rbonghi
commented
8 years ago Hi @KFBIT, I have worked with this launch file many month ago and I have used gezebo 4. Sometimes this luncher going in crash, but if you relaunch again works. I don't have test this launch with gazebo 2.
In this period I'm writing my phd thesis, and I don't have more time to update this launch file. I hope for the next month to restart my activities with this robot and this repo.
kfbixc
exbot@action-Ubuntu:~$ roslaunch ros_dude_gazebo empty_world.launch ... logging to /home/exbot/.ros/log/21c8579c-c65b-11e5-ab56-00404538febd/roslaunch-action-Ubuntu-28097.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://action-Ubuntu:33326/
SUMMARY
PARAMETERS
NODES / base_controller_spawner (controller_manager/spawner) depthimage_to_laserscan (nodelet/nodelet) ekf_localization (robot_localization/ekf_localization_node) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_publisher (joint_state_publisher/joint_state_publisher) laserscan_nodelet_manager (nodelet/nodelet) robot_state_publisher (robot_state_publisher/robot_state_publisher) twist_marker_server (interactive_marker_twist_server/marker_server) twist_mux (twist_mux/twist_mux) urdf_spawner (gazebo_ros/spawn_model)
auto-starting new master process[master]: started with pid [28112] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 21c8579c-c65b-11e5-ab56-00404538febd process[rosout-1]: started with pid [28125] started core service [/rosout] process[gazebo-2]: started with pid [28148] process[gazebo_gui-3]: started with pid [28153] process[joint_state_publisher-4]: started with pid [28157] process[robot_state_publisher-5]: started with pid [28158] process[base_controller_spawner-6]: started with pid [28159] ERROR: cannot launch node of type [robot_localization/ekf_localization_node]: robot_localization ROS path [0]=/opt/ros/indigo/share/ros ROS path [1]=/home/exbot/exercise_ws/src ROS path [2]=/home/exbot/tmp_ws/src ROS path [3]=/opt/ros/indigo/share ROS path [4]=/opt/ros/indigo/stacks ERROR: cannot launch node of type [twist_mux/twist_mux]: twist_mux ROS path [0]=/opt/ros/indigo/share/ros ROS path [1]=/home/exbot/exercise_ws/src ROS path [2]=/home/exbot/tmp_ws/src ROS path [3]=/opt/ros/indigo/share ROS path [4]=/opt/ros/indigo/stacks ERROR: cannot launch node of type [interactive_marker_twist_server/marker_server]: interactive_marker_twist_server ROS path [0]=/opt/ros/indigo/share/ros ROS path [1]=/home/exbot/exercise_ws/src ROS path [2]=/home/exbot/tmp_ws/src ROS path [3]=/opt/ros/indigo/share ROS path [4]=/opt/ros/indigo/stacks process[laserscan_nodelet_manager-10]: started with pid [28176] process[depthimage_to_laserscan-11]: started with pid [28190] process[urdf_spawner-12]: started with pid [28197] Gazebo multi-robot simulator, version 2.2.3 Copyright (C) 2012-2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org
Msg Waiting for master.Gazebo multi-robot simulator, version 2.2.3 Copyright (C) 2012-2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org
[ INFO] [1454053043.012124822]: Finished loading Gazebo ROS API Plugin. Msg Waiting for master Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.1.107 [ INFO] [1454053043.029045785]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... spawn_model script started [INFO] [WallTime: 1454053043.289989] [0.000000] Loading model xml from ros parameter [INFO] [WallTime: 1454053043.300148] [0.000000] Waiting for service /gazebo/spawn_urdf_model [INFO] [WallTime: 1454053043.301803] [0.000000] Calling service /gazebo/spawn_urdf_model [ INFO] [1454053043.360653010, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.1.107 Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax] [ INFO] [1454053043.929373325, 0.329000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1454053043.933904739, 0.329000000]: Starting plugin DiffDrive(ns = //)! [ WARN] [1454053043.933998376, 0.329000000]: DiffDrive(ns = //): missing default is na
[INFO] [WallTime: 1454053043.934241] [0.329000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1454053043.942833609, 0.329000000]: DiffDrive(ns = //): =
[ WARN] [1454053043.943187404, 0.329000000]: DiffDrive(ns = //): missing default is 0
[ WARN] [1454053043.943225872, 0.329000000]: DiffDrive(ns = //): missing default is 5
[ WARN] [1454053043.943448326, 0.329000000]: DiffDrive(ns = //): missing default is 1
[ WARN] [1454053043.943726760, 0.329000000]: GazeboRosDiffDrive Plugin (ns = ) missing , defaults to 1
[ INFO] [1454053043.946167143, 0.329000000]: DiffDrive(ns = //): Advertise joint_states!
[ INFO] [1454053043.953858847, 0.329000000]: DiffDrive(ns = //): Try to subscribe to unav_velocity_controller/cmd_vel!
[ INFO] [1454053044.000707165, 0.329000000]: DiffDrive(ns = //): Subscribe to unav_velocity_controller/cmd_vel!
[ INFO] [1454053044.002910379, 0.329000000]: DiffDrive(ns = //): Advertise odom on odom !
[ INFO] [1454053044.010332877, 0.336000000]: Physics dynamic reconfigure ready.
[ INFO] [1454053044.056564415, 0.363000000]: Camera Plugin (ns = /) , set to ""
[urdf_spawner-12] process has finished cleanly
log file: /home/exbot/.ros/log/21c8579c-c65b-11e5-ab56-00404538febd/urdfspawner-12.log
[WARN] [WallTime: 1454053073.453061] [29.571000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[base_controller_spawner-6] process has finished cleanly
log file: /home/exbot/.ros/log/21c8579c-c65b-11e5-ab56-00404538febd/base_controllerspawner-6.log
I run roslaunch ros_dude_gazebo empty_world.launch and rosrun teleop_twist_keyboard teleop_twist_keyboard.py in gazebo 2.
I want to control the car with keyboard.I only want to move it in gazebo. But it can't work.So where is wrong? Thank you.