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pal-robotics / tiago_tutorials

Public tutorials of TIAGo robot
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Installation problem #28

Closed Cmeo97 closed 3 years ago

Cmeo97 commented 3 years ago

Hi! I followed installation tutorial, I have Ubuntu 18.04.5 LTS, I built it without problem or warnings, it says: [build] Summary: All 150 packages succeeded!
[build] Ignored: 18 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.

but when I try to launch the simulation I cannot see the robot and I got some errors:

roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true end_effector_left:=pal-gripper end_effector_right:=pal-gripper ... logging to /home/cristian/.ros/log/05e97d98-874f-11eb-9bb1-e4e74942086e/roslaunch-cristian-OMEN-by-HP-Laptop-15-dc0xxx-15247.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://cristian-OMEN-by-HP-Laptop-15-dc0xxx:36145/

SUMMARY

PARAMETERS

NODES / bringup_controllers_spawner_ft (controller_manager/spawner) bringup_controllers_spawner_imu (controller_manager/spawner) default_controllers_spawner (controller_manager/spawner) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gripper_left_controllers_spawner (controller_manager/spawner) gripper_right_controllers_spawner (controller_manager/spawner) home_gripper_left (pal_gripper_controller_configuration/home_gripper.py) home_gripper_right (pal_gripper_controller_configuration/home_gripper.py) image_raw_to_rect_color_relay (topic_tools/relay) 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) /head_controller/ point_head_action (head_action/head_action) /xtion/rgb/ image_proc (image_proc/image_proc)

auto-starting new master process[master]: started with pid [15262] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 05e97d98-874f-11eb-9bb1-e4e74942086e process[rosout-1]: started with pid [15273] started core service [/rosout] process[gazebo-2]: started with pid [15281] process[gazebo_gui-3]: started with pid [15286] process[spawn_model-4]: started with pid [15291] process[default_controllers_spawner-5]: started with pid [15292] process[head_controller/point_head_action-6]: started with pid [15293] process[bringup_controllers_spawner_imu-7]: started with pid [15294] process[bringup_controllers_spawner_ft-8]: started with pid [15319] [ INFO] [1616005906.650177870]: Load description from: /robot_description process[gripper_left_controllers_spawner-9]: started with pid [15321] process[home_gripper_left-10]: started with pid [15322] process[gripper_right_controllers_spawner-11]: started with pid [15324] process[home_gripper_right-12]: started with pid [15325] process[play_motion-13]: started with pid [15340] process[move_group-14]: started with pid [15358] process[robot_state_publisher-15]: started with pid [15360] process[tf_lookup-16]: started with pid [15372] [ INFO] [1616005906.857739211]: tf_lookup starting process[twist_mux-17]: started with pid [15375] [ WARN] [1616005906.901197428]: Link 'gripper_grasping_frame' is not known to URDF. Cannot disable collisons. process[twist_marker-18]: started with pid [15391] [ WARN] [1616005906.919638947]: Link 'gripper_grasping_frame' is not known to URDF. Cannot disable collisons. process[joystick_relay-19]: started with pid [15398] [ INFO] [1616005906.963254034]: Topic handler 'navigation' subscribed to topic 'nav_vel': timeout = 0.500000s, priority = 10 [ WARN] [1616005906.966331468]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead process[image_raw_to_rect_color_relay-20]: started with pid [15402] [ INFO] [1616005906.995584281]: Topic handler 'joystick' subscribed to topic 'joy_vel': timeout = 0.500000s, priority = 100 [ INFO] [1616005907.011014341]: Topic handler 'keyboard' subscribed to topic 'key_vel': timeout = 0.500000s, priority = 90 process[tuck_arm-21]: started with pid [15416] [ WARN] [1616005907.033469704]: Transformer::setExtrapolationLimit is deprecated and does not do anything process[xtion/rgb/image_proc-22]: started with pid [15419] [ INFO] [1616005907.072126029]: Topic handler 'tablet' subscribed to topic 'tab_vel': timeout = 0.500000s, priority = 100 [ WARN] [1616005907.094063825]: Link 'gripper_grasping_frame' is not known to URDF. Cannot disable collisons. [ WARN] [1616005907.110138021]: Link 'gripper_grasping_frame' is not known to URDF. Cannot disable collisons. [ INFO] [1616005907.111473415]: Loading robot model 'tiago_dual'... [ INFO] [1616005907.111627560]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1616005907.120047665]: Topic handler 'marker' subscribed to topic 'marker_vel': timeout = 0.500000s, priority = 99 [ INFO] [1616005907.149530101]: Topic handler 'phone' subscribed to topic 'phone_vel': timeout = 0.500000s, priority = 98 Traceback (most recent call last): File "/home/cristian/tiago_dual_public_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model", line 32, in import tf.transformations as tft File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 38, in from tf2_py import File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/init.py", line 38, in from ._tf2 import ImportError: dynamic module does not define module export function (PyInittf2) [ INFO] [1616005907.196912300]: Topic handler 'rviz_joy' subscribed to topic 'rviz_joy_vel': timeout = 0.500000s, priority = 95 [ INFO] [1616005907.208600492]: Topic handler 'servoing_cmd_vel' subscribed to topic 'servoing_cmd_vel': timeout = 0.500000s, priority = 20 [ INFO] [1616005907.242224907]: Topic handler 'pause' subscribed to topic 'pause_navigation': timeout = None, priority = 100 [ INFO] [1616005907.268919636]: Topic handler 'loop_closure' subscribed to topic 'stop_closing_loop': timeout = None, priority = 200 [ INFO] [1616005907.289206051]: Topic handler 'joystick' subscribed to topic 'joy_priority': timeout = None, priority = 100 [INFO] [1616005907.342527, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1616005907.361028490]: Finished loading Gazebo ROS API Plugin. [ INFO] [1616005907.368795132]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1616005907.411836, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [spawn_model-4] process has died [pid 15291, exit code 1, cmd /home/cristian/tiago_dual_public_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -urdf -param robot_description -x 0.0 -y 0.0 -z 0.0 -R 0.0 -P 0.0 -Y 0.0 -model tiago_dual name:=spawn_model __log:=/home/cristian/.ros/log/05e97d98-874f-11eb-9bb1-e4e74942086e/spawn_model-4.log]. log file: /home/cristian/.ros/log/05e97d98-874f-11eb-9bb1-e4e74942086e/spawn_model-4.log [ WARN] [1616005907.476088845]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/robot_description_kinematics/arm_left/kinematics_solver_attempts' from your configuration. [INFO] [1616005907.508348, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ WARN] [1616005907.542129967]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/robot_description_kinematics/arm_left/kinematics_solver_attempts' from your configuration. [INFO] [1616005907.542826, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1616005907.551287, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ WARN] [1616005907.686786182]: The input topic '/xtion/rgb/image_raw' is not yet advertised [ WARN] [1616005907.688042695]: The input topic '/xtion/rgb/camera_info' is not yet advertised [ INFO] [1616005907.721410630]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1616005907.727062009]: MoveGroup debug mode is OFF Starting planning scene monitors... [ INFO] [1616005907.727107421]: Starting planning scene monitor [ INFO] [1616005907.730942623]: Listening to '/planning_scene' [ INFO] [1616005907.730969438]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [INFO] [1616005907.731377, 0.000000]: Waiting for gripper_left_controller... [ INFO] [1616005907.734248700]: Listening to '/collision_object' [ INFO] [1616005907.739067704]: Listening to '/planning_scene_world' for planning scene world geometry [ WARN] [1616005907.740037950]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [ERROR] [1616005907.740478216]: Failed to find 3D sensor plugin parameters for octomap generation [ INFO] [1616005907.750710218]: Listening to '/attached_collision_object' for attached collision objects Planning scene monitors started. [ INFO] [1616005907.770268969]: Initializing OMPL interface using ROS parameters [INFO] [1616005907.771592, 0.000000]: Waiting for gripper_right_controller... [INFO] [1616005907.779518, 0.000000]: Waiting for play_motion... [ INFO] [1616005907.833479955]: Using planning interface 'OMPL' [ INFO] [1616005907.835882460]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1616005907.836118066]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1616005907.836333526]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1616005907.836554456]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1616005907.836773485]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1616005907.837146191]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1616005907.837174832]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1616005907.837183550]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1616005907.837192798]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1616005907.837202185]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1616005907.837212572]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1616005907.969019244]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1616005908.005666597]: Physics dynamic reconfigure ready. [ INFO] [1616005908.362871620]: Camera Plugin: The 'robotNamespace' param did not exit [ INFO] [1616005908.371349785, 0.007000000]: Camera Plugin (ns = ) , set to "" [ WARN] [1616005913.387574239, 5.000000000]: Could not get list of controllers from controller manager. [ WARN] [1616005913.406893079, 5.024000000]: Waiting for arm_left_controller/follow_joint_trajectory to come up [ WARN] [1616005918.397495495, 10.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616005919.426206577, 11.025000000]: Waiting for arm_left_controller/follow_joint_trajectory to come up [ WARN] [1616005923.408088077, 15.002000000]: Could not get list of controllers from controller manager. [ERROR] [1616005925.437356339, 17.025000000]: Action client not connected: arm_left_controller/follow_joint_trajectory [ WARN] [1616005929.422582203, 21.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616005930.503730276, 22.077000000]: Waiting for arm_right_controller/follow_joint_trajectory to come up [ WARN] [1616005934.434700361, 26.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616005936.513073133, 28.078000000]: Waiting for arm_right_controller/follow_joint_trajectory to come up [WARN] [1616005937.576406, 29.139000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [WARN] [1616005937.685427, 29.248000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [bringup_controllers_spawner_ft-8] process has finished cleanly log file: /home/cristian/.ros/log/05e97d98-874f-11eb-9bb1-e4e74942086e/bringup_controllers_spawner_ft-8.log [bringup_controllers_spawner_imu-7] process has finished cleanly log file: /home/cristian/.ros/log/05e97d98-874f-11eb-9bb1-e4e74942086e/bringup_controllers_spawner_imu-7*.log [ WARN] [1616005940.442950207, 32.001000000]: Could not get list of controllers from controller manager. [ERROR] [1616005942.527925759, 34.078000000]: Action client not connected: arm_right_controller/follow_joint_trajectory [ WARN] [1616005945.456919132, 37.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616005947.629845716, 39.172000000]: Waiting for head_controller/follow_joint_trajectory to come up [ WARN] [1616005951.465836815, 43.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616005953.641779274, 45.174000000]: Waiting for head_controller/follow_joint_trajectory to come up [ WARN] [1616005956.473249537, 48.001000000]: Could not get list of controllers from controller manager. [ERROR] [1616005959.654360868, 51.175000000]: Action client not connected: head_controller/follow_joint_trajectory [ WARN] [1616005961.487195853, 53.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616005964.765746363, 56.270000000]: Waiting for torso_controller/follow_joint_trajectory to come up [ WARN] [1616005966.499242186, 58.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616005967.688771346, 59.189000000]: The input topic '/xtion/rgb/image_raw' is not yet advertised [ WARN] [1616005967.688896740, 59.189000000]: The input topic '/xtion/rgb/camera_info' is not yet advertised [ WARN] [1616005970.772703103, 62.270000000]: Waiting for torso_controller/follow_joint_trajectory to come up [ WARN] [1616005971.513101100, 63.002000000]: Could not get list of controllers from controller manager. [ERROR] [1616005976.787111294, 68.271000000]: Action client not connected: torso_controller/follow_joint_trajectory [ WARN] [1616005977.516965724, 69.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616005981.887157676, 73.360000000]: Waiting for gripper_left_controller/follow_joint_trajectory to come up [ WARN] [1616005982.531120242, 74.003000000]: Could not get list of controllers from controller manager. [ WARN] [1616005987.901716850, 79.360000000]: Waiting for gripper_left_controller/follow_joint_trajectory to come up [ WARN] [1616005988.539315033, 80.002000000]: Could not get list of controllers from controller manager. [ERROR] [1616005993.916541658, 85.364000000]: Action client not connected: gripper_left_controller/follow_joint_trajectory [ WARN] [1616005994.552594799, 86.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616005999.013546354, 90.454000000]: Waiting for gripper_right_controller/follow_joint_trajectory to come up [ WARN] [1616005999.562416015, 91.006000000]: Could not get list of controllers from controller manager. [ WARN] [1616006005.028923122, 96.460000000]: Waiting for gripper_right_controller/follow_joint_trajectory to come up [ WARN] [1616006005.569475751, 97.001000000]: Could not get list of controllers from controller manager. [ WARN] [1616006010.584429677, 102.002000000]: Could not get list of controllers from controller manager. [ERROR] [1616006011.043726089, 102.462000000]: Action client not connected: gripper_right_controller/follow_joint_trajectory [ INFO] [1616006011.123135264, 102.542000000]: Returned 0 controllers in list [ INFO] [1616006011.136130469, 102.553000000]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1616006011.215651277, 102.635000000]:

[ INFO] [1616006011.215855051, 102.635000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1616006011.215884193, 102.635000000]: MoveGroup context initialization complete

You can start planning now!

As you can see I get some erros, for example : File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/init.py", line 38, in from ._tf2 import * ImportError: dynamic module does not define module export function (PyInit__tf2)

What can I do?? Thanks!

saikishor commented 3 years ago

Hello @Cmeo97, Thanks for writing to us. From the log that you have attached, it seems the issue is arising due to the Python3 setup in your machine. You are facing the issue because tf2_ros was compiled for Python2 environment similar to the default ROS Melodic setup. You can find a detailed information here: https://github.com/ros/geometry2/issues/259

saikishor commented 3 years ago

@Cmeo97 I will be closing the issue due to inactivity for more than 30 days. We hope you fixed your issue and having great time with our TIAGo simulation.

Thank you