Hi,
I tried to run rrbot_control demo using gazebo-7 & ros-kinetic running on Ubuntu-16.04.
Included rrbot_control launch file at the end if rrbot_world.launch file (by removing comments around 'include' tag). Below is the screen output of roslaunch command. I had to do a Ctrl-C to regain the term.
$ roslaunch rrbot_gazebo rrbot_world.launch
... logging to /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/roslaunch-zither-25885.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.
auto-starting new master
process[master]: started with pid [25898]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 3918a0b8-c5f0-11e8-975d-7cb0c294311c
process[rosout-1]: started with pid [25912]
started core service [/rosout]
process[gazebo-2]: started with pid [25929]
process[gazebo_gui-3]: started with pid [25941]
process[urdf_spawner-4]: started with pid [25945]
process[rrbot/controller_spawner-5]: started with pid [25947]
process[robot_state_publisher-6]: started with pid [25948]
[ INFO] [1538449618.892794235]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1538449618.909493511]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1538449618.963324, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1538449618.972069895]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1538449618.973917204]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1538449619.432248, 0.000000]: Loading model XML from ros parameter
[INFO] [1538449619.435096, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1538449620.505155917, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1538449620.539891378, 0.057000000]: Physics dynamic reconfigure ready.
[INFO] [1538449620.642872, 0.155000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1538449620.725056976, 0.234000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1538449621.226623938, 0.353000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1538449621.230388673, 0.353000000]: Camera Plugin (ns = /) , set to ""
[ INFO] [1538449621.242320340, 0.353000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1538449621.242419631, 0.353000000]: Starting GazeboRosLaser Plugin (ns = /)
[ INFO] [1538449621.246678379, 0.353000000]: GPU Laser Plugin (ns = /) , set to ""
[ INFO] [1538449621.248060133, 0.353000000]: LoadThread function completed
[INFO] [1538449621.268431, 0.353000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1538449621.296642332, 0.353000000]: Loading gazebo_ros_control plugin
[ INFO] [1538449621.296743312, 0.353000000]: Starting gazebo_ros_control plugin in namespace: /rrbot
[ INFO] [1538449621.301909929, 0.353000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1538449621.319334057, 0.353000000]: Physics dynamic reconfigure ready.
[ INFO] [1538449621.423500922, 0.353000000]: Loaded gazebo_ros_control.
Unhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr
[urdf_spawner-4] process has finished cleanly
log file: /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/urdf_spawner-4*.log
[INFO] [1538449621.681938, 0.599000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1538449621.684011, 0.601000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1538449621.686209, 0.603000]: Loading controller: joint_state_controller
[INFO] [1538449621.697816, 0.615000]: Loading controller: joint1_position_controller
[INFO] [1538449621.784003, 0.703000]: Loading controller: joint2_position_controller
[INFO] [1538449621.836942, 0.756000]: Controller Spawner: Loaded controllers: joint_state_controller, joint1_position_controller, joint2_position_controller
[INFO] [1538449621.840627, 0.759000]: Started controllers: joint_state_controller, joint1_position_controller, joint2_position_controller
Segmentation fault (core dumped)
*[gazebo-2] process has died [pid 25929, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/kiran/roswork/gazebo_ros_demos/src/rrbot_gazebo/worlds/rrbot.world name:=gazebo log:=/home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/gazebo-2.log].
log file: /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/gazebo-2.log*
[gazebo_gui-3] process has finished cleanly
log file: /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/gazebo_gui-3.log
^C[robot_state_publisher-6] killing on exit
[rrbot/controller_spawner-5] killing on exit
[INFO] [1538449907.702371, 0.760000]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1538449907.703927, 0.760000]: Stopping all controllers...
[WARN] [1538449907.712064, 0.760000]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Hi, I tried to run rrbot_control demo using gazebo-7 & ros-kinetic running on Ubuntu-16.04. Included rrbot_control launch file at the end if rrbot_world.launch file (by removing comments around 'include' tag). Below is the screen output of roslaunch command. I had to do a Ctrl-C to regain the term.
$ roslaunch rrbot_gazebo rrbot_world.launch ... logging to /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/roslaunch-zither-25885.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://zither:34737/
SUMMARY
PARAMETERS
NODES /rrbot/ controller_spawner (controller_manager/spawner) / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) robot_state_publisher (robot_state_publisher/robot_state_publisher) urdf_spawner (gazebo_ros/spawn_model)
auto-starting new master process[master]: started with pid [25898] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 3918a0b8-c5f0-11e8-975d-7cb0c294311c process[rosout-1]: started with pid [25912] started core service [/rosout] process[gazebo-2]: started with pid [25929] process[gazebo_gui-3]: started with pid [25941] process[urdf_spawner-4]: started with pid [25945] process[rrbot/controller_spawner-5]: started with pid [25947] process[robot_state_publisher-6]: started with pid [25948] [ INFO] [1538449618.892794235]: Finished loading Gazebo ROS API Plugin. [ INFO] [1538449618.909493511]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [INFO] [1538449618.963324, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1538449618.972069895]: Finished loading Gazebo ROS API Plugin. [ INFO] [1538449618.973917204]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... SpawnModel script started [INFO] [1538449619.432248, 0.000000]: Loading model XML from ros parameter [INFO] [1538449619.435096, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ INFO] [1538449620.505155917, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1538449620.539891378, 0.057000000]: Physics dynamic reconfigure ready. [INFO] [1538449620.642872, 0.155000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1538449620.725056976, 0.234000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1538449621.226623938, 0.353000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1538449621.230388673, 0.353000000]: Camera Plugin (ns = /), set to ""
[ INFO] [1538449621.242320340, 0.353000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1538449621.242419631, 0.353000000]: Starting GazeboRosLaser Plugin (ns = /)
[ INFO] [1538449621.246678379, 0.353000000]: GPU Laser Plugin (ns = /) , set to ""
[ INFO] [1538449621.248060133, 0.353000000]: LoadThread function completed
[INFO] [1538449621.268431, 0.353000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1538449621.296642332, 0.353000000]: Loading gazebo_ros_control plugin
[ INFO] [1538449621.296743312, 0.353000000]: Starting gazebo_ros_control plugin in namespace: /rrbot
[ INFO] [1538449621.301909929, 0.353000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1538449621.319334057, 0.353000000]: Physics dynamic reconfigure ready.
[ INFO] [1538449621.423500922, 0.353000000]: Loaded gazebo_ros_control.
Unhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr
[urdf_spawner-4] process has finished cleanly
log file: /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/urdf_spawner-4*.log
[INFO] [1538449621.681938, 0.599000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1538449621.684011, 0.601000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1538449621.686209, 0.603000]: Loading controller: joint_state_controller
[INFO] [1538449621.697816, 0.615000]: Loading controller: joint1_position_controller
[INFO] [1538449621.784003, 0.703000]: Loading controller: joint2_position_controller
[INFO] [1538449621.836942, 0.756000]: Controller Spawner: Loaded controllers: joint_state_controller, joint1_position_controller, joint2_position_controller
[INFO] [1538449621.840627, 0.759000]: Started controllers: joint_state_controller, joint1_position_controller, joint2_position_controller
Segmentation fault (core dumped)
*[gazebo-2] process has died [pid 25929, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/kiran/roswork/gazebo_ros_demos/src/rrbot_gazebo/worlds/rrbot.world name:=gazebo log:=/home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/gazebo-2.log].
log file: /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/gazebo-2.log*
[gazebo_gui-3] process has finished cleanly
log file: /home/kiran/.ros/log/3918a0b8-c5f0-11e8-975d-7cb0c294311c/gazebo_gui-3.log
^C[robot_state_publisher-6] killing on exit
[rrbot/controller_spawner-5] killing on exit
[INFO] [1538449907.702371, 0.760000]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1538449907.703927, 0.760000]: Stopping all controllers...
[WARN] [1538449907.712064, 0.760000]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done