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robomechanics / quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
https://robomechanics.github.io/quad-sdk/
MIT License
694 stars 132 forks source link

Why does the model appear as a white box? #398

Closed huaizhixu closed 11 months ago

huaizhixu commented 1 year ago

Hi,

catkin build is OK,when i run roslaunch quad_utils quad_gazebo.launch,the rviz show a white box. OS:ubuntu20.04 git branch: Noetic-devel terminal output:

$ roslaunch quad_utils quad_gazebo.launch          
... logging to /home/huaizhi/.ros/log/79581e64-4cc9-11ee-8efd-f92b0d9816de/roslaunch-NUC12WSKi7-319185.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.

WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
started roslaunch server http://NUC12WSKi7:33705/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /global_body_planner/backup_ratio: 0.5
 * /global_body_planner/dt: 0.03
 * /global_body_planner/dz0_max: 2.0
 * /global_body_planner/dz0_min: 1.0
 * /global_body_planner/g: 9.81
 * /global_body_planner/goal_state: [5.0, 0.0]
 * /global_body_planner/max_planning_time: 0.2
 * /global_body_planner/mu: 0.25
 * /global_body_planner/num_calls: 1
 * /global_body_planner/num_leap_samples: 10
 * /global_body_planner/pos_error_threshold: 25
 * /global_body_planner/replanning: True
 * /global_body_planner/startup_delay: 2.0
 * /global_body_planner/t_s_max: 0.25
 * /global_body_planner/t_s_min: 0.12
 * /global_body_planner/trapped_buffer_factor: 7
 * /global_body_planner/traversability_threshold: 0.3
 * /global_body_planner/update_rate: 20
 * /grid_map_filter_node/grid_map_filters: [{'name': 'duplic...
 * /grid_map_filter_node/input_topic: /terrain_map_raw
 * /grid_map_filter_node/output_topic: /terrain_map
 * /grid_map_visualization/grid_map_topic: /terrain_map
 * /grid_map_visualization/grid_map_visualizations: [{'name': 'z_poin...
 * /local_footstep_planner/duty_cycles: [0.5, 0.5, 0.5, 0.5]
 * /local_footstep_planner/foothold_obj_threshold: 0.6
 * /local_footstep_planner/grf_weight: 0.5
 * /local_footstep_planner/ground_clearance: 0.07
 * /local_footstep_planner/obj_fun_layer: traversability
 * /local_footstep_planner/period: 0.36
 * /local_footstep_planner/phase_offsets: [0.0, 0.5, 0.5, 0.0]
 * /local_footstep_planner/standing_error_threshold: 0.03
 * /local_planner/cmd_vel_filter_const: 0.1
 * /local_planner/cmd_vel_scale: 1.0
 * /local_planner/desired_height: 0.27
 * /local_planner/horizon_length: 26
 * /local_planner/last_cmd_vel_msg_time_max: 2.0
 * /local_planner/stand_cmd_vel_threshold: 0.1
 * /local_planner/stand_pos_error_threshold: 0.05
 * /local_planner/stand_vel_threshold: 0.1
 * /local_planner/timestep: 0.03
 * /local_planner/toe_radius: 0.02
 * /local_planner/update_rate: 333
 * /map_frame: map
 * /mesh_to_grid_map_node/frame_id_mesh_loaded: map
 * /mesh_to_grid_map_node/grid_map_resolution: 0.05
 * /mesh_to_grid_map_node/latch_grid_map_pub: True
 * /mesh_to_grid_map_node/layer_name: z
 * /mesh_to_grid_map_node/verbose: True
 * /mesh_to_grid_map_node/world: flat
 * /nmpc_controller/Q_temporal_factor: 100.0
 * /nmpc_controller/R_temporal_factor: 1
 * /nmpc_controller/constraint_panic_weights: 20.0
 * /nmpc_controller/enable_adaptive_complexity: False
 * /nmpc_controller/enable_mixed_complexity: False
 * /nmpc_controller/enable_variable_horizon: False
 * /nmpc_controller/fixed_complex_head: 0
 * /nmpc_controller/fixed_complex_idxs: []
 * /nmpc_controller/fixed_complex_tail: 0
 * /nmpc_controller/friction_coefficient: 0.3
 * /nmpc_controller/min_horizon_length: 10
 * /nmpc_controller/panic_weights: 200.0
 * /remote_heartbeat/robot_latency_threshold_error: 0.1
 * /remote_heartbeat/robot_latency_threshold_warn: 0.02
 * /remote_heartbeat/update_rate: 500
 * /robot_1/contact_state_publisher/update_rate: 500
 * /robot_1/enable_statistics: True
 * /robot_1/global_body_planner/backup_ratio: 0.5
 * /robot_1/global_body_planner/dt: 0.03
 * /robot_1/global_body_planner/dz0_max: 2.0
 * /robot_1/global_body_planner/dz0_min: 1.0
 * /robot_1/global_body_planner/g: 9.81
 * /robot_1/global_body_planner/goal_state: [5.0, 0.0]
 * /robot_1/global_body_planner/grf_max: 5.0
 * /robot_1/global_body_planner/grf_min: 4.0
 * /robot_1/global_body_planner/h_max: 0.375
 * /robot_1/global_body_planner/h_min: 0.075
 * /robot_1/global_body_planner/h_nom: 0.3
 * /robot_1/global_body_planner/mass: 13.0
 * /robot_1/global_body_planner/max_planning_time: 0.2
 * /robot_1/global_body_planner/mu: 0.25
 * /robot_1/global_body_planner/num_calls: 1
 * /robot_1/global_body_planner/num_leap_samples: 10
 * /robot_1/global_body_planner/pos_error_threshold: 25
 * /robot_1/global_body_planner/replanning: True
 * /robot_1/global_body_planner/robot_h: 0.05
 * /robot_1/global_body_planner/robot_l: 0.3
 * /robot_1/global_body_planner/robot_w: 0.3
 * /robot_1/global_body_planner/startup_delay: 2.0
 * /robot_1/global_body_planner/t_s_max: 0.25
 * /robot_1/global_body_planner/t_s_min: 0.12
 * /robot_1/global_body_planner/trapped_buffer_factor: 7
 * /robot_1/global_body_planner/traversability_threshold: 0.3
 * /robot_1/global_body_planner/update_rate: 20
 * /robot_1/global_body_planner/v_max: 2.0
 * /robot_1/global_body_planner/v_nom: 0.75
 * /robot_1/grid_map_visualization/grid_map_topic: /terrain_map
 * /robot_1/grid_map_visualization/grid_map_visualizations: [{'name': 'z_poin...
 * /robot_1/ground_truth/robot_state_publisher/tf_prefix: robot_1_ground_truth
 * /robot_1/joint_controller/joints: ['0', '1', '2', '...
 * /robot_1/joint_controller/type: effort_controller...
 * /robot_1/joint_state_controller/publish_rate: 500
 * /robot_1/joint_state_controller/type: joint_state_contr...
 * /robot_1/local_footstep_planner/duty_cycles: [0.5, 0.5, 0.5, 0.5]
 * /robot_1/local_footstep_planner/foothold_obj_threshold: 0.6
 * /robot_1/local_footstep_planner/foothold_search_radius: 0.25
 * /robot_1/local_footstep_planner/grf_weight: 0.5
 * /robot_1/local_footstep_planner/ground_clearance: 0.07
 * /robot_1/local_footstep_planner/hip_clearance: 0.1
 * /robot_1/local_footstep_planner/obj_fun_layer: traversability
 * /robot_1/local_footstep_planner/period: 0.36
 * /robot_1/local_footstep_planner/phase_offsets: [0.0, 0.5, 0.5, 0.0]
 * /robot_1/local_footstep_planner/standing_error_threshold: 0.03
 * /robot_1/local_planner/cmd_vel_filter_const: 0.1
 * /robot_1/local_planner/cmd_vel_scale: 1.0
 * /robot_1/local_planner/desired_height: 0.27
 * /robot_1/local_planner/horizon_length: 26
 * /robot_1/local_planner/last_cmd_vel_msg_time_max: 2.0
 * /robot_1/local_planner/stand_cmd_vel_threshold: 0.1
 * /robot_1/local_planner/stand_pos_error_threshold: 0.05
 * /robot_1/local_planner/stand_vel_threshold: 0.1
 * /robot_1/local_planner/timestep: 0.03
 * /robot_1/local_planner/toe_radius: 0.02
 * /robot_1/local_planner/update_rate: 333
 * /robot_1/map_frame: map
 * /robot_1/nmpc_controller/Q_temporal_factor: 100.0
 * /robot_1/nmpc_controller/R_temporal_factor: 1
 * /robot_1/nmpc_controller/body/g_dim: 28
 * /robot_1/nmpc_controller/body/g_lb: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/body/g_ub: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/body/u_dim: 12
 * /robot_1/nmpc_controller/body/u_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/body/u_ub: [2e+19, 2e+19, 15...
 * /robot_1/nmpc_controller/body/u_weights: [5e-05, 5e-05, 5e...
 * /robot_1/nmpc_controller/body/x_dim: 12
 * /robot_1/nmpc_controller/body/x_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/body/x_lb_soft: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/body/x_ub: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/body/x_ub_soft: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/body/x_weights: [5.0, 5.0, 5.0, 0...
 * /robot_1/nmpc_controller/constraint_panic_weights: 20.0
 * /robot_1/nmpc_controller/enable_adaptive_complexity: False
 * /robot_1/nmpc_controller/enable_mixed_complexity: False
 * /robot_1/nmpc_controller/enable_variable_horizon: False
 * /robot_1/nmpc_controller/feet/g_dim: 28
 * /robot_1/nmpc_controller/feet/g_lb: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/feet/g_ub: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/feet/u_dim: 24
 * /robot_1/nmpc_controller/feet/u_lb: [-99.9, -99.9, -9...
 * /robot_1/nmpc_controller/feet/u_ub: [99.9, 99.9, 99.9...
 * /robot_1/nmpc_controller/feet/u_weights: [5e-05, 5e-05, 5e...
 * /robot_1/nmpc_controller/feet/x_dim: 24
 * /robot_1/nmpc_controller/feet/x_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/feet/x_lb_soft: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/feet/x_ub: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/feet/x_ub_soft: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/feet/x_weights: [7.51, 7.51, 7.51...
 * /robot_1/nmpc_controller/fixed_complex_head: 0
 * /robot_1/nmpc_controller/fixed_complex_idxs: []
 * /robot_1/nmpc_controller/fixed_complex_tail: 0
 * /robot_1/nmpc_controller/friction_coefficient: 0.3
 * /robot_1/nmpc_controller/joints/g_dim: 52
 * /robot_1/nmpc_controller/joints/g_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/joints/g_ub: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/joints/u_dim: 0
 * /robot_1/nmpc_controller/joints/u_lb: []
 * /robot_1/nmpc_controller/joints/u_ub: []
 * /robot_1/nmpc_controller/joints/u_weights: []
 * /robot_1/nmpc_controller/joints/x_dim: 24
 * /robot_1/nmpc_controller/joints/x_lb: [-0.707, -1.57, 0...
 * /robot_1/nmpc_controller/joints/x_lb_soft: [-0.5, -1.57, 0.2...
 * /robot_1/nmpc_controller/joints/x_ub: [0.707, 3.14, 3.1...
 * /robot_1/nmpc_controller/joints/x_ub_soft: [0.5, 3.14, 2.8, ...
 * /robot_1/nmpc_controller/joints/x_weights: []
 * /robot_1/nmpc_controller/min_horizon_length: 10
 * /robot_1/nmpc_controller/panic_weights: 200.0
 * /robot_1/remote_heartbeat/robot_latency_threshold_error: 0.1
 * /robot_1/remote_heartbeat/robot_latency_threshold_warn: 0.02
 * /robot_1/remote_heartbeat/update_rate: 500
 * /robot_1/robot_description: <?xml version="1....
 * /robot_1/robot_description_sdf: <?xml version='1....
 * /robot_1/robot_driver/controller: inverse_dynamics
 * /robot_1/robot_driver/filter_time_constant: 0.01
 * /robot_1/robot_driver/heartbeat_timeout: 0.2
 * /robot_1/robot_driver/high_pass_a: [1.90134750829405...
 * /robot_1/robot_driver/high_pass_b: [0.0625, 0]
 * /robot_1/robot_driver/high_pass_c: [0.03191280510898...
 * /robot_1/robot_driver/high_pass_d: [0.00099960179748...
 * /robot_1/robot_driver/input_timeout: 0.2
 * /robot_1/robot_driver/is_hardware: False
 * /robot_1/robot_driver/low_pass_a: [1.86308158952858...
 * /robot_1/robot_driver/low_pass_b: [2, 0]
 * /robot_1/robot_driver/low_pass_c: [1.46952695698271...
 * /robot_1/robot_driver/low_pass_d: [1.616290836790004]
 * /robot_1/robot_driver/mocap_dropout_threshold: 0.027
 * /robot_1/robot_driver/mocap_rate: 360.0
 * /robot_1/robot_driver/publish_rate: 500
 * /robot_1/robot_driver/safety_kd: [2, 2, 2]
 * /robot_1/robot_driver/safety_kp: [0, 0, 0]
 * /robot_1/robot_driver/sit_joint_angles: [0.0, 0.0, 0.0]
 * /robot_1/robot_driver/sit_kd: [1, 1, 1]
 * /robot_1/robot_driver/sit_kp: [10, 10, 10]
 * /robot_1/robot_driver/stance_kd: [1, 1, 1]
 * /robot_1/robot_driver/stance_kp: [10, 10, 10]
 * /robot_1/robot_driver/stand_joint_angles: [0.0, 0.76, 1.52]
 * /robot_1/robot_driver/stand_kd: [1, 1, 1]
 * /robot_1/robot_driver/stand_kp: [35, 35, 35]
 * /robot_1/robot_driver/state_timeout: 0.1
 * /robot_1/robot_driver/swing_kd: [1, 1, 1]
 * /robot_1/robot_driver/swing_kd_cart: [0, 0, 0]
 * /robot_1/robot_driver/swing_kp: [10, 10, 10]
 * /robot_1/robot_driver/swing_kp_cart: [0, 0, 0]
 * /robot_1/robot_driver/torque_limit: [21, 21, 32]
 * /robot_1/robot_driver/update_rate: 500
 * /robot_1/robot_type: spirit
 * /robot_1/rviz_interface/colors/back_left: [0, 45, 114]
 * /robot_1/rviz_interface/colors/back_right: [242, 169, 0]
 * /robot_1/rviz_interface/colors/front_left: [166, 25, 46]
 * /robot_1/rviz_interface/colors/front_right: [0, 132, 61]
 * /robot_1/rviz_interface/colors/individual_grf: [45, 31, 38]
 * /robot_1/rviz_interface/colors/net_grf: [55, 51, 58]
 * /robot_1/rviz_interface/orientation_subsample_num: 3
 * /robot_1/rviz_interface/update_rate: 100
 * /robot_1/teleop_twist_keyboard/repeat_rate: 30
 * /robot_1/terrain_map_publisher/map_data_source: internal
 * /robot_1/terrain_map_publisher/obstacle_height: 1.0
 * /robot_1/terrain_map_publisher/obstacle_radius: 1.0
 * /robot_1/terrain_map_publisher/obstacle_x: 3.0
 * /robot_1/terrain_map_publisher/obstacle_y: 0.0
 * /robot_1/terrain_map_publisher/resolution: 0.1
 * /robot_1/terrain_map_publisher/step1_height: 0.0
 * /robot_1/terrain_map_publisher/step1_x: 1.0
 * /robot_1/terrain_map_publisher/step2_height: 0.0
 * /robot_1/terrain_map_publisher/step2_x: 2.0
 * /robot_1/terrain_map_publisher/terrain_type: slope
 * /robot_1/terrain_map_publisher/update_rate: 5
 * /robot_1/tf_prefix: robot_1
 * /robot_1/topics/body_force/joint_torques: body_force/joint_...
 * /robot_1/topics/body_force/toe_forces: body_force/toe_fo...
 * /robot_1/topics/cmd_vel: cmd_vel
 * /robot_1/topics/control/grfs: control/grfs
 * /robot_1/topics/control/joint_command: control/joint_com...
 * /robot_1/topics/control/leg_override: control/leg_override
 * /robot_1/topics/control/mode: control/mode
 * /robot_1/topics/control/restart_flag: control/restart_flag
 * /robot_1/topics/control/single_joint_command: control/single_jo...
 * /robot_1/topics/control/trajectory: control/trajectory
 * /robot_1/topics/foot_plan_continuous: foot_plan_continuous
 * /robot_1/topics/foot_plan_discrete: foot_plan_discrete
 * /robot_1/topics/gazebo/toe0_contact_state: gazebo/toe0_conta...
 * /robot_1/topics/gazebo/toe1_contact_state: gazebo/toe1_conta...
 * /robot_1/topics/gazebo/toe2_contact_state: gazebo/toe2_conta...
 * /robot_1/topics/gazebo/toe3_contact_state: gazebo/toe3_conta...
 * /robot_1/topics/global_plan: global_plan
 * /robot_1/topics/global_plan_discrete: global_plan_discrete
 * /robot_1/topics/global_plan_tree: global_plan_tree
 * /robot_1/topics/goal_state: goal_state
 * /robot_1/topics/heartbeat/remote: heartbeat/remote
 * /robot_1/topics/heartbeat/robot: heartbeat/robot
 * /robot_1/topics/local_plan: local_plan
 * /robot_1/topics/mocap: /mocap_node/quad/...
 * /robot_1/topics/start_state: start_state
 * /robot_1/topics/state/estimate: state/estimate
 * /robot_1/topics/state/grfs: state/grfs
 * /robot_1/topics/state/ground_truth: state/ground_truth
 * /robot_1/topics/state/ground_truth_body_frame: state/ground_trut...
 * /robot_1/topics/state/imu: state/imu
 * /robot_1/topics/state/joints: state/joints
 * /robot_1/topics/state/trajectory: state/trajectory
 * /robot_1/topics/terrain_map: /terrain_map
 * /robot_1/topics/terrain_map_raw: /terrain_map_raw
 * /robot_1/topics/trajectory: robot_plan
 * /robot_1/topics/visualization/current_grf: visualization/cur...
 * /robot_1/topics/visualization/foot_0_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_1_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_2_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_3_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_plan_discrete: visualization/foo...
 * /robot_1/topics/visualization/global_plan: visualization/glo...
 * /robot_1/topics/visualization/global_plan_discrete: visualization/glo...
 * /robot_1/topics/visualization/global_plan_grf: visualization/glo...
 * /robot_1/topics/visualization/joint_states/estimate: estimate/visualiz...
 * /robot_1/topics/visualization/joint_states/ground_truth: ground_truth/visu...
 * /robot_1/topics/visualization/joint_states/trajectory: trajectory/visual...
 * /robot_1/topics/visualization/local_plan: visualization/loc...
 * /robot_1/topics/visualization/local_plan_grf: visualization/loc...
 * /robot_1/topics/visualization/local_plan_ori: visualization/loc...
 * /robot_1/topics/visualization/state/estimate_trace: visualization/sta...
 * /robot_1/topics/visualization/state/ground_truth_trace: visualization/sta...
 * /robot_1/topics/visualization/state/trajectory_trace: visualization/sta...
 * /robot_1/trajectory/robot_state_publisher/tf_prefix: robot_1_trajectory
 * /robot_1/trajectory_publisher/playback_speed: 1.0
 * /robot_1/trajectory_publisher/traj_source: topic
 * /robot_1/trajectory_publisher/update_rate: 60
 * /robot_description: <?xml version="1....
 * /robot_description_sdf: <?xml version='1....
 * /robot_driver/filter_time_constant: 0.01
 * /robot_driver/heartbeat_timeout: 0.2
 * /robot_driver/high_pass_a: [1.90134750829405...
 * /robot_driver/high_pass_b: [0.0625, 0]
 * /robot_driver/high_pass_c: [0.03191280510898...
 * /robot_driver/high_pass_d: [0.00099960179748...
 * /robot_driver/input_timeout: 0.2
 * /robot_driver/low_pass_a: [1.86308158952858...
 * /robot_driver/low_pass_b: [2, 0]
 * /robot_driver/low_pass_c: [1.46952695698271...
 * /robot_driver/low_pass_d: [1.616290836790004]
 * /robot_driver/mocap_dropout_threshold: 0.027
 * /robot_driver/mocap_rate: 360.0
 * /robot_driver/publish_rate: 500
 * /robot_driver/state_timeout: 0.1
 * /robot_driver/update_rate: 500
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /rviz_interface/colors/back_left: [0, 45, 114]
 * /rviz_interface/colors/back_right: [242, 169, 0]
 * /rviz_interface/colors/front_left: [166, 25, 46]
 * /rviz_interface/colors/front_right: [0, 132, 61]
 * /rviz_interface/colors/individual_grf: [45, 31, 38]
 * /rviz_interface/colors/net_grf: [55, 51, 58]
 * /rviz_interface/orientation_subsample_num: 3
 * /rviz_interface/update_rate: 100
 * /teleop_twist_keyboard/repeat_rate: 30
 * /terrain_map_publisher/map_data_source: internal
 * /terrain_map_publisher/obstacle_height: 1.0
 * /terrain_map_publisher/obstacle_radius: 1.0
 * /terrain_map_publisher/obstacle_x: 3.0
 * /terrain_map_publisher/obstacle_y: 0.0
 * /terrain_map_publisher/resolution: 0.1
 * /terrain_map_publisher/step1_height: 0.0
 * /terrain_map_publisher/step1_x: 1.0
 * /terrain_map_publisher/step2_height: 0.0
 * /terrain_map_publisher/step2_x: 2.0
 * /terrain_map_publisher/terrain_type: slope
 * /terrain_map_publisher/update_rate: 5
 * /topics/control/joint_command: control/joint_com...
 * /topics/heartbeat/remote: heartbeat/remote
 * /topics/mocap: /mocap_node/quad/...
 * /topics/terrain_map: /terrain_map
 * /topics/terrain_map_raw: /terrain_map_raw
 * /trajectory_publisher/playback_speed: 1.0
 * /trajectory_publisher/traj_source: topic
 * /trajectory_publisher/update_rate: 60
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    grid_map_filter_node (grid_map_demos/filters_demo)
    grid_map_visualization (grid_map_visualization/grid_map_visualization)
    mesh_to_grid_map_node (quad_utils/mesh_to_grid_map_node)
    rviz (rviz/rviz)
  /robot_1/
    contact_state_publisher (gazebo_scripts/contact_state_publisher_node)
    controller_spawner (controller_manager/spawner)
    robot_driver (robot_driver/robot_driver_node)
    rviz_interface (quad_utils/rviz_interface_node)
    spawn_sdf_model (gazebo_ros/spawn_model)
  /robot_1/ground_truth/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
  /robot_1/trajectory/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [319214]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 79581e64-4cc9-11ee-8efd-f92b0d9816de
WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [319240]
started core service [/rosout]
process[gazebo-2]: started with pid [319247]
process[mesh_to_grid_map_node-3]: started with pid [319249]
process[grid_map_visualization-4]: started with pid [319253]
process[grid_map_filter_node-5]: started with pid [319254]
process[robot_1/spawn_sdf_model-6]: started with pid [319255]
process[robot_1/robot_driver-7]: started with pid [319256]
process[robot_1/controller_spawner-8]: started with pid [319257]
process[robot_1/contact_state_publisher-9]: started with pid [319258]
process[robot_1/trajectory/robot_state_publisher-10]: started with pid [319259]
process[robot_1/ground_truth/robot_state_publisher-11]: started with pid [319261]
process[robot_1/rviz_interface-12]: started with pid [319266]
[ INFO] [1694013870.908514302]: Grid map visualization node started.
process[rviz-13]: started with pid [319273]
WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
[ INFO] [1694013870.913203391]: grid_map_visualizations: Configured visualization of type 'point_cloud' with name 'z_points'.
[ INFO] [1694013870.913251388]: grid_map_visualizations: Configured visualization of type 'occupancy_grid' with name 'elevation_grid'.
[ INFO] [1694013870.913276306]: grid_map_visualizations: Configured visualization of type 'vectors' with name 'surface_normals'.
[ INFO] [1694013870.928519979]: Grid map visualization initialized.
[ WARN] [1694013870.931353575]: The root link body has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1694013870.939038863]: The root link body has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
/home/huaizhi/yuquan/code/catkin_ws/src/quad-sdk/quad_simulator/gazebo_scripts/worlds/flat/flat.ply
[ WARN] [1694013870.981833659]: Could not find the parameter: `algorithm`. Setting to default value: 'area'.
[ WARN] [1694013870.983793664]: Could not find the parameter: `parallelization_enabled`. Setting to default value: 'false'.
[ WARN] [1694013870.983831918]: Could not find the parameter: `thread_number`. Setting to default value: 'automatic'.
[ WARN] [1694013870.983879498]: Could not find the parameter: `algorithm`. Setting to default value: 'area'.
[ WARN] [1694013870.983895576]: Could not find the parameter: `parallelization_enabled`. Setting to default value: 'false'.
[ WARN] [1694013870.983909876]: Could not find the parameter: `thread_number`. Setting to default value: 'automatic'.
WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
[ INFO] [1694013871.047906803]: Can't find param robot_driver/estimator on rosparam server, loading default value.
[ INFO] [1694013871.074444222]: Loading sim robot driver
[ INFO] [1694013871.083285385]: Comp Filter
[INFO] [1694013871.281151, 0.000000]: Waiting for /clock to be available...
[INFO] [1694013871.285574, 0.000000]: Loading model XML from ros parameter robot_description_sdf
[INFO] [1694013871.291491, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1694013871.318975723]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1694013871.319785034]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1694013871.370154077]: Number of polygons: 12
[ INFO] [1694013871.371215890]: Created map with size 9.000000 x 4.000000 m (180 x 80 cells).
[ INFO] [1694013871.371428242]: Published a grid map message.
[ INFO] [1694013871.371493800]: Loaded the mesh from file: /home/huaizhi/yuquan/code/catkin_ws/src/quad-sdk/quad_simulator/gazebo_scripts/worlds/flat/flat.ply. Its frame_id is set to 'map'

image

when i roslaunch quad_utils quad_gazebo.launch gui:=true to check the terrain has been loaded correctly in Gazebo..

-----
$ roslaunch quad_utils quad_gazebo.launch gui:=true
... logging to /home/huaizhi/.ros/log/bc49db54-4cc9-11ee-8efd-f92b0d9816de/roslaunch-NUC12WSKi7-320064.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.

WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
started roslaunch server http://NUC12WSKi7:42063/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /global_body_planner/backup_ratio: 0.5
 * /global_body_planner/dt: 0.03
 * /global_body_planner/dz0_max: 2.0
 * /global_body_planner/dz0_min: 1.0
 * /global_body_planner/g: 9.81
 * /global_body_planner/goal_state: [5.0, 0.0]
 * /global_body_planner/max_planning_time: 0.2
 * /global_body_planner/mu: 0.25
 * /global_body_planner/num_calls: 1
 * /global_body_planner/num_leap_samples: 10
 * /global_body_planner/pos_error_threshold: 25
 * /global_body_planner/replanning: True
 * /global_body_planner/startup_delay: 2.0
 * /global_body_planner/t_s_max: 0.25
 * /global_body_planner/t_s_min: 0.12
 * /global_body_planner/trapped_buffer_factor: 7
 * /global_body_planner/traversability_threshold: 0.3
 * /global_body_planner/update_rate: 20
 * /grid_map_filter_node/grid_map_filters: [{'name': 'duplic...
 * /grid_map_filter_node/input_topic: /terrain_map_raw
 * /grid_map_filter_node/output_topic: /terrain_map
 * /grid_map_visualization/grid_map_topic: /terrain_map
 * /grid_map_visualization/grid_map_visualizations: [{'name': 'z_poin...
 * /local_footstep_planner/duty_cycles: [0.5, 0.5, 0.5, 0.5]
 * /local_footstep_planner/foothold_obj_threshold: 0.6
 * /local_footstep_planner/grf_weight: 0.5
 * /local_footstep_planner/ground_clearance: 0.07
 * /local_footstep_planner/obj_fun_layer: traversability
 * /local_footstep_planner/period: 0.36
 * /local_footstep_planner/phase_offsets: [0.0, 0.5, 0.5, 0.0]
 * /local_footstep_planner/standing_error_threshold: 0.03
 * /local_planner/cmd_vel_filter_const: 0.1
 * /local_planner/cmd_vel_scale: 1.0
 * /local_planner/desired_height: 0.27
 * /local_planner/horizon_length: 26
 * /local_planner/last_cmd_vel_msg_time_max: 2.0
 * /local_planner/stand_cmd_vel_threshold: 0.1
 * /local_planner/stand_pos_error_threshold: 0.05
 * /local_planner/stand_vel_threshold: 0.1
 * /local_planner/timestep: 0.03
 * /local_planner/toe_radius: 0.02
 * /local_planner/update_rate: 333
 * /map_frame: map
 * /mesh_to_grid_map_node/frame_id_mesh_loaded: map
 * /mesh_to_grid_map_node/grid_map_resolution: 0.05
 * /mesh_to_grid_map_node/latch_grid_map_pub: True
 * /mesh_to_grid_map_node/layer_name: z
 * /mesh_to_grid_map_node/verbose: True
 * /mesh_to_grid_map_node/world: flat
 * /nmpc_controller/Q_temporal_factor: 100.0
 * /nmpc_controller/R_temporal_factor: 1
 * /nmpc_controller/constraint_panic_weights: 20.0
 * /nmpc_controller/enable_adaptive_complexity: False
 * /nmpc_controller/enable_mixed_complexity: False
 * /nmpc_controller/enable_variable_horizon: False
 * /nmpc_controller/fixed_complex_head: 0
 * /nmpc_controller/fixed_complex_idxs: []
 * /nmpc_controller/fixed_complex_tail: 0
 * /nmpc_controller/friction_coefficient: 0.3
 * /nmpc_controller/min_horizon_length: 10
 * /nmpc_controller/panic_weights: 200.0
 * /remote_heartbeat/robot_latency_threshold_error: 0.1
 * /remote_heartbeat/robot_latency_threshold_warn: 0.02
 * /remote_heartbeat/update_rate: 500
 * /robot_1/contact_state_publisher/update_rate: 500
 * /robot_1/enable_statistics: True
 * /robot_1/global_body_planner/backup_ratio: 0.5
 * /robot_1/global_body_planner/dt: 0.03
 * /robot_1/global_body_planner/dz0_max: 2.0
 * /robot_1/global_body_planner/dz0_min: 1.0
 * /robot_1/global_body_planner/g: 9.81
 * /robot_1/global_body_planner/goal_state: [5.0, 0.0]
 * /robot_1/global_body_planner/grf_max: 5.0
 * /robot_1/global_body_planner/grf_min: 4.0
 * /robot_1/global_body_planner/h_max: 0.375
 * /robot_1/global_body_planner/h_min: 0.075
 * /robot_1/global_body_planner/h_nom: 0.3
 * /robot_1/global_body_planner/mass: 13.0
 * /robot_1/global_body_planner/max_planning_time: 0.2
 * /robot_1/global_body_planner/mu: 0.25
 * /robot_1/global_body_planner/num_calls: 1
 * /robot_1/global_body_planner/num_leap_samples: 10
 * /robot_1/global_body_planner/pos_error_threshold: 25
 * /robot_1/global_body_planner/replanning: True
 * /robot_1/global_body_planner/robot_h: 0.05
 * /robot_1/global_body_planner/robot_l: 0.3
 * /robot_1/global_body_planner/robot_w: 0.3
 * /robot_1/global_body_planner/startup_delay: 2.0
 * /robot_1/global_body_planner/t_s_max: 0.25
 * /robot_1/global_body_planner/t_s_min: 0.12
 * /robot_1/global_body_planner/trapped_buffer_factor: 7
 * /robot_1/global_body_planner/traversability_threshold: 0.3
 * /robot_1/global_body_planner/update_rate: 20
 * /robot_1/global_body_planner/v_max: 2.0
 * /robot_1/global_body_planner/v_nom: 0.75
 * /robot_1/grid_map_visualization/grid_map_topic: /terrain_map
 * /robot_1/grid_map_visualization/grid_map_visualizations: [{'name': 'z_poin...
 * /robot_1/ground_truth/robot_state_publisher/tf_prefix: robot_1_ground_truth
 * /robot_1/joint_controller/joints: ['0', '1', '2', '...
 * /robot_1/joint_controller/type: effort_controller...
 * /robot_1/joint_state_controller/publish_rate: 500
 * /robot_1/joint_state_controller/type: joint_state_contr...
 * /robot_1/local_footstep_planner/duty_cycles: [0.5, 0.5, 0.5, 0.5]
 * /robot_1/local_footstep_planner/foothold_obj_threshold: 0.6
 * /robot_1/local_footstep_planner/foothold_search_radius: 0.25
 * /robot_1/local_footstep_planner/grf_weight: 0.5
 * /robot_1/local_footstep_planner/ground_clearance: 0.07
 * /robot_1/local_footstep_planner/hip_clearance: 0.1
 * /robot_1/local_footstep_planner/obj_fun_layer: traversability
 * /robot_1/local_footstep_planner/period: 0.36
 * /robot_1/local_footstep_planner/phase_offsets: [0.0, 0.5, 0.5, 0.0]
 * /robot_1/local_footstep_planner/standing_error_threshold: 0.03
 * /robot_1/local_planner/cmd_vel_filter_const: 0.1
 * /robot_1/local_planner/cmd_vel_scale: 1.0
 * /robot_1/local_planner/desired_height: 0.27
 * /robot_1/local_planner/horizon_length: 26
 * /robot_1/local_planner/last_cmd_vel_msg_time_max: 2.0
 * /robot_1/local_planner/stand_cmd_vel_threshold: 0.1
 * /robot_1/local_planner/stand_pos_error_threshold: 0.05
 * /robot_1/local_planner/stand_vel_threshold: 0.1
 * /robot_1/local_planner/timestep: 0.03
 * /robot_1/local_planner/toe_radius: 0.02
 * /robot_1/local_planner/update_rate: 333
 * /robot_1/map_frame: map
 * /robot_1/nmpc_controller/Q_temporal_factor: 100.0
 * /robot_1/nmpc_controller/R_temporal_factor: 1
 * /robot_1/nmpc_controller/body/g_dim: 28
 * /robot_1/nmpc_controller/body/g_lb: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/body/g_ub: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/body/u_dim: 12
 * /robot_1/nmpc_controller/body/u_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/body/u_ub: [2e+19, 2e+19, 15...
 * /robot_1/nmpc_controller/body/u_weights: [5e-05, 5e-05, 5e...
 * /robot_1/nmpc_controller/body/x_dim: 12
 * /robot_1/nmpc_controller/body/x_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/body/x_lb_soft: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/body/x_ub: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/body/x_ub_soft: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/body/x_weights: [5.0, 5.0, 5.0, 0...
 * /robot_1/nmpc_controller/constraint_panic_weights: 20.0
 * /robot_1/nmpc_controller/enable_adaptive_complexity: False
 * /robot_1/nmpc_controller/enable_mixed_complexity: False
 * /robot_1/nmpc_controller/enable_variable_horizon: False
 * /robot_1/nmpc_controller/feet/g_dim: 28
 * /robot_1/nmpc_controller/feet/g_lb: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/feet/g_ub: [0, 0, 0, 0, 0, 0...
 * /robot_1/nmpc_controller/feet/u_dim: 24
 * /robot_1/nmpc_controller/feet/u_lb: [-99.9, -99.9, -9...
 * /robot_1/nmpc_controller/feet/u_ub: [99.9, 99.9, 99.9...
 * /robot_1/nmpc_controller/feet/u_weights: [5e-05, 5e-05, 5e...
 * /robot_1/nmpc_controller/feet/x_dim: 24
 * /robot_1/nmpc_controller/feet/x_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/feet/x_lb_soft: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/feet/x_ub: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/feet/x_ub_soft: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/feet/x_weights: [7.51, 7.51, 7.51...
 * /robot_1/nmpc_controller/fixed_complex_head: 0
 * /robot_1/nmpc_controller/fixed_complex_idxs: []
 * /robot_1/nmpc_controller/fixed_complex_tail: 0
 * /robot_1/nmpc_controller/friction_coefficient: 0.3
 * /robot_1/nmpc_controller/joints/g_dim: 52
 * /robot_1/nmpc_controller/joints/g_lb: [-2e+19, -2e+19, ...
 * /robot_1/nmpc_controller/joints/g_ub: [2e+19, 2e+19, 2e...
 * /robot_1/nmpc_controller/joints/u_dim: 0
 * /robot_1/nmpc_controller/joints/u_lb: []
 * /robot_1/nmpc_controller/joints/u_ub: []
 * /robot_1/nmpc_controller/joints/u_weights: []
 * /robot_1/nmpc_controller/joints/x_dim: 24
 * /robot_1/nmpc_controller/joints/x_lb: [-0.707, -1.57, 0...
 * /robot_1/nmpc_controller/joints/x_lb_soft: [-0.5, -1.57, 0.2...
 * /robot_1/nmpc_controller/joints/x_ub: [0.707, 3.14, 3.1...
 * /robot_1/nmpc_controller/joints/x_ub_soft: [0.5, 3.14, 2.8, ...
 * /robot_1/nmpc_controller/joints/x_weights: []
 * /robot_1/nmpc_controller/min_horizon_length: 10
 * /robot_1/nmpc_controller/panic_weights: 200.0
 * /robot_1/remote_heartbeat/robot_latency_threshold_error: 0.1
 * /robot_1/remote_heartbeat/robot_latency_threshold_warn: 0.02
 * /robot_1/remote_heartbeat/update_rate: 500
 * /robot_1/robot_description: <?xml version="1....
 * /robot_1/robot_description_sdf: <?xml version='1....
 * /robot_1/robot_driver/controller: inverse_dynamics
 * /robot_1/robot_driver/filter_time_constant: 0.01
 * /robot_1/robot_driver/heartbeat_timeout: 0.2
 * /robot_1/robot_driver/high_pass_a: [1.90134750829405...
 * /robot_1/robot_driver/high_pass_b: [0.0625, 0]
 * /robot_1/robot_driver/high_pass_c: [0.03191280510898...
 * /robot_1/robot_driver/high_pass_d: [0.00099960179748...
 * /robot_1/robot_driver/input_timeout: 0.2
 * /robot_1/robot_driver/is_hardware: False
 * /robot_1/robot_driver/low_pass_a: [1.86308158952858...
 * /robot_1/robot_driver/low_pass_b: [2, 0]
 * /robot_1/robot_driver/low_pass_c: [1.46952695698271...
 * /robot_1/robot_driver/low_pass_d: [1.616290836790004]
 * /robot_1/robot_driver/mocap_dropout_threshold: 0.027
 * /robot_1/robot_driver/mocap_rate: 360.0
 * /robot_1/robot_driver/publish_rate: 500
 * /robot_1/robot_driver/safety_kd: [2, 2, 2]
 * /robot_1/robot_driver/safety_kp: [0, 0, 0]
 * /robot_1/robot_driver/sit_joint_angles: [0.0, 0.0, 0.0]
 * /robot_1/robot_driver/sit_kd: [1, 1, 1]
 * /robot_1/robot_driver/sit_kp: [10, 10, 10]
 * /robot_1/robot_driver/stance_kd: [1, 1, 1]
 * /robot_1/robot_driver/stance_kp: [10, 10, 10]
 * /robot_1/robot_driver/stand_joint_angles: [0.0, 0.76, 1.52]
 * /robot_1/robot_driver/stand_kd: [1, 1, 1]
 * /robot_1/robot_driver/stand_kp: [35, 35, 35]
 * /robot_1/robot_driver/state_timeout: 0.1
 * /robot_1/robot_driver/swing_kd: [1, 1, 1]
 * /robot_1/robot_driver/swing_kd_cart: [0, 0, 0]
 * /robot_1/robot_driver/swing_kp: [10, 10, 10]
 * /robot_1/robot_driver/swing_kp_cart: [0, 0, 0]
 * /robot_1/robot_driver/torque_limit: [21, 21, 32]
 * /robot_1/robot_driver/update_rate: 500
 * /robot_1/robot_type: spirit
 * /robot_1/rviz_interface/colors/back_left: [0, 45, 114]
 * /robot_1/rviz_interface/colors/back_right: [242, 169, 0]
 * /robot_1/rviz_interface/colors/front_left: [166, 25, 46]
 * /robot_1/rviz_interface/colors/front_right: [0, 132, 61]
 * /robot_1/rviz_interface/colors/individual_grf: [45, 31, 38]
 * /robot_1/rviz_interface/colors/net_grf: [55, 51, 58]
 * /robot_1/rviz_interface/orientation_subsample_num: 3
 * /robot_1/rviz_interface/update_rate: 100
 * /robot_1/teleop_twist_keyboard/repeat_rate: 30
 * /robot_1/terrain_map_publisher/map_data_source: internal
 * /robot_1/terrain_map_publisher/obstacle_height: 1.0
 * /robot_1/terrain_map_publisher/obstacle_radius: 1.0
 * /robot_1/terrain_map_publisher/obstacle_x: 3.0
 * /robot_1/terrain_map_publisher/obstacle_y: 0.0
 * /robot_1/terrain_map_publisher/resolution: 0.1
 * /robot_1/terrain_map_publisher/step1_height: 0.0
 * /robot_1/terrain_map_publisher/step1_x: 1.0
 * /robot_1/terrain_map_publisher/step2_height: 0.0
 * /robot_1/terrain_map_publisher/step2_x: 2.0
 * /robot_1/terrain_map_publisher/terrain_type: slope
 * /robot_1/terrain_map_publisher/update_rate: 5
 * /robot_1/tf_prefix: robot_1
 * /robot_1/topics/body_force/joint_torques: body_force/joint_...
 * /robot_1/topics/body_force/toe_forces: body_force/toe_fo...
 * /robot_1/topics/cmd_vel: cmd_vel
 * /robot_1/topics/control/grfs: control/grfs
 * /robot_1/topics/control/joint_command: control/joint_com...
 * /robot_1/topics/control/leg_override: control/leg_override
 * /robot_1/topics/control/mode: control/mode
 * /robot_1/topics/control/restart_flag: control/restart_flag
 * /robot_1/topics/control/single_joint_command: control/single_jo...
 * /robot_1/topics/control/trajectory: control/trajectory
 * /robot_1/topics/foot_plan_continuous: foot_plan_continuous
 * /robot_1/topics/foot_plan_discrete: foot_plan_discrete
 * /robot_1/topics/gazebo/toe0_contact_state: gazebo/toe0_conta...
 * /robot_1/topics/gazebo/toe1_contact_state: gazebo/toe1_conta...
 * /robot_1/topics/gazebo/toe2_contact_state: gazebo/toe2_conta...
 * /robot_1/topics/gazebo/toe3_contact_state: gazebo/toe3_conta...
 * /robot_1/topics/global_plan: global_plan
 * /robot_1/topics/global_plan_discrete: global_plan_discrete
 * /robot_1/topics/global_plan_tree: global_plan_tree
 * /robot_1/topics/goal_state: goal_state
 * /robot_1/topics/heartbeat/remote: heartbeat/remote
 * /robot_1/topics/heartbeat/robot: heartbeat/robot
 * /robot_1/topics/local_plan: local_plan
 * /robot_1/topics/mocap: /mocap_node/quad/...
 * /robot_1/topics/start_state: start_state
 * /robot_1/topics/state/estimate: state/estimate
 * /robot_1/topics/state/grfs: state/grfs
 * /robot_1/topics/state/ground_truth: state/ground_truth
 * /robot_1/topics/state/ground_truth_body_frame: state/ground_trut...
 * /robot_1/topics/state/imu: state/imu
 * /robot_1/topics/state/joints: state/joints
 * /robot_1/topics/state/trajectory: state/trajectory
 * /robot_1/topics/terrain_map: /terrain_map
 * /robot_1/topics/terrain_map_raw: /terrain_map_raw
 * /robot_1/topics/trajectory: robot_plan
 * /robot_1/topics/visualization/current_grf: visualization/cur...
 * /robot_1/topics/visualization/foot_0_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_1_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_2_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_3_plan_continuous: visualization/foo...
 * /robot_1/topics/visualization/foot_plan_discrete: visualization/foo...
 * /robot_1/topics/visualization/global_plan: visualization/glo...
 * /robot_1/topics/visualization/global_plan_discrete: visualization/glo...
 * /robot_1/topics/visualization/global_plan_grf: visualization/glo...
 * /robot_1/topics/visualization/joint_states/estimate: estimate/visualiz...
 * /robot_1/topics/visualization/joint_states/ground_truth: ground_truth/visu...
 * /robot_1/topics/visualization/joint_states/trajectory: trajectory/visual...
 * /robot_1/topics/visualization/local_plan: visualization/loc...
 * /robot_1/topics/visualization/local_plan_grf: visualization/loc...
 * /robot_1/topics/visualization/local_plan_ori: visualization/loc...
 * /robot_1/topics/visualization/state/estimate_trace: visualization/sta...
 * /robot_1/topics/visualization/state/ground_truth_trace: visualization/sta...
 * /robot_1/topics/visualization/state/trajectory_trace: visualization/sta...
 * /robot_1/trajectory/robot_state_publisher/tf_prefix: robot_1_trajectory
 * /robot_1/trajectory_publisher/playback_speed: 1.0
 * /robot_1/trajectory_publisher/traj_source: topic
 * /robot_1/trajectory_publisher/update_rate: 60
 * /robot_description: <?xml version="1....
 * /robot_description_sdf: <?xml version='1....
 * /robot_driver/filter_time_constant: 0.01
 * /robot_driver/heartbeat_timeout: 0.2
 * /robot_driver/high_pass_a: [1.90134750829405...
 * /robot_driver/high_pass_b: [0.0625, 0]
 * /robot_driver/high_pass_c: [0.03191280510898...
 * /robot_driver/high_pass_d: [0.00099960179748...
 * /robot_driver/input_timeout: 0.2
 * /robot_driver/low_pass_a: [1.86308158952858...
 * /robot_driver/low_pass_b: [2, 0]
 * /robot_driver/low_pass_c: [1.46952695698271...
 * /robot_driver/low_pass_d: [1.616290836790004]
 * /robot_driver/mocap_dropout_threshold: 0.027
 * /robot_driver/mocap_rate: 360.0
 * /robot_driver/publish_rate: 500
 * /robot_driver/state_timeout: 0.1
 * /robot_driver/update_rate: 500
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /rviz_interface/colors/back_left: [0, 45, 114]
 * /rviz_interface/colors/back_right: [242, 169, 0]
 * /rviz_interface/colors/front_left: [166, 25, 46]
 * /rviz_interface/colors/front_right: [0, 132, 61]
 * /rviz_interface/colors/individual_grf: [45, 31, 38]
 * /rviz_interface/colors/net_grf: [55, 51, 58]
 * /rviz_interface/orientation_subsample_num: 3
 * /rviz_interface/update_rate: 100
 * /teleop_twist_keyboard/repeat_rate: 30
 * /terrain_map_publisher/map_data_source: internal
 * /terrain_map_publisher/obstacle_height: 1.0
 * /terrain_map_publisher/obstacle_radius: 1.0
 * /terrain_map_publisher/obstacle_x: 3.0
 * /terrain_map_publisher/obstacle_y: 0.0
 * /terrain_map_publisher/resolution: 0.1
 * /terrain_map_publisher/step1_height: 0.0
 * /terrain_map_publisher/step1_x: 1.0
 * /terrain_map_publisher/step2_height: 0.0
 * /terrain_map_publisher/step2_x: 2.0
 * /terrain_map_publisher/terrain_type: slope
 * /terrain_map_publisher/update_rate: 5
 * /topics/control/joint_command: control/joint_com...
 * /topics/heartbeat/remote: heartbeat/remote
 * /topics/mocap: /mocap_node/quad/...
 * /topics/terrain_map: /terrain_map
 * /topics/terrain_map_raw: /terrain_map_raw
 * /trajectory_publisher/playback_speed: 1.0
 * /trajectory_publisher/traj_source: topic
 * /trajectory_publisher/update_rate: 60
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    grid_map_filter_node (grid_map_demos/filters_demo)
    grid_map_visualization (grid_map_visualization/grid_map_visualization)
    mesh_to_grid_map_node (quad_utils/mesh_to_grid_map_node)
    rviz (rviz/rviz)
  /robot_1/
    contact_state_publisher (gazebo_scripts/contact_state_publisher_node)
    controller_spawner (controller_manager/spawner)
    robot_driver (robot_driver/robot_driver_node)
    rviz_interface (quad_utils/rviz_interface_node)
    spawn_sdf_model (gazebo_ros/spawn_model)
  /robot_1/ground_truth/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
  /robot_1/trajectory/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [320093]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bc49db54-4cc9-11ee-8efd-f92b0d9816de
WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [320118]
started core service [/rosout]
process[gazebo-2]: started with pid [320126]
process[gazebo_gui-3]: started with pid [320128]
process[mesh_to_grid_map_node-4]: started with pid [320132]
process[grid_map_visualization-5]: started with pid [320137]
process[grid_map_filter_node-6]: started with pid [320138]
process[robot_1/spawn_sdf_model-7]: started with pid [320139]
process[robot_1/robot_driver-8]: started with pid [320140]
process[robot_1/controller_spawner-9]: started with pid [320141]
process[robot_1/contact_state_publisher-10]: started with pid [320142]
process[robot_1/trajectory/robot_state_publisher-11]: started with pid [320143]
process[robot_1/ground_truth/robot_state_publisher-12]: started with pid [320144]
process[robot_1/rviz_interface-13]: started with pid [320151]
WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
[ INFO] [1694013983.224150797]: Grid map visualization node started.
WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
[ INFO] [1694013983.228242768]: grid_map_visualizations: Configured visualization of type 'point_cloud' with name 'z_points'.
[ INFO] [1694013983.228284982]: grid_map_visualizations: Configured visualization of type 'occupancy_grid' with name 'elevation_grid'.
[ INFO] [1694013983.228300250]: grid_map_visualizations: Configured visualization of type 'vectors' with name 'surface_normals'.
process[rviz-14]: started with pid [320156]
[ INFO] [1694013983.231700251]: Grid map visualization initialized.
[ WARN] [1694013983.249018843]: The root link body has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1694013983.255012399]: The root link body has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1694013983.294959945]: Could not find the parameter: `algorithm`. Setting to default value: 'area'.
[ WARN] [1694013983.295989297]: Could not find the parameter: `parallelization_enabled`. Setting to default value: 'false'.
[ WARN] [1694013983.296039291]: Could not find the parameter: `thread_number`. Setting to default value: 'automatic'.
[ WARN] [1694013983.296103044]: Could not find the parameter: `algorithm`. Setting to default value: 'area'.
[ WARN] [1694013983.296142299]: Could not find the parameter: `parallelization_enabled`. Setting to default value: 'false'.
[ WARN] [1694013983.296171688]: Could not find the parameter: `thread_number`. Setting to default value: 'automatic'.
/home/huaizhi/yuquan/code/catkin_ws/src/quad-sdk/quad_simulator/gazebo_scripts/worlds/flat/flat.ply
WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "joy_control_Twip_api" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
[ INFO] [1694013983.367059517]: Can't find param robot_driver/estimator on rosparam server, loading default value.
[ INFO] [1694013983.384537056]: Loading sim robot driver
[ INFO] [1694013983.391824801]: Comp Filter
Gazebo multi-robot simulator, version 11.13.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Wrn] [GuiIface.cc:200] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin 
Gazebo multi-robot simulator, version 11.13.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[INFO] [1694013983.583995, 0.000000]: Waiting for /clock to be available...
[INFO] [1694013983.632106, 0.000000]: Loading model XML from ros parameter robot_description_sdf
[ INFO] [1694013983.632299407]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1694013983.633402999]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[INFO] [1694013983.641626, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.13.17
[ INFO] [1694013983.656673690]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1694013983.658120508]: waitForService: Service [/gazebo_gui/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: 192.168.13.17
[ INFO] [1694013983.742930439]: Number of polygons: 12
[ INFO] [1694013983.743722314]: Created map with size 9.000000 x 4.000000 m (180 x 80 cells).
[ INFO] [1694013983.743974051]: Published a grid map message.
[ INFO] [1694013983.744052947]: Loaded the mesh from file: /home/huaizhi/yuquan/code/catkin_ws/src/quad-sdk/quad_simulator/gazebo_scripts/worlds/flat/flat.ply. Its frame_id is set to 'map'
[Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.

image

huaizhixu commented 1 year ago

Some time later, output:

[ INFO] [1694013983.743974051]: Published a grid map message.
[ INFO] [1694013983.744052947]: Loaded the mesh from file: /home/huaizhi/yuquan/code/catkin_ws/src/quad-sdk/quad_simulator/gazebo_scripts/worlds/flat/flat.ply. Its frame_id is set to 'map'
[Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.
[Err] [ModelDatabase.cc:394] Unable to get model name[http://models.gazebosim.org/mud_box]

image

huaizhixu commented 1 year ago

Some time later, output:

[ INFO] [1694014994.608271184, 0.377000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_1/robot_description] on the ROS param server.
[ INFO] [1694014994.724330614, 0.377000000]: Loaded gazebo_ros_control.
[Msg] Waiting for model database update to complete...
[INFO] [1694014994.894702, 0.377000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1694014994.898165, 0.377000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1694014994.900287, 0.377000]: Loading controller: joint_controller
[ INFO] [1694014995.000943529, 0.377000000]: Ground Truth State Estimator: <updateRateHZ> set to: 500
[INFO] [1694014995.010302, 0.382000]: Loading controller: joint_state_controller
[INFO] [1694014995.018302, 0.390000]: Controller Spawner: Loaded controllers: joint_controller, joint_state_controller
[INFO] [1694014995.022346, 0.394000]: Started controllers: joint_controller, joint_state_controller
[robot_1/spawn_sdf_model-7] process has finished cleanly
log file: /home/huaizhi/.ros/log/ddeddd86-4cca-11ee-8efd-f92b0d9816de/robot_1-spawn_sdf_model-7*.log
pranavgo commented 12 months ago

Did you find solution to this? I am facing the exact same issue.

huaizhixu commented 12 months ago

@pranavgo i've solved the problem. The key is to add the following lines to the environment variables

#gazebo
export GAZEBO_MODEL_PATH=:/home/huaizhi/yuquan/code/catkin_ws/src/quad-sdk/quad_simulator/spirit_description:/home/huaizhi/yuquan/code/catkin_ws/src/quad-sdk/quad_simulator/other/sensor_description:/home/huaizhi/yuquan/code/catkin_ws/src/quad-sdk/quad_simulator/other/objects_description:/home/huaizhi/yuquan/code/catkin_ws/src/quad-sdk/quad_simulator/gazebo_scripts/worlds

I referred to someone's issue,he suits me