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pal-robotics / tiago_tutorials

Public tutorials of TIAGo robot
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Problem with installation #17

Closed christow closed 5 years ago

christow commented 5 years ago

Hi I'm trying to install Tiago's tutorial on Ubuntu 16.04/ROS Kinetic (Virtual Machine). I'm getting this error when testing the installation: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. I can see the robot in Gazebo but hand is not tucked.

v-lopez commented 5 years ago

Hi,

Could you please post the full logs of the terminal as well as a screenshot of the gazebo GUI?

christow commented 5 years ago

krzysztof@krzysztof-VirtualBox:~$ roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel ... logging to /home/krzysztof/.ros/log/009bc1d6-aa37-11e8-8eb7-0800272667d9/roslaunch-krzysztof-VirtualBox-10036.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order inconsistent namespace redefinitions for xmlns:xacro: old: http://www.ros.org/wiki/xacro new: http://ros.org/wiki/xacro (/home/krzysztof/tiago_public_ws/src/pmb2_robot/pmb2_description/urdf/base/base_sensors.urdf.xacro) inconsistent namespace redefinitions for xmlns:xacro: old: http://www.ros.org/wiki/xacro new: http://ros.org/wiki/xacro (/home/krzysztof/tiago_public_ws/src/tiago_robot/tiago_description/urdf/torso/torso.urdf.xacro) inconsistent namespace redefinitions for xmlns:xacro: old: http://www.ros.org/wiki/xacro new: http://ros.org/wiki/xacro (/home/krzysztof/tiago_public_ws/src/tiago_robot/tiago_description/urdf/arm/arm.urdf.xacro) inconsistent namespace redefinitions for xmlns:xacro: old: http://www.ros.org/wiki/xacro new: http://ros.org/wiki/xacro (/home/krzysztof/tiago_public_ws/src/tiago_robot/tiago_description/urdf/head/head.urdf.xacro) inconsistent namespace redefinitions for xmlns:xacro: old: http://www.ros.org/wiki/xacro new: http://ros.org/wiki/xacro (/home/krzysztof/tiago_public_ws/src/pal_gripper/pal_gripper_description/urdf/gripper.urdf.xacro) deprecated: xacro tags should be prepended with 'xacro' xml namespace. Use the following script to fix incorrect usage: find . -iname "*.xacro" | xargs sed -i 's#<([/]\?)(if|unless|include|arg|property|macro|insert_block)#<\1xacro:\2#g' when processing file: /home/krzysztof/tiago_public_ws/src/tiago_robot/tiago_description/robots/tiago_steel.urdf.xacro

xacro.py is deprecated; please use xacro instead started roslaunch server http://krzysztof-VirtualBox:39801/

SUMMARY

PARAMETERS

NODES /torso_controller/ incrementer (joy_teleop/incrementer_server.py) /head_controller/ incrementer (joy_teleop/incrementer_server.py) point_head_action (head_action/head_action) / bringup_controllers_spawner_imu (controller_manager/spawner) default_controllers_spawner (controller_manager/spawner) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gripper_controllers_spawner (controller_manager/spawner) home_gripper (tiago_controller_configuration_gazebo/home_gripper.py) image_raw_to_rect_color_relay (topic_tools/relay) is_already_there (play_motion/is_already_there.py) joy_teleop (joy_teleop/joy_teleop.py) joystick (joy/joy_node) joystick_relay (twist_mux/joystick_relay.py) move_group (moveit_ros_move_group/move_group) play_motion (play_motion/play_motion) robot_state_publisher (robot_state_publisher/state_publisher) spawn_model (gazebo_ros/spawn_model) tf_lookup (tf_lookup/tf_lookup) tuck_arm (tiago_gazebo/tuck_arm.py) twist_marker (twist_mux/twist_marker) twist_mux (twist_mux/twist_mux)

auto-starting new master process[master]: started with pid [10049] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 009bc1d6-aa37-11e8-8eb7-0800272667d9 process[rosout-1]: started with pid [10062] started core service [/rosout] process[gazebo-2]: started with pid [10079] process[gazebo_gui-3]: started with pid [10084] process[spawn_model-4]: started with pid [10089] process[default_controllers_spawner-5]: started with pid [10090] process[head_controller/point_head_action-6]: started with pid [10093] process[bringup_controllers_spawner_imu-7]: started with pid [10125] process[gripper_controllers_spawner-8]: started with pid [10144] [ INFO] [1535401388.214539240]: Load description from: /robot_description process[home_gripper-9]: started with pid [10187] process[play_motion-10]: started with pid [10190] process[is_already_there-11]: started with pid [10209] process[move_group-12]: started with pid [10213] process[robot_state_publisher-13]: started with pid [10214] process[tf_lookup-14]: started with pid [10216] [ INFO] [1535401388.453215221]: tf_lookup starting process[twist_mux-15]: started with pid [10223] process[twist_marker-16]: started with pid [10264] process[joystick_relay-17]: started with pid [10298] process[joy_teleop-18]: started with pid [10317] [ INFO] [1535401388.671811029]: Topic handler 'navigation' subscribed to topic 'nav_vel': timeout = 0.500000s, priority = 10 process[joystick-19]: started with pid [10342] [ INFO] [1535401388.777820548]: Topic handler 'joystick' subscribed to topic 'joy_vel': timeout = 0.500000s, priority = 100 process[torso_controller/incrementer-20]: started with pid [10373] process[head_controller/incrementer-21]: started with pid [10391] [ WARN] [1535401388.881589055]: Transformer::setExtrapolationLimit is deprecated and does not do anything process[image_raw_to_rect_color_relay-22]: started with pid [10423] [ INFO] [1535401388.924996245]: Topic handler 'keyboard' subscribed to topic 'key_vel': timeout = 0.500000s, priority = 90 process[tuck_arm-23]: started with pid [10466] [ INFO] [1535401389.038067179]: Finished loading Gazebo ROS API Plugin. [ INFO] [1535401389.046387052]: Topic handler 'tablet' subscribed to topic 'tab_vel': timeout = 0.500000s, priority = 100 [ INFO] [1535401389.048861942]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1535401389.112611473]: Topic handler 'marker' subscribed to topic 'marker_vel': timeout = 0.500000s, priority = 99 [ INFO] [1535401389.211882315]: Topic handler 'phone' subscribed to topic 'phone_vel': timeout = 0.500000s, priority = 98 [ INFO] [1535401389.283151913]: Topic handler 'rviz_joy' subscribed to topic 'rviz_joy_vel': timeout = 0.500000s, priority = 95 [ INFO] [1535401389.379729477]: Loading robot model 'tiago'... [ INFO] [1535401389.380031808]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1535401389.380120572]: Topic handler 'pause' subscribed to topic 'pause_navigation': timeout = None, priority = 100 [ INFO] [1535401389.425922373]: Topic handler 'loop_closure' subscribed to topic 'stop_closing_loop': timeout = None, priority = 200 [ INFO] [1535401389.468101864]: Topic handler 'joystick' subscribed to topic 'joy_priority': timeout = None, priority = 100 [INFO] [1535401389.760955, 0.000000]: Waiting for gripper_controller... [INFO] [1535401390.538228, 0.000000]: Waiting for play_motion... [ERROR] [1535401390.637733, 0.000000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401390.738585, 0.000000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401390.838530, 0.000000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401390.871436312]: Loading robot model 'tiago'... [ INFO] [1535401390.871499040]: No root/virtual joint specified in SRDF. Assuming fixed joint [ERROR] [1535401390.938863, 0.000000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401391.038943, 0.000000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [INFO] [1535401391.051328, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1535401391.086398691]: Loading robot model 'tiago'... [ INFO] [1535401391.086667879]: No root/virtual joint specified in SRDF. Assuming fixed joint [ERROR] [1535401391.140104, 0.000000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401391.239932, 0.000000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401391.311720769, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ERROR] [1535401391.340357, 0.042000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [INFO] [1535401391.347864, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1535401391.402742, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ERROR] [1535401391.440400, 0.086000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401391.445683427, 0.086000000]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1535401391.487146311, 0.125000000]: MoveGroup debug mode is OFF Starting context monitors... [ INFO] [1535401391.487209783, 0.125000000]: Starting scene monitor [ INFO] [1535401391.504001247, 0.125000000]: Listening to '/planning_scene' [ INFO] [1535401391.504060494, 0.125000000]: Starting world geometry monitor Warning [parser_urdf.cc:1232] multiple inconsistent exists due to fixed joint reduction overwriting previous value [Gazebo/Orange] with [Gazebo/DarkGrey]. [ INFO] [1535401391.532425224, 0.125000000]: Listening to '/collision_object' using message notifier with target frame '/base_footprint ' [ERROR] [1535401391.540746, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401391.545781794, 0.125000000]: Listening to '/planning_scene_world' for planning scene world geometry [ WARN] [1535401391.546996984, 0.125000000]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [ INFO] [1535401391.583467241, 0.125000000]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ERROR] [1535401391.643613, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401391.656698700, 0.125000000]: Initializing OMPL interface using ROS parameters [ERROR] [1535401391.743735, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401391.765356748, 0.125000000]: Using planning interface 'OMPL' [ INFO] [1535401391.771594755, 0.125000000]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1535401391.772856212, 0.125000000]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1535401391.774295826, 0.125000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1535401391.781517125, 0.125000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1535401391.782887832, 0.125000000]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1535401391.784531435, 0.125000000]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1535401391.784929846, 0.125000000]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1535401391.784981326, 0.125000000]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1535401391.785003345, 0.125000000]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1535401391.785018770, 0.125000000]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1535401391.785257239, 0.125000000]: Using planning request adapter 'Fix Start State Path Constraints' [ WARN] [1535401391.790649262, 0.125000000]: Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ WARN] [1535401391.791978669, 0.125000000]: Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ERROR] [1535401391.844263, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401391.944549, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401392.044624, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401392.145105, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401392.245347, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401392.346269, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401392.446653, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401392.546772, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401392.649098, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401392.749241, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401392.838528532, 0.125000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1535401392.838745945, 0.125000000]: Starting Laser Plugin (ns = /) [ INFO] [1535401392.847239880, 0.125000000]: Laser Plugin (ns = /) , set to "" [ERROR] [1535401392.850248, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401392.951014, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401393.052061, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401393.084035559, 0.125000000]: Physics dynamic reconfigure ready. [ERROR] [1535401393.151461, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401393.251806, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [spawn_model-4] process has finished cleanly log file: /home/krzysztof/.ros/log/009bc1d6-aa37-11e8-8eb7-0800272667d9/spawn_model-4*.log [ERROR] [1535401393.352261, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401393.452810, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401393.553283, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401393.653764, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401393.754168, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401393.831562376, 0.125000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1535401393.841729581, 0.125000000]: Camera Plugin (ns = /) , set to "" [ERROR] [1535401393.855226, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401393.955576, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401394.032334278, 0.125000000]: Loading gazebo_ros_control plugin [ INFO] [1535401394.032722972, 0.125000000]: Starting gazebo_ros_control plugin in namespace: [ INFO] [1535401394.034413522, 0.125000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ERROR] [1535401394.055746, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401394.156119, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401394.188005663, 0.125000000]: Loading PAL HARWARE GAZEBO [ERROR] [1535401394.256445, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401394.356710, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401394.456964, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401394.557123, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401394.657227, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401394.758228, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401394.858902, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401394.962196, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401395.062423, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401395.162617, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401395.262735, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401395.362878, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401395.456155567, 0.125000000]: Joint mode switching is enabled [ERROR] [1535401395.463494, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401395.485297727, 0.125000000]: Parsed imu sensor: base_imu in frame: base_imu_link [ INFO] [1535401395.520217479, 0.125000000]: Loaded gazebo_ros_control. [ERROR] [1535401395.563448, 0.125000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401395.571301151, 0.125000000]: Loading gazebo WORLD ODOMETRY RPY plugin [ INFO] [1535401395.571868603, 0.125000000]: world odometry plugin missing , defaults to 1000.000000 [INFO] [1535401395.615631, 0.131000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1535401395.625427, 0.131000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1535401395.624531, 0.131000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1535401395.629188, 0.131000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1535401395.634882, 0.141000]: Loading controller: joint_state_controller [INFO] [1535401395.640220, 0.132000]: Loading controller: imu_sensor_controller [INFO] [1535401395.652841, 0.141000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1535401395.656993, 0.141000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1535401395.660267, 0.141000]: Loading controller: gripper_controller [ERROR] [1535401395.663602, 0.156000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401395.764231, 0.183000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [INFO] [1535401395.797260, 0.184000]: Loading controller: torso_controller [INFO] [1535401395.818342, 0.186000]: Controller Spawner: Loaded controllers: imu_sensor_controller [ERROR] [1535401395.864348, 0.195000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401395.964915, 0.220000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401396.065120, 0.237000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [INFO] [1535401396.131996, 0.256000]: Controller Spawner: Loaded controllers: gripper_controller [ERROR] [1535401396.166035, 0.263000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401396.266426, 0.284000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config.

[INFO] [1535401396.310906, 0.294000]: Loading controller: head_controller [INFO] [1535401396.352124, 0.296000]: Started controllers: imu_sensor_controller [INFO] [1535401396.355954, 0.296000]: Started controllers: gripper_controller [ERROR] [1535401396.366835, 0.299000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401396.467535, 0.328000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401396.567526, 0.346000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [INFO] [1535401396.582669, 0.350000]: Loading controller: arm_controller [ERROR] [1535401396.667806, 0.360000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [INFO] [1535401396.761403, 0.376000]: Loading controller: mobile_base_controller [ERROR] [1535401396.768484, 0.377000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401396.833150672, 0.388000000]: Controller state will be published at 50Hz. [ INFO] [1535401396.836906473, 0.389000000]: Wheel separation will be multiplied by 1. [ INFO] [1535401396.843340137, 0.390000000]: Left wheel radius will be multiplied by 1. [ INFO] [1535401396.847139755, 0.391000000]: Right wheel radius will be multiplied by 1. [ INFO] [1535401396.850612080, 0.391000000]: Velocity rolling window size of 10. [ INFO] [1535401396.864355134, 0.394000000]: Velocity commands will be considered old if they are older than 0.25s. [ERROR] [1535401396.868648, 0.394000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401396.869836058, 0.395000000]: Allow mutiple cmd_vel publishers is enabled [ INFO] [1535401396.884430411, 0.399000000]: Base frame_id set to /base_footprint [ INFO] [1535401396.894975689, 0.401000000]: Odometry frame_id set to /odom [ INFO] [1535401396.901401434, 0.401000000]: Publishing to tf is enabled [ERROR] [1535401396.968989, 0.413000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401396.992571879, 0.415000000]: Added FollowJointTrajectory controller for arm_controller [ INFO] [1535401397.008064844, 0.417000000]: left wheel to origin: 0,0.2022, 0 [ INFO] [1535401397.008414333, 0.417000000]: right wheel to origin: 0,-0.2022, 0 [ INFO] [1535401397.021354167, 0.420000000]: Odometry params : wheel separation 0.4044, left wheel radius 0.0985, right wheel radius 0.0985 [ INFO] [1535401397.054793349, 0.427000000]: Adding left wheel with joint name: wheel_left_joint and right wheel with joint name: wheel_right_joint [ERROR] [1535401397.070470, 0.427000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ WARN] [1535401397.104889469, 0.429000000]: updateConfig() called on a dynamic_reconfigure::Server that provides its own mutex. This can lead to deadlocks if updateConfig() is called during an update. Providing a mutex to the constructor is highly recommended in this case. Please forward this message to the node author. [ INFO] [1535401397.121819790, 0.434000000]: Dynamic Reconfigure: DynamicParams: Odometry parameters: left wheel radius: 1 right wheel radius: 1 wheel separation: 1 Publication parameters: Publish executed velocity command: 0 Publication rate: 50 Publish frame odom on tf: 1 [INFO] [1535401397.141412, 0.452000]: Controller Spawner: Loaded controllers: joint_state_controller, torso_controller, head_controller, arm_controller, mobile_base_controller [INFO] [1535401397.168219, 0.454000]: Started controllers: joint_state_controller, torso_controller, head_controller, arm_controller, mobile_base_controller [ERROR] [1535401397.170483, 0.455000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401397.270737, 0.470000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [INFO] [1535401397.326136, 0.484000]: Opening gripper... [ERROR] [1535401397.374665, 0.496000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401397.419826986, 0.515000000]: Added FollowJointTrajectory controller for torso_controller [ERROR] [1535401397.475377, 0.525000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401397.575506, 0.549000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401397.675937, 0.570000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401397.690672716, 0.574000000]: Added FollowJointTrajectory controller for head_controller [ERROR] [1535401397.777617, 0.592000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401397.877416, 0.611000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ INFO] [1535401397.902039074, 0.614000000]: Added FollowJointTrajectory controller for gripper_controller [ INFO] [1535401397.902190176, 0.614000000]: Returned 4 controllers in list [ INFO] [1535401397.956791995, 0.622000000]: Trajectory execution is managing controllers [ERROR] [1535401397.977750, 0.627000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [ERROR] [1535401398.077939, 0.642000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... [ERROR] [1535401398.178444, 0.652000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401398.278669, 0.666000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1535401398.290718632, 0.668000000]:

[ INFO] [1535401398.290966307, 0.668000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1535401398.291152033, 0.668000000]: MoveGroup context initialization complete

You can start planning now!

[ERROR] [1535401398.378897, 0.688000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401398.479686, 0.705000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401398.579963, 0.725000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401398.682554, 0.754000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401398.782869, 0.767000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401398.882790, 0.784000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreRenderSystem.cpp:546: virtual void Ogre::RenderSystem::setDepthBufferFor(Ogre::RenderTarget): Assertion `bAttached && "A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed. [ERROR] [1535401398.983839, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401399.083797, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401399.184030, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401399.284425, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. Aborted (core dumped) [ERROR] [1535401399.384613, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [gazebo-2] process has died [pid 10079, exit code 134, cmd /home/krzysztof/tiago_public_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode /home/krzysztof/tiago_public_ws/src/tiago_simulation/tiago_gazebo/worlds/empty.world name:=gazebo log:=/home/krzysztof/.ros/log/009bc1d6-aa37-11e8-8eb7-0800272667d9/gazebo-2.log]. log file: /home/krzysztof/.ros/log/009bc1d6-aa37-11e8-8eb7-0800272667d9/gazebo-2.log [ERROR] [1535401399.486381, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401399.586567, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401399.686812, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401399.786911, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401399.887014, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401399.987198, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.087441, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.187989, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.288366, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.388362, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.488438, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.590523, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.690603, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.790949, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.891326, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401400.991487, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.091770, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.192024, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.292175, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.392401, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.493520, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.593681, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.694920, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.794939, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.895211, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401401.995945, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.095936, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.196292, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.296260, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.396621, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.496783, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.596885, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.697576, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.798668, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.899209, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401402.999224, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401403.099334, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401403.199666, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401403.302547, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401403.403061, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401403.503324, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401403.603628, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401403.704136, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401403.804594, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401403.905503, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401404.006046, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401404.106597, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401404.206723, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401404.307478, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401404.408037, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401404.508134, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401404.608340, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401404.708545, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401404.814500, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [gazebo_gui-3] process has finished cleanly log file: /home/krzysztof/.ros/log/009bc1d6-aa37-11e8-8eb7-0800272667d9/gazebo_gui-3*.log [ERROR] [1535401404.914978, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.017240, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.117390, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.217414, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.317723, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.418612, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.519099, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.619745, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.720463, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.821151, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401405.921746, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401406.022884, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401406.122962, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401406.223601, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401406.323948, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [ERROR] [1535401406.424450, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. ^C[ERROR] [1535401406.525005, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [tuck_arm-23] killing on exit [image_raw_to_rect_color_relay-22] killing on exit [head_controller/incrementer-21] killing on exit [torso_controller/incrementer-20] killing on exit [joystick-19] killing on exit [joy_teleop-18] killing on exit [joystick_relay-17] killing on exit [twist_marker-16] killing on exit [twist_mux-15] killing on exit [tf_lookup-14] killing on exit [ERROR] [1535401406.625867, 0.788000]: Joystick has only 2 axes (indexed from 0), but #2 was referenced in config. [robot_state_publisher-13] killing on exit [move_group-12] killing on exit [is_already_there-11] killing on exit [play_motion-10] killing on exit [home_gripper-9] killing on exit

[INFO] [1535401407.174395, 0.788000]: Gripper opened. Traceback (most recent call last): File "/home/krzysztof/tiago_public_ws/src/tiago_simulation/tiago_gazebo/scripts/tuck_arm.py", line 15, in rospy.wait_for_message("joint_states", JointState) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/client.py", line 426, in wait_for_message raise rospy.exceptions.ROSInterruptException("rospy shutdown") rospy.exceptions.ROSInterruptException: rospy shutdown [gripper_controllers_spawner-8] killing on exit [INFO] [1535401407.244320, 0.788000]: Shutting down spawner. Stopping and unloading controllers... [bringup_controllers_spawner_imu-7] killing on exit [INFO] [1535401407.340393, 0.788000]: Shutting down spawner. Stopping and unloading controllers... [head_controller/point_head_action-6] killing on exit [default_controllers_spawner-5] killing on exit [INFO] [1535401407.360048, 0.788000]: Shutting down spawner. Stopping and unloading controllers... terminate called after throwing an instance of 'std::runtime_error' what(): Unable to connect to move_group action server 'move_group' within allotted time (0s) [gripper_controllers_spawner-8] escalating to SIGTERM [bringup_controllers_spawner_imu-7] escalating to SIGTERM [default_controllers_spawner-5] escalating to SIGTERM [gripper_controllers_spawner-8] escalating to SIGKILL [bringup_controllers_spawner_imu-7] escalating to SIGKILL [default_controllers_spawner-5] escalating to SIGKILL [rosout-1] killing on exit [master] killing on exit Shutdown errors:

christow commented 5 years ago

screenshot from 2018-08-27 22-06-27

v-lopez commented 5 years ago

It looks like it may be a gazebo problem.

In your log there is this message:

gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreRenderSystem.cpp:546: virtual void Ogre::RenderSystem::setDepthBufferFor(Ogre::RenderTarget*): Assertion `bAttached && "A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed.

It might be related to being run in a virtual machine, see this: http://answers.gazebosim.org/question/9395/gazebo-crashes-when-inserting-camera-in-virtual-machine-with-ubuntu-vivid-ros-jade/ There are other answers if you google that error message.

The joystick stuff should be harmless if you are not going to use a joystick, even though it can be annoying.

christow commented 5 years ago

Indeed it was a problem of Gazebo 7.0 working in VM. It was solved from version 7.5. The way of resolving the issue was to install the latest 7.x version of Gazebo using this tutorial: http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=7.0#Alternativeinstallation:step-by-step

Thank you for your help.

v-lopez commented 5 years ago

Glad we could be of help.