.227000] Failed to load arm_joint_5_position_controller
[INFO] [WallTime: 1430819201.753817] [1291.227000] Loading controller: gripper_finger_joint_l_position_controller
[ERROR] [WallTime: 1430819202.756541] [1292.227000] Failed to load gripper_finger_joint_l_position_controller
[INFO] [WallTime: 1430819202.756815] [1292.228000] Loading controller: gripper_finger_joint_r_position_controller
[ERROR] [WallTime: 1430819203.759825] [1293.229000] Failed to load gripper_finger_joint_r_position_controller
[INFO] [WallTime: 1430819203.760097] [1293.229000] Controller Spawner: Loaded controllers: 
[INFO] [WallTime: 1430819203.762340] [1293.232000] Started controllers:

teleop

/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:161: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj1 = rospy.Publisher(NS+TOPIC_J1_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:162: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj2 = rospy.Publisher(NS+TOPIC_J2_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:163: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj3 = rospy.Publisher(NS+TOPIC_J3_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:164: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj4 = rospy.Publisher(NS+TOPIC_J4_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:165: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj5 = rospy.Publisher(NS+TOPIC_J5_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:167: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubfl = rospy.Publisher(NS+TOPIC_FL_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:168: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubfr = rospy.Publisher(NS+TOPIC_FR_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:170: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubb = rospy.Publisher(NS+TOPIC_BASE_PLANAR, Twist)
ghost commented 9 years ago

Hi.

I'll have a look into it. Give me some time, I do not have a running ROS/Gazebo installation.

Ar.