Nao_gazebo_plugin_H25.launch doesn't run correctly.

[ban-masa]

Hi. I can't launch nao_gazebo_plugin_H25.launch correctly. It displays nao and the field, but it can't load required controllers and this error is output.

[WARN] [WallTime: 1447018352.432452] [0.000000] Controller Spawner couldn't find the expected controller_manager ROS interface.

In addition, it doesn't publish /tf. However, when I checkout version 0.0.4, it runs correctly.

[mikaelarguedas]

It seems that the namespace has been removed in the last version. It will be fixed in nao_description soon, in the meantime you can just remove the namespace in naoGazebo.xacro.

[vrabaud]

@keulYSMB , what do I need to do here ? Do I need to make a new release of something ?

[mikaelarguedas]

@vrabaud, I'm waiting for feedback from @nlyubova to either remove the namespace from everywhere or getting back to the previous working version with "nao_dcm" namespace everywhere.

On Sun, Nov 15, 2015 at 1:39 PM, Vincent Rabaud notifications@github.com wrote:

@keulYSMB https://github.com/keulYSMB , what do I need to do here ? Do I need to make a new release of something ?

— Reply to this email directly or view it on GitHub https://github.com/ros-naoqi/nao_virtual/issues/11#issuecomment-156808991 .

[nlyubova]

Yes, it's better to remove. For me it works like it's now. What should I check/ remove else exactly ? On Nov 16, 2015 2:09 PM, "Arguedas Mikael" notifications@github.com wrote:

@vrabaud, I'm waiting for feedback from @nlyubova to either remove the namespace from everywhere or getting back to the previous working version with "nao_dcm" namespace everywhere.

On Sun, Nov 15, 2015 at 1:39 PM, Vincent Rabaud notifications@github.com wrote:

@keulYSMB https://github.com/keulYSMB , what do I need to do here ? Do I need to make a new release of something ?

— Reply to this email directly or view it on GitHub < https://github.com/ros-naoqi/nao_virtual/issues/11#issuecomment-156808991> .

— Reply to this email directly or view it on GitHub https://github.com/ros-naoqi/nao_virtual/issues/11#issuecomment-157023797 .

[mikaelarguedas]

@nlyubova Can you help me for the testing part ? I don't have access to any real NAO and I would like to be sure that by fixing the gazebo package we dont endup breaking something running on the real robot.

On Mon, Nov 16, 2015 at 2:14 PM, Natalia Lyubova notifications@github.com wrote:

Yes, it's better to remove. For me it works like it's now. What should I check/ remove else exactly ? On Nov 16, 2015 2:09 PM, "Arguedas Mikael" notifications@github.com wrote:

@vrabaud, I'm waiting for feedback from @nlyubova to either remove the namespace from everywhere or getting back to the previous working version with "nao_dcm" namespace everywhere.

On Sun, Nov 15, 2015 at 1:39 PM, Vincent Rabaud < notifications@github.com> wrote:

@keulYSMB https://github.com/keulYSMB , what do I need to do here ? Do I need to make a new release of something ?

— Reply to this email directly or view it on GitHub <

https://github.com/ros-naoqi/nao_virtual/issues/11#issuecomment-156808991>

.

— Reply to this email directly or view it on GitHub < https://github.com/ros-naoqi/nao_virtual/issues/11#issuecomment-157023797>

.

— Reply to this email directly or view it on GitHub https://github.com/ros-naoqi/nao_virtual/issues/11#issuecomment-157024518 .

[nlyubova]

Yes sure, What exactly should I test?

[zhudelong]

I got even more problems like:

[ INFO] [1448280160.397253365]: Camera Plugin (robotNamespace = /nao_robot), Info: Using the 'robotNamespace' param: '/nao_robot' [ WARN] [1448280160.397327749]: gazebo_roscamera simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.

[ INFO] [1448280161.321264566]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ INFO] [1448280161.514766100]: Loaded gazebo_ros_control. [WARN] [WallTime: 1448280188.828739] [0.000000] Controller Spawner couldn't find the expected controller_manager ROS interface.

I try to remove namespace but still not work. Anyone have an idea? thank you very much

[mikaelarguedas]

This is not an error that you should try to solve. We provide complete models for the cameras, but this version of gazebo doesn't handle advances camera models and thus does't simulate distortion. This message is just a warnong to let you know that distortion won't be simulated.

On Mon, Nov 23, 2015 at 1:08 PM, zhudelong notifications@github.com wrote:

I got even more problems like:

[ INFO] [1448280160.397253365]: Camera Plugin (robotNamespace = /nao_robot), Info: Using the 'robotNamespace' param: '/nao_robot' [ WARN] [1448280160.397327749]: gazebo_roscamera simulation does not support non-zero distortion parameters right now, your simulation maybe wrong. [ INFO] [1448280160.398905232]: Camera Plugin (robotNamespace = /nao_robot), Info: Using the 'robotNamespace' param: '/nao_robot' [ WARN] [1448280160.398950005]: gazebo_roscamera simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.

I try to remove namespace but still not work. Anyone have an idea? thank you very much

— Reply to this email directly or view it on GitHub https://github.com/ros-naoqi/nao_virtual/issues/11#issuecomment-158916156 .

[mikaelarguedas]

@nlyubova can you test the branch fixControllers ? Ideally I would like you to test it in a new workspace: 1) launch roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch 2) launch nao_dcm

I'm surprised the moveit package does not seem to be working anymore. any idea about that ? have you try it in a new setup since your changes ?

[mikaelarguedas]

BTW this should fix #12 once we figure out what's going on the moveit side

[mikaelarguedas]

I tried the new controllers on the gazebo package and they seem to be launched properly and to receive commands sent by rostopic pub. Could anyone test it on a real robot ?

[mikaelarguedas]

no need to rename controllers. bug fixed in ros-naoqi/nao_robot@f8eeae0 Tested on real and gazebo simulated robot