Closed JWijkhuizen closed 4 years ago
JWijkhuizen
commented
4 years ago I installed everything on another desktop (at the robohouse). The Invalid -W option ignored: invalid module name: 'yaml' error is gone. However, the robot still does not move. I think it tries to, but it is stuck from the start? The local planner cannot find a trajectory
JWijkhuizen
commented
4 years ago $ roslaunch metacontrol_sim MVP_metacontrol_world.launch
... logging to /home/airlab/.ros/log/0478a0c8-db16-11ea-93eb-acd564a7de0b/roslaunch-airlab-Alienware-Aurora-R9-29443.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.
started roslaunch server http://airlab-Alienware-Aurora-R9:38131/
SUMMARY
========
PARAMETERS
* /battery_load_control_node/additional_consumption: 0.0
* /battery_load_control_node/cmd_vel_topic: /cmd_vel
* /battery_load_control_node/const_acceleration: 0.1
* /battery_load_control_node/const_frequency: 0.04
* /battery_load_control_node/const_linear_vel: 1.3
* /battery_load_control_node/controller_frequency: 1.0
* /battery_load_control_node/imu_topic: /imu/data
* /battery_load_control_node/max_power_load: 5.0
* /battery_load_control_node/min_power_load: 0.2
* /battery_load_control_node/odom_topic: /odom
* /battery_load_control_node/power_load_topic: /power_load
* /ekf_localization/base_link_frame: base_link
* /ekf_localization/frequency: 50
* /ekf_localization/imu0: /imu/data
* /ekf_localization/imu0_config: [False, False, Fa...
* /ekf_localization/imu0_differential: False
* /ekf_localization/odom0: /ridgeback_veloci...
* /ekf_localization/odom0_config: [False, False, Fa...
* /ekf_localization/odom0_differential: False
* /ekf_localization/odom_frame: odom
* /ekf_localization/print_diagnostics: False
* /ekf_localization/two_d_mode: True
* /ekf_localization/world_frame: odom
* /fake_localization/base_frame_id: base_link
* /fake_localization/global_frame_id: map
* /gazebo/enable_ros_network: True
* /gazebo_ros_control/pid_gains/front_left_wheel/d: 0
* /gazebo_ros_control/pid_gains/front_left_wheel/i: 0.1
* /gazebo_ros_control/pid_gains/front_left_wheel/p: 1
* /gazebo_ros_control/pid_gains/front_right_wheel/d: 0
* /gazebo_ros_control/pid_gains/front_right_wheel/i: 0.1
* /gazebo_ros_control/pid_gains/front_right_wheel/p: 1
* /gazebo_ros_control/pid_gains/rear_left_wheel/d: 0
* /gazebo_ros_control/pid_gains/rear_left_wheel/i: 0.1
* /gazebo_ros_control/pid_gains/rear_left_wheel/p: 1
* /gazebo_ros_control/pid_gains/rear_right_wheel/d: 0
* /gazebo_ros_control/pid_gains/rear_right_wheel/i: 0.1
* /gazebo_ros_control/pid_gains/rear_right_wheel/p: 1
* /laser_filter/scan_filter_chain: [{'type': 'laser_...
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 20.0
* /move_base/TrajectoryPlannerROS/acc_lim_x: 3.6
* /move_base/TrajectoryPlannerROS/acc_lim_y: 3.6
* /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.02
* /move_base/TrajectoryPlannerROS/dwa: True
* /move_base/TrajectoryPlannerROS/escape_reset_dist: 0.1
* /move_base/TrajectoryPlannerROS/escape_reset_theta: 0.1
* /move_base/TrajectoryPlannerROS/escape_vel: -0.5
* /move_base/TrajectoryPlannerROS/goal_distance_bias: 0.7
* /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
* /move_base/TrajectoryPlannerROS/heading_scoring: False
* /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
* /move_base/TrajectoryPlannerROS/holonomic_robot: True
* /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False
* /move_base/TrajectoryPlannerROS/max_vel_theta: 1.57
* /move_base/TrajectoryPlannerROS/max_vel_x: 0.3
* /move_base/TrajectoryPlannerROS/max_vel_y: 0.3
* /move_base/TrajectoryPlannerROS/meter_scoring: True
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.375
* /move_base/TrajectoryPlannerROS/min_vel_theta: -1.57
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
* /move_base/TrajectoryPlannerROS/min_vel_y: 0.1
* /move_base/TrajectoryPlannerROS/occdist_scale: 0.05
* /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05
* /move_base/TrajectoryPlannerROS/path_distance_bias: 0.7
* /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: True
* /move_base/TrajectoryPlannerROS/sim_granularity: 0.02
* /move_base/TrajectoryPlannerROS/sim_time: 2.0
* /move_base/TrajectoryPlannerROS/simple_attractor: False
* /move_base/TrajectoryPlannerROS/vtheta_samples: 20
* /move_base/TrajectoryPlannerROS/vx_samples: 6
* /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.25
* /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.157
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: base_local_planne...
* /move_base/clearing_rotation_allowed: True
* /move_base/controller_frequency: 15
* /move_base/controller_patience: 15.0
* /move_base/global_costmap/footprint: [[0.48, -0.4], [0...
* /move_base/global_costmap/footprint_padding: 0.1
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/height: 40.0
* /move_base/global_costmap/inflater_layer/inflation_radius: 0.5
* /move_base/global_costmap/map_type: costmap
* /move_base/global_costmap/meter_scoring: True
* /move_base/global_costmap/obstacle_range: 12.0
* /move_base/global_costmap/obstacles_layer/observation_sources: scan
* /move_base/global_costmap/obstacles_layer/point_cloud/clearing: True
* /move_base/global_costmap/obstacles_layer/point_cloud/data_type: PointCloud2
* /move_base/global_costmap/obstacles_layer/point_cloud/marking: True
* /move_base/global_costmap/obstacles_layer/point_cloud/max_obstacle_height: 0.5
* /move_base/global_costmap/obstacles_layer/point_cloud/min_obstacle_height: 0.05
* /move_base/global_costmap/obstacles_layer/point_cloud/obstacle_range: 8.0
* /move_base/global_costmap/obstacles_layer/point_cloud/raytrace_range: 8.0
* /move_base/global_costmap/obstacles_layer/point_cloud/topic: camera/depth/points
* /move_base/global_costmap/obstacles_layer/scan/clearing: True
* /move_base/global_costmap/obstacles_layer/scan/data_type: LaserScan
* /move_base/global_costmap/obstacles_layer/scan/marking: True
* /move_base/global_costmap/obstacles_layer/scan/max_obstacle_height: 2.0
* /move_base/global_costmap/obstacles_layer/scan/min_obstacle_height: -2.0
* /move_base/global_costmap/obstacles_layer/scan/obstacle_range: 10.0
* /move_base/global_costmap/obstacles_layer/scan/raytrace_range: 12.0
* /move_base/global_costmap/obstacles_layer/scan/sensor_frame: front_laser
* /move_base/global_costmap/obstacles_layer/scan/topic: front/scan
* /move_base/global_costmap/origin_x: -20.0
* /move_base/global_costmap/origin_y: -20.0
* /move_base/global_costmap/origin_z: 0.0
* /move_base/global_costmap/plugins: [{'type': 'costma...
* /move_base/global_costmap/publish_frequency: 1.0
* /move_base/global_costmap/publish_voxel_map: False
* /move_base/global_costmap/raytrace_range: 13.0
* /move_base/global_costmap/resolution: 0.05
* /move_base/global_costmap/robot_base_frame: base_link
* /move_base/global_costmap/rolling_window: False
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 3.0
* /move_base/global_costmap/width: 40.0
* /move_base/global_costmap/z_resolution: 1
* /move_base/global_costmap/z_voxels: 2
* /move_base/local_costmap/footprint: [[0.48, -0.4], [0...
* /move_base/local_costmap/footprint_padding: 0.1
* /move_base/local_costmap/global_frame: map
* /move_base/local_costmap/height: 10.0
* /move_base/local_costmap/inflater_layer/inflation_radius: 0.5
* /move_base/local_costmap/map_type: costmap
* /move_base/local_costmap/meter_scoring: True
* /move_base/local_costmap/obstacle_range: 12.0
* /move_base/local_costmap/obstacles_layer/observation_sources: scan
* /move_base/local_costmap/obstacles_layer/point_cloud/clearing: True
* /move_base/local_costmap/obstacles_layer/point_cloud/data_type: PointCloud2
* /move_base/local_costmap/obstacles_layer/point_cloud/marking: True
* /move_base/local_costmap/obstacles_layer/point_cloud/max_obstacle_height: 0.5
* /move_base/local_costmap/obstacles_layer/point_cloud/min_obstacle_height: 0.05
* /move_base/local_costmap/obstacles_layer/point_cloud/obstacle_range: 8.0
* /move_base/local_costmap/obstacles_layer/point_cloud/raytrace_range: 8.0
* /move_base/local_costmap/obstacles_layer/point_cloud/topic: camera/depth/points
* /move_base/local_costmap/obstacles_layer/scan/clearing: True
* /move_base/local_costmap/obstacles_layer/scan/data_type: LaserScan
* /move_base/local_costmap/obstacles_layer/scan/marking: True
* /move_base/local_costmap/obstacles_layer/scan/max_obstacle_height: 2.0
* /move_base/local_costmap/obstacles_layer/scan/min_obstacle_height: -2.0
* /move_base/local_costmap/obstacles_layer/scan/obstacle_range: 10.0
* /move_base/local_costmap/obstacles_layer/scan/raytrace_range: 12.0
* /move_base/local_costmap/obstacles_layer/scan/sensor_frame: front_laser
* /move_base/local_costmap/obstacles_layer/scan/topic: front/scan
* /move_base/local_costmap/origin_z: 0.0
* /move_base/local_costmap/plugins: [{'type': 'costma...
* /move_base/local_costmap/publish_frequency: 1.0
* /move_base/local_costmap/publish_voxel_map: False
* /move_base/local_costmap/raytrace_range: 13.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_link
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 7.5
* /move_base/local_costmap/width: 10.0
* /move_base/local_costmap/z_resolution: 1
* /move_base/local_costmap/z_voxels: 2
* /move_base/max_planning_retries: 10
* /move_base/oscillation_distance: 0.4
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 3.0
* /move_base/planner_patience: 2.5
* /move_base/recovery_behavior_enabled: True
* /move_base/shutdown_costmaps: False
* /qa_energy: 0.34
* /qa_safety: 0.68
* /ridgeback_joint_publisher/publish_rate: 50
* /ridgeback_joint_publisher/type: joint_state_contr...
* /ridgeback_velocity_controller/angular/z/has_acceleration_limits: True
* /ridgeback_velocity_controller/angular/z/has_velocity_limits: True
* /ridgeback_velocity_controller/angular/z/max_acceleration: 1.0
* /ridgeback_velocity_controller/angular/z/max_velocity: 2.0
* /ridgeback_velocity_controller/back_left_wheel_joint: rear_left_wheel
* /ridgeback_velocity_controller/back_right_wheel_joint: rear_right_wheel
* /ridgeback_velocity_controller/cmd_vel_timeout: 0.25
* /ridgeback_velocity_controller/enable_odom_tf: False
* /ridgeback_velocity_controller/front_left_wheel_joint: front_left_wheel
* /ridgeback_velocity_controller/front_right_wheel_joint: front_right_wheel
* /ridgeback_velocity_controller/linear/x/has_acceleration_limits: True
* /ridgeback_velocity_controller/linear/x/has_velocity_limits: True
* /ridgeback_velocity_controller/linear/x/max_acceleration: 2.5
* /ridgeback_velocity_controller/linear/x/max_velocity: 1.1
* /ridgeback_velocity_controller/linear/y/has_acceleration_limits: True
* /ridgeback_velocity_controller/linear/y/has_velocity_limits: True
* /ridgeback_velocity_controller/linear/y/max_acceleration: 2.5
* /ridgeback_velocity_controller/linear/y/max_velocity: 1.1
* /ridgeback_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
* /ridgeback_velocity_controller/publish_rate: 50
* /ridgeback_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /ridgeback_velocity_controller/type: mecanum_drive_con...
* /ridgeback_velocity_controller/wheel_radius_multiplier: 1.0
* /ridgeback_velocity_controller/wheel_separation_multiplier: 1.0
* /ridgeback_velocity_controller/wheel_separation_x: 0.638
* /ridgeback_velocity_controller/wheel_separation_y: 0.551
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosgraph_manipulator/configs: ['f1_v1_r1', 'f1_...
* /rosversion: 1.14.6
* /safety_distance_publisher_node/scan_filter_chain: [{'type': 'laser_...
* /use_sim_time: True
* /workcell_description: <?xml version="1....
NODES
/
activate_observer_node (metacontrol_sim/activate_observer.py)
battery_load_control_node (metacontrol_sim/battery_load_control.py)
cmd_vel_relay (topic_tools/relay)
controller_spawner (controller_manager/spawner)
ekf_localization (robot_localization/ekf_localization_node)
fake_localization (fake_localization/fake_localization)
gazebo (gazebo_ros/gzserver)
laser_filter (laser_filters/scan_to_scan_filter_chain)
map_server (map_server/map_server)
move_base (move_base/move_base)
objective_error_publisher_node (metacontrol_sim/objective_error_publisher.py)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ros_graph_parser_node (ros_graph_parser/ros_node)
rosgraph_manipulator_node (metacontrol_sim/rosgraph_manipulator.py)
rosgraph_monitor_node (rosgraph_monitor/monitor)
rviz (rviz/rviz)
safety_distance_publisher_node (metacontrol_sim/safety_distance_publisher.py)
send_initial_goal_node (metacontrol_sim/send_goal_from_yaml.py)
urdf_spawner (gazebo_ros/spawn_model)
workcell_spawner (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [29466]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 0478a0c8-db16-11ea-93eb-acd564a7de0b
process[rosout-1]: started with pid [29477]
started core service [/rosout]
process[gazebo-2]: started with pid [29484]
process[workcell_spawner-3]: started with pid [29489]
process[robot_state_publisher-4]: started with pid [29490]
process[controller_spawner-5]: started with pid [29491]
process[ekf_localization-6]: started with pid [29492]
process[cmd_vel_relay-7]: started with pid [29493]
process[battery_load_control_node-8]: started with pid [29495]
process[map_server-9]: started with pid [29500]
process[fake_localization-10]: started with pid [29510]
process[rosgraph_manipulator_node-11]: started with pid [29512]
process[rosgraph_monitor_node-12]: started with pid [29519]
process[ros_graph_parser_node-13]: started with pid [29525]
process[laser_filter-14]: started with pid [29527]
process[safety_distance_publisher_node-15]: started with pid [29528]
process[objective_error_publisher_node-16]: started with pid [29530]
process[move_base-17]: started with pid [29531]
process[send_initial_goal_node-18]: started with pid [29533]
process[activate_observer_node-19]: started with pid [29540]
process[urdf_spawner-20]: started with pid [29544]
process[rviz-21]: started with pid [29548]
[INFO] [1597069821.437343, 0.000000]: Controller frequency: 1.0
[INFO] [1597069821.446675, 0.000000]: Waiting for service...
Service 'get_rossystem_model' added of type<class 'ros_graph_parser.srv._GetROSSystemModel.GetROSSystemModel'>
/home/airlab/metacontrol_ws/src/metacontrol_sim/scripts/send_goal_from_yaml.py:22: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
'metacontrol_sim')+'/yaml/goal.yaml', 'r'))
/home/airlab/metacontrol_ws/src/metacontrol_sim/scripts/activate_observer.py:18: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
'metacontrol_sim')+'/yaml/observers.yaml', 'r'))
energy
EnergyQualityObserver
[INFO] [1597069821.524182, 0.000000]: Waiting for service...
[ INFO] [1597069821.592197696]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1597069821.592994922]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
/home/airlab/metacontrol_ws/src/metacontrol_sim/scripts/rosgraph_manipulator.py:26: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
'metacontrol_sim')+'/yaml/goal.yaml', 'r'))
[INFO] [1597069821.809084, 0.000000]: Loading model XML from ros parameter workcell_description
[INFO] [1597069821.810788, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1597069821.824825, 0.000000]: RosgraphManipulator Action Server started.
('RosSystem { Name \'dummy_system\'\n RosComponents ( \n ComponentInterface { name \'/robot_state_publisher\'\n RosSubscribers {\n RosSubscriber \'/joint_states\' {RefSubscriber \'dummy_pkg./robot_state_publisher./robot_state_publisher./joint_states\'}}\n},\n ComponentInterface { name \'/rviz\'\n},\n ComponentInterface { name \'/battery_load_control_node\'\n RosPublishers {\n RosPublisher \'/power_load\' {RefPublisher \'dummy_pkg./battery_load_control_node./battery_load_control_node./power_load\'}}\n RosSubscribers {\n RosSubscriber \'/odom\' {RefSubscriber \'dummy_pkg./battery_load_control_node./battery_load_control_node./odom\'},\n RosSubscriber \'/imu/data\' {RefSubscriber \'dummy_pkg./battery_load_control_node./battery_load_control_node./imu/data\'},\n RosSubscriber \'/cmd_vel\' {RefSubscriber \'dummy_pkg./battery_load_control_node./battery_load_control_node./cmd_vel\'}}\n},\n ComponentInterface { name \'/laser_filter\'\n RosPublishers {\n RosPublisher \'/laser_filter/shadows/parameter_updates\' {RefPublisher \'dummy_pkg./laser_filter./laser_filter./laser_filter/shadows/parameter_updates\'},\n RosPublisher \'/laser_filter/shadows/parameter_descriptions\' {RefPublisher \'dummy_pkg./laser_filter./laser_filter./laser_filter/shadows/parameter_descriptions\'},\n RosPublisher \'/scan_filtered\' {RefPublisher \'dummy_pkg./laser_filter./laser_filter./scan_filtered\'}}\n RosSubscribers {\n RosSubscriber \'/front/scan\' {RefSubscriber \'dummy_pkg./laser_filter./laser_filter./front/scan\'}}\n RosSrvServers {\n RosServiceServer \'/laser_filter/shadows/set_parameters\' {RefServer \'dummy_pkg./laser_filter./laser_filter./laser_filter/shadows/set_parameters\'}}\n},\n ComponentInterface { name \'/map_server\'\n},\n ComponentInterface { name \'/cmd_vel_relay\'\n RosSubscribers {\n RosSubscriber \'/cmd_vel\' {RefSubscriber \'dummy_pkg./cmd_vel_relay./cmd_vel_relay./cmd_vel\'}}\n},\n ComponentInterface { name \'/fake_localization\'\n RosPublishers {\n RosPublisher \'/particlecloud\' {RefPublisher \'dummy_pkg./fake_localization./fake_localization./particlecloud\'},\n RosPublisher \'/amcl_pose\' {RefPublisher \'dummy_pkg./fake_localization./fake_localization./amcl_pose\'}}\n RosSubscribers {\n RosSubscriber \'/ground_truth/state\' {RefSubscriber \'dummy_pkg./fake_localization./fake_localization./ground_truth/state\'},\n RosSubscriber \'/initialpose\' {RefSubscriber \'dummy_pkg./fake_localization./fake_localization./initialpose\'}}\n},\n ComponentInterface { name \'/ekf_localization\'\n RosPublishers {\n RosPublisher \'/odometry/filtered\' {RefPublisher \'dummy_pkg./ekf_localization./ekf_localization./odometry/filtered\'},\n RosPublisher \'/diagnostics\' {RefPublisher \'dummy_pkg./ekf_localization./ekf_localization./diagnostics\'}}\n RosSubscribers {\n RosSubscriber \'/set_pose\' {RefSubscriber \'dummy_pkg./ekf_localization./ekf_localization./set_pose\'},\n RosSubscriber \'/imu/data\' {RefSubscriber \'dummy_pkg./ekf_localization./ekf_localization./imu/data\'},\n RosSubscriber \'/ridgeback_velocity_controller/odom\' {RefSubscriber \'dummy_pkg./ekf_localization./ekf_localization./ridgeback_velocity_controller/odom\'}}\n RosSrvServers {\n RosServiceServer \'/set_pose\' {RefServer \'dummy_pkg./ekf_localization./ekf_localization./set_pose\'},\n RosServiceServer \'/ekf_localization/toggle\' {RefServer \'dummy_pkg./ekf_localization./ekf_localization./ekf_localization/toggle\'},\n RosServiceServer \'/ekf_localization/enable\' {RefServer \'dummy_pkg./ekf_localization./ekf_localization./ekf_localization/enable\'}}\n},\n ComponentInterface { name \'/controller_spawner\'\n},\n ComponentInterface { name \'/move_base\'\n RosPublishers {\n RosPublisher \'/cmd_vel\' {RefPublisher \'dummy_pkg./move_base./move_base./cmd_vel\'},\n RosPublisher \'/move_base/current_goal\' {RefPublisher \'dummy_pkg./move_base./move_base./move_base/current_goal\'},\n RosPublisher \'/move_base/goal\' {RefPublisher \'dummy_pkg./move_base./move_base./move_base/goal\'}}\n RosSubscribers {\n RosSubscriber \'/move_base_simple/goal\' {RefSubscriber \'dummy_pkg./move_base./move_base./move_base_simple/goal\'}}\n},\n ComponentInterface { name \'/ros_graph_parser_node\'\n RosSrvServers {\n RosServiceServer \'/get_rossystem_model\' {RefServer \'dummy_pkg./ros_graph_parser_node./ros_graph_parser_node./get_rossystem_model\'},\n RosServiceServer \'/get_ros_model\' {RefServer \'dummy_pkg./ros_graph_parser_node./ros_graph_parser_node./get_ros_model\'}}\n},\n ComponentInterface { name \'/rosgraph_monitor_node\'\n RosPublishers {\n RosPublisher \'/diagnostics\' {RefPublisher \'dummy_pkg./rosgraph_monitor_node./rosgraph_monitor_node./diagnostics\'}}\n},\n ComponentInterface { name \'/send_initial_goal_node\'\n},\n ComponentInterface { name \'parameters_node\'\n RosParameters {\n RosParameter \'/ridgeback_velocity_controller/publish_rate\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/publish_rate\' value 50},\n RosParameter \'/battery_load_control_node/min_power_load\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/min_power_load\' value 0.2},\n RosParameter \'/move_base/global_costmap/width\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/width\' value 40.0},\n RosParameter \'/gazebo_ros_control/pid_gains/front_left_wheel/d\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/front_left_wheel/d\' value 0},\n RosParameter \'/move_base/global_costmap/obstacles_layer/point_cloud/raytrace_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/point_cloud/raytrace_range\' value 8.0},\n RosParameter \'/move_base/max_planning_retries\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/max_planning_retries\' value 10},\n RosParameter \'/move_base/TrajectoryPlannerROS/simple_attractor\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/simple_attractor\' value false},\n RosParameter \'/move_base/shutdown_costmaps\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/shutdown_costmaps\' value false},\n RosParameter \'/ekf_localization/world_frame\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/world_frame\' value \'odom\'},\n RosParameter \'/move_base/global_costmap/publish_voxel_map\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/publish_voxel_map\' value false},\n RosParameter \'/ekf_localization/imu0_differential\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/imu0_differential\' value false},\n RosParameter \'/move_base/TrajectoryPlannerROS/min_vel_x\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/min_vel_x\' value 0.1},\n RosParameter \'/ridgeback_velocity_controller/linear/x/has_velocity_limits\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/linear/x/has_velocity_limits\' value true},\n RosParameter \'/move_base/planner_patience\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/planner_patience\' value 2.5},\n RosParameter \'/move_base/base_global_planner\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/base_global_planner\' value \'navfn/NavfnROS\'},\n RosParameter \'/ridgeback_velocity_controller/angular/z/has_acceleration_limits\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/angular/z/has_acceleration_limits\' value true},\n RosParameter \'/move_base/TrajectoryPlannerROS/max_vel_x\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/max_vel_x\' value 0.3},\n RosParameter \'/move_base/global_costmap/meter_scoring\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/meter_scoring\' value true},\n RosParameter \'/move_base/global_costmap/origin_y\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/origin_y\' value -20.0},\n RosParameter \'/move_base/TrajectoryPlannerROS/sim_time\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/sim_time\' value 2.0},\n RosParameter \'/move_base/global_costmap/footprint_padding\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/footprint_padding\' value 0.1},\n RosParameter \'/battery_load_control_node/controller_frequency\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/controller_frequency\' value 1.0},\n RosParameter \'/move_base/TrajectoryPlannerROS/heading_lookahead\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/heading_lookahead\' value 0.325},\n RosParameter \'/move_base/global_costmap/raytrace_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/raytrace_range\' value 13.0},\n RosParameter \'/gazebo_ros_control/pid_gains/front_left_wheel/i\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/front_left_wheel/i\' value 0.1},\n RosParameter \'/ridgeback_velocity_controller/linear/x/has_acceleration_limits\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/linear/x/has_acceleration_limits\' value true},\n RosParameter \'/move_base/global_costmap/footprint\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/footprint\' value {{0.48, -0.4}, {0.48, 0.4}, {-0.48, 0.4}, {-0.48, -0.4}}},\n RosParameter \'/move_base/global_costmap/height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/height\' value 40.0},\n RosParameter \'/move_base/TrajectoryPlannerROS/acc_lim_theta\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/acc_lim_theta\' value 20.0},\n RosParameter \'/gazebo_ros_control/pid_gains/front_right_wheel/p\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/front_right_wheel/p\' value 1},\n RosParameter \'/move_base/global_costmap/update_frequency\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/update_frequency\' value 3.0},\n RosParameter \'/move_base/global_costmap/z_voxels\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/z_voxels\' value 2},\n RosParameter \'/gazebo_ros_control/pid_gains/front_right_wheel/d\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/front_right_wheel/d\' value 0},\n RosParameter \'/move_base/global_costmap/obstacles_layer/point_cloud/max_obstacle_height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/point_cloud/max_obstacle_height\' value 0.5},\n RosParameter \'/gazebo_ros_control/pid_gains/rear_right_wheel/i\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/rear_right_wheel/i\' value 0.1},\n RosParameter \'/ridgeback_velocity_controller/linear/x/max_acceleration\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/linear/x/max_acceleration\' value 2.5},\n RosParameter \'/move_base/TrajectoryPlannerROS/publish_cost_grid_pc\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/publish_cost_grid_pc\' value true},\n RosParameter \'/move_base/global_costmap/map_type\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/map_type\' value \'costmap\'},\n RosParameter \'/gazebo_ros_control/pid_gains/rear_left_wheel/i\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/rear_left_wheel/i\' value 0.1},\n RosParameter \'/ridgeback_velocity_controller/linear/y/has_velocity_limits\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/linear/y/has_velocity_limits\' value true},\n RosParameter \'/gazebo_ros_control/pid_gains/rear_right_wheel/d\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/rear_right_wheel/d\' value 0},\n RosParameter \'/move_base/global_costmap/obstacle_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacle_range\' value 12.0},\n RosParameter \'/move_base/global_costmap/inflater_layer/inflation_radius\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/inflater_layer/inflation_radius\' value 0.5},\n RosParameter \'/move_base/global_costmap/obstacles_layer/observation_sources\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/observation_sources\' value \'scan\'},\n RosParameter \'/move_base/TrajectoryPlannerROS/yaw_goal_tolerance\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/yaw_goal_tolerance\' value 0.157},\n RosParameter \'/move_base/global_costmap/global_frame\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/global_frame\' value \'map\'},\n RosParameter \'/move_base/controller_frequency\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/controller_frequency\' value 15},\n RosParameter \'/ridgeback_velocity_controller/twist_covariance_diagonal\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/twist_covariance_diagonal\' value {0.001, 0.001, 0.001, 1000000.0, 1000000.0, 0.03}},\n RosParameter \'/fake_localization/global_frame_id\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./fake_localization/global_frame_id\' value \'map\'},\n RosParameter \'/gazebo_ros_control/pid_gains/rear_left_wheel/p\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/rear_left_wheel/p\' value 1},\n RosParameter \'/ekf_localization/base_link_frame\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/base_link_frame\' value \'base_link\'},\n RosParameter \'/move_base/global_costmap/rolling_window\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/rolling_window\' value false},\n RosParameter \'/workcell_description\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./workcell_description\' value \'<?xml version="1.0" encoding="utf-8"?>\n<!-- =================================================================================== -->\n<!-- | This document was autogenerated by xacro from /home/airlab/metacontrol_ws/src/metacontrol_sim/urdf/workcell/workcell.xacro | -->\n<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->\n<!-- =================================================================================== -->\n<robot name="workcell">\n <!-- Links -->\n <link name="world_interface"/>\n <link name="workcell">\n <visual>\n <geometry>\n <mesh filename="package://metacontrol_sim/meshes/workcell/visual/workcell.dae"/>\n </geometry>\n </visual>\n <collision>\n <geometry>\n <mesh filename="package://metacontrol_sim/meshes/workcell/collision/workcell.dae"/>\n </geometry>\n </collision>\n <inertial>\n <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>\n <mass value="100"/>\n </inertial>\n </link>\n <joint name="workcell_to_world_interface" type="fixed">\n <parent link="world_interface"/>\n <child link="workcell"/>\n <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>\n </joint>\n <gazebo>\n <static>true</static>\n </gazebo>\n</robot>\n\n\'},\n RosParameter \'/move_base/global_costmap/obstacles_layer/point_cloud/data_type\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/point_cloud/data_type\' value \'PointCloud2\'},\n RosParameter \'/move_base/global_costmap/resolution\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/resolution\' value 0.05},\n RosParameter \'/ekf_localization/frequency\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/frequency\' value 50},\n RosParameter \'/ridgeback_velocity_controller/pose_covariance_diagonal\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/pose_covariance_diagonal\' value {0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03}},\n RosParameter \'/rosgraph_manipulator/configs\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./rosgraph_manipulator/configs\' value {\'f1_v1_r1\', \'f1_v1_r2\', \'f1_v1_r3\', \'f1_v2_r1\', \'f1_v2_r2\', \'f1_v2_r3\', \'f1_v3_r1\', \'f1_v3_r2\', \'f1_v3_r3\', \'f2_v1_r1\', \'f2_v1_r2\', \'f2_v1_r3\', \'f2_v2_r1\', \'f2_v2_r2\', \'f2_v2_r3\', \'f2_v3_r1\', \'f2_v3_r2\', \'f2_v3_r3\', \'f3_v1_r1\', \'f3_v1_r2\', \'f3_v1_r3\', \'f3_v2_r1\', \'f3_v2_r2\', \'f3_v2_r3\', \'f3_v3_r1\', \'f3_v3_r2\', \'f3_v3_r3\'}},\n RosParameter \'/move_base/global_costmap/plugins\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/plugins\' value {\n { \'type\' { value \'costmap_2d::StaticLayer\'}},\n { \'name\' { value \'static_layer\'}}}},\n RosParameter \'/gazebo_ros_control/pid_gains/rear_left_wheel/d\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/rear_left_wheel/d\' value 0},\n RosParameter \'/move_base/global_costmap/obstacles_layer/point_cloud/obstacle_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/point_cloud/obstacle_range\' value 8.0},\n RosParameter \'/move_base/global_costmap/z_resolution\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/z_resolution\' value 1},\n RosParameter \'/move_base/TrajectoryPlannerROS/heading_scoring\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/heading_scoring\' value false},\n RosParameter \'/move_base/global_costmap/obstacles_layer/point_cloud/marking\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/point_cloud/marking\' value true},\n RosParameter \'/move_base/base_local_planner\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/base_local_planner\' value \'base_local_planner/TrajectoryPlannerROS\'},\n RosParameter \'/move_base/oscillation_distance\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/oscillation_distance\' value 0.4},\n RosParameter \'/move_base/global_costmap/obstacles_layer/point_cloud/min_obstacle_height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/point_cloud/min_obstacle_height\' value 0.05},\n RosParameter \'/ekf_localization/odom_frame\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/odom_frame\' value \'odom\'},\n RosParameter \'/move_base/global_costmap/obstacles_layer/point_cloud/clearing\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/point_cloud/clearing\' value true},\n RosParameter \'/move_base/local_costmap/footprint_padding\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/footprint_padding\' value 0.1},\n RosParameter \'/battery_load_control_node/imu_topic\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/imu_topic\' value \'/imu/data\'},\n RosParameter \'/move_base/local_costmap/height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/height\' value 10.0},\n RosParameter \'/ridgeback_velocity_controller/angular/z/max_velocity\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/angular/z/max_velocity\' value 2.0},\n RosParameter \'/move_base/oscillation_timeout\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/oscillation_timeout\' value 10.0},\n RosParameter \'/move_base/local_costmap/update_frequency\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/update_frequency\' value 7.5},\n RosParameter \'/move_base/global_costmap/obstacles_layer/point_cloud/topic\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/point_cloud/topic\' value \'camera/depth/points\'},\n RosParameter \'/ekf_localization/imu0_config\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/imu0_config\' value {False, False, False, False, False, False, False, False, False, False, False, True, True, True, False}},\n RosParameter \'/ekf_localization/imu0\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/imu0\' value \'/imu/data\'},\n RosParameter \'/move_base/global_costmap/obstacles_layer/scan/obstacle_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/scan/obstacle_range\' value 10.0},\n RosParameter \'/move_base/controller_patience\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/controller_patience\' value 15.0},\n RosParameter \'/robot_description\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./robot_description\' value \'<?xml version="1.0" encoding="utf-8"?>\n<!-- =================================================================================== -->\n<!-- | This document was autogenerated by xacro from /home/airlab/metacontrol_ws/src/metacontrol_sim/urdf/ridgeback/ridgeback.xacro | -->\n<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->\n<!-- =================================================================================== -->\n<robot name="ridgeback">\n <material name="dark_grey">\n <color rgba="0.2 0.2 0.2 1.0"/>\n </material>\n <material name="light_grey">\n <color rgba="0.4 0.4 0.4 1.0"/>\n </material>\n <material name="red">\n <color rgba="0.8 0.0 0.0 1.0"/>\n </material>\n <material name="white">\n <color rgba="0.9 0.9 0.9 1.0"/>\n </material>\n <material name="yellow">\n <color rgba="0.8 0.8 0.0 1.0"/>\n </material>\n <material name="black">\n <color rgba="0.15 0.15 0.15 1.0"/>\n </material>\n <link name="front_rocker_link">\n <visual>\n <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/rocker.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n <inertial>\n <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>\n <mass value="10.267"/>\n <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>\n </inertial>\n </link>\n <joint name="front_rocker" type="revolute">\n <parent link="axle_link"/>\n <child link="front_rocker_link"/>\n <origin rpy="0 0 0" xyz="0.319 0 0"/>\n <axis xyz="1 0 0"/>\n <limit effort="0" lower="-0.08726" upper="0.08726" velocity="0"/>\n </joint>\n <link name="front_left_wheel_link">\n <visual>\n <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/wheel.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n <collision>\n <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>\n <geometry>\n <cylinder length="0.079" radius="0.0759"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <mass value="2.3"/>\n <inertia ixx="3.3212e-3" ixy="0" ixz="0" iyy="6.6424e-3" iyz="0" izz="3.3212e-3"/>\n </inertial>\n </link>\n <joint name="front_left_wheel" type="continuous">\n <parent link="front_rocker_link"/>\n <child link="front_left_wheel_link"/>\n <origin rpy="0 0 0" xyz="0 0.2755 0"/>\n <axis xyz="0 1 0"/>\n </joint>\n <transmission name="front_wheel_trans">\n <type>transmission_interface/SimpleTransmission</type>\n <joint name="front_left_wheel">\n <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>\n </joint>\n <actuator name="front_left_actuator">\n <mechanicalReduction>1</mechanicalReduction>\n </actuator>\n </transmission>\n <link name="front_right_wheel_link">\n <visual>\n <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/wheel.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n <collision>\n <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>\n <geometry>\n <cylinder length="0.079" radius="0.0759"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <mass value="2.3"/>\n <inertia ixx="3.3212e-3" ixy="0" ixz="0" iyy="6.6424e-3" iyz="0" izz="3.3212e-3"/>\n </inertial>\n </link>\n <joint name="front_right_wheel" type="continuous">\n <parent link="front_rocker_link"/>\n <child link="front_right_wheel_link"/>\n <origin rpy="0 0 0" xyz="0 -0.2755 0"/>\n <axis xyz="0 1 0"/>\n </joint>\n <transmission name="front_wheel_trans">\n <type>transmission_interface/SimpleTransmission</type>\n <joint name="front_right_wheel">\n <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>\n </joint>\n <actuator name="front_right_actuator">\n <mechanicalReduction>1</mechanicalReduction>\n </actuator>\n </transmission>\n <link name="rear_rocker_link">\n <visual>\n <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/rocker.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n <inertial>\n <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>\n <mass value="10.267"/>\n <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>\n </inertial>\n </link>\n <joint name="rear_rocker" type="fixed">\n <parent link="axle_link"/>\n <child link="rear_rocker_link"/>\n <origin rpy="0 0 0" xyz="-0.319 0 0"/>\n <axis xyz="1 0 0"/>\n <limit effort="0" velocity="0"/>\n </joint>\n <link name="rear_left_wheel_link">\n <visual>\n <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/wheel.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n <collision>\n <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>\n <geometry>\n <cylinder length="0.079" radius="0.0759"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <mass value="2.3"/>\n <inertia ixx="3.3212e-3" ixy="0" ixz="0" iyy="6.6424e-3" iyz="0" izz="3.3212e-3"/>\n </inertial>\n </link>\n <joint name="rear_left_wheel" type="continuous">\n <parent link="rear_rocker_link"/>\n <child link="rear_left_wheel_link"/>\n <origin rpy="0 0 0" xyz="0 0.2755 0"/>\n <axis xyz="0 1 0"/>\n </joint>\n <transmission name="rear_wheel_trans">\n <type>transmission_interface/SimpleTransmission</type>\n <joint name="rear_left_wheel">\n <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>\n </joint>\n <actuator name="rear_left_actuator">\n <mechanicalReduction>1</mechanicalReduction>\n </actuator>\n </transmission>\n <link name="rear_right_wheel_link">\n <visual>\n <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/wheel.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n <collision>\n <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>\n <geometry>\n <cylinder length="0.079" radius="0.0759"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <mass value="2.3"/>\n <inertia ixx="3.3212e-3" ixy="0" ixz="0" iyy="6.6424e-3" iyz="0" izz="3.3212e-3"/>\n </inertial>\n </link>\n <joint name="rear_right_wheel" type="continuous">\n <parent link="rear_rocker_link"/>\n <child link="rear_right_wheel_link"/>\n <origin rpy="0 0 0" xyz="0 -0.2755 0"/>\n <axis xyz="0 1 0"/>\n </joint>\n <transmission name="rear_wheel_trans">\n <type>transmission_interface/SimpleTransmission</type>\n <joint name="rear_right_wheel">\n <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>\n </joint>\n <actuator name="rear_right_actuator">\n <mechanicalReduction>1</mechanicalReduction>\n </actuator>\n </transmission>\n <link name="base_link">\n\n </link>\n <joint name="base_link_joint" type="fixed">\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <parent link="base_link"/>\n <child link="chassis_link"/>\n </joint>\n <link name="chassis_link">\n <visual>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/body.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n <collision>\n <origin xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/body-collision.stl"/>\n </geometry>\n </collision>\n <inertial>\n <origin rpy="1.57079632679 0 1.57079632679" xyz="0.012 0.002 0.067"/>\n <mass value="165.304"/>\n <inertia ixx="4.4744" ixy="0.03098" ixz="0.003647" iyy="7.1624" iyz="0.1228" izz="4.6155"/>\n </inertial>\n </link>\n <joint name="right_side_cover_link_joint" type="fixed">\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <parent link="chassis_link"/>\n <child link="right_side_cover_link"/>\n </joint>\n <joint name="left_side_cover_link_joint" type="fixed">\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <parent link="chassis_link"/>\n <child link="left_side_cover_link"/>\n </joint>\n <link name="left_side_cover_link">\n <visual>\n <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/side-cover.stl"/>\n </geometry>\n <material name="yellow"/>\n </visual>\n </link>\n <link name="right_side_cover_link">\n <visual>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/side-cover.stl"/>\n </geometry>\n <material name="yellow"/>\n </visual>\n </link>\n <joint name="front_cover_link_joint" type="fixed">\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <parent link="chassis_link"/>\n <child link="front_cover_link"/>\n </joint>\n <link name="front_cover_link">\n <visual>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/end-cover.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n </link>\n <joint name="rear_cover_link_joint" type="fixed">\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <parent link="chassis_link"/>\n <child link="rear_cover_link"/>\n </joint>\n <link name="rear_cover_link">\n <visual>\n <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/end-cover.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n </link>\n <joint name="front_lights_link_joint" type="fixed">\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <parent link="chassis_link"/>\n <child link="front_lights_link"/>\n </joint>\n <joint name="rear_lights_link_joint" type="fixed">\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <parent link="chassis_link"/>\n <child link="rear_lights_link"/>\n </joint>\n <link name="front_lights_link">\n <visual>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/lights.stl"/>\n </geometry>\n <material name="white"/>\n </visual>\n </link>\n <link name="rear_lights_link">\n <visual>\n <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/lights.stl"/>\n </geometry>\n <material name="red"/>\n </visual>\n </link>\n <joint name="top_link_joint" type="fixed">\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <parent link="chassis_link"/>\n <child link="top_link"/>\n </joint>\n <link name="top_link">\n <visual>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/top.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n <collision>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/top.stl"/>\n </geometry>\n </collision>\n </link>\n <joint name="axle_joint" type="fixed">\n <origin rpy="0 0 0" xyz="0 0 0.05"/>\n <parent link="chassis_link"/>\n <child link="axle_link"/>\n </joint>\n <link name="axle_link">\n <visual>\n <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>\n <geometry>\n <mesh filename="package://ridgeback_description/meshes/axle.stl"/>\n </geometry>\n <material name="black"/>\n </visual>\n </link>\n <link name="imu_link">\n <inertial>\n <mass value="0.001"/>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>\n </inertial>\n </link>\n <joint name="imu_joint" type="fixed">\n <parent link="chassis_link"/>\n <child link="imu_link"/>\n <origin rpy="0 0 0" xyz="0.2085 -0.2902 0.1681"/>\n </joint>\n <link name="mid_mount"/>\n <joint name="mid_mount_joint" type="fixed">\n <parent link="base_link"/>\n <child link="mid_mount"/>\n <origin rpy="0 0 0" xyz="0 0 0.28"/>\n </joint>\n <link name="battery_link">\n <inertial>\n <mass value="0.001"/>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>\n </inertial>\n </link>\n <joint name="battery_joint" type="fixed">\n <parent link="base_link"/>\n <child link="battery_link"/>\n <origin rpy="0 0 0" xyz="0.2085 -0.2902 0.1681"/>\n </joint>\n <!-- Vacuum Gripper -->\n <gazebo>\n <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">\n <robotNamespace>/</robotNamespace>\n </plugin>\n </gazebo>\n <gazebo>\n <plugin filename="libridgeback_ros_force_based_move.so" name="ridgeback_ros_force_based_move">\n <robotNamespace>/</robotNamespace>\n <commandTopic>cmd_vel</commandTopic>\n <odometryTopic>odom</odometryTopic>\n <odometryFrame>odom</odometryFrame>\n <odometryRate>25.0</odometryRate>\n <robotBaseFrame>base_link</robotBaseFrame>\n <cmdVelTimeOut>0.25</cmdVelTimeOut>\n <!-- Don\'t publish a transform: the controller does it. -->\n <publishOdometryTf>0</publishOdometryTf>\n <yaw_velocity_p_gain>500.0</yaw_velocity_p_gain>\n <x_velocity_p_gain>10000.0</x_velocity_p_gain>\n <y_velocity_p_gain>10000.0</y_velocity_p_gain>\n </plugin>\n </gazebo>\n <gazebo>\n <plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">\n <robotNamespace>/</robotNamespace>\n <updateRate>50.0</updateRate>\n <bodyName>imu_link</bodyName>\n <topicName>imu/data</topicName>\n <frameId>base_link</frameId>\n <accelDrift>0.005 0.005 0.005</accelDrift>\n <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>\n <rateDrift>0.00005 0.00005 0.00005</rateDrift>\n <rateGaussianNoise>0.00005 0.00005 0.00005</rateGaussianNoise>\n <headingDrift>0.005</headingDrift>\n <headingGaussianNoise>0.005</headingGaussianNoise>\n </plugin>\n </gazebo>\n <gazebo>\n <plugin filename="libgazebo_ros_joint_state_publisher.so" name="gazebo_ros_joint_state_publisher">\n <jointName>front_rocker</jointName>\n <robotNamespace>/</robotNamespace>\n <updateRate>50.0</updateRate>\n </plugin>\n </gazebo>\n <gazebo>\n <plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">\n <alwaysOn>true</alwaysOn>\n <updateRate>50.0</updateRate>\n <bodyName>base_link</bodyName>\n <topicName>ground_truth/state</topicName>\n <gaussianNoise>0.01</gaussianNoise>\n <frameName>world</frameName>\n <xyzOffsets>0 0 0</xyzOffsets>\n <rpyOffsets>0 0 0</rpyOffsets>\n </plugin>\n </gazebo>\n <!--\n <gazebo reference="battery_link">\n <battery name="linear_battery">\n <voltage>12.592</voltage>\n </battery>\n </gazebo>\n\n <plugin name="battery" filename="libbattery_discharge.so">\n <ros_node>battery_monitor_client</ros_node>\n <link_name>battery_link</link_name>\n <battery_name>linear_battery</battery_name>\n <constant_coef>12.694</constant_coef>\n <linear_coef>-100.1424</linear_coef>\n <initial_charge>1.1665</initial_charge>\n <capacity>1.2009</capacity>\n <resistance>0.061523</resistance>\n <smooth_current_tau>1.9499</smooth_current_tau>\n <charge_rate>0.2</charge_rate>\n </plugin>\n\n\n <plugin name="consumer" filename="libbattery_consumer.so">\n <link_name>battery_link</link_name>\n <battery_name>linear_battery</battery_name>\n <power_load>6.6</power_load>\n </plugin>\n\n<gazebo>\n <plugin name="battery" filename="libLinearBatteryPlugin.so">\n <link_name>battery_link</link_name>\n <battery_name>linear_battery</battery_name>\n <open_circuit_voltage_constant_coef>25</open_circuit_voltage_constant_coef>\n <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>\n <initial_charge>1.1665</initial_charge>\n <capacity>1.2009</capacity>\n <resistance>0.061523</resistance>\n <smooth_current_tau>1.9499</smooth_current_tau>\n <update_rate>0.1</update_rate>\n </plugin>\n</gazebo>\n\n\n<gazebo>\n <plugin name="battery_link_battery_consumer" filename="libcustom_battery_consumer_ros_plugin.so">\n <link_name>battery_link</link_name>\n <battery_name>linear_battery</battery_name>\n <power_load>6.6</power_load>\n <topic_device_state>battery_topic</topic_device_state>\n </plugin>\n</gazebo>\n <gazebo>\n <plugin name="motherboard" filename="libLinearBatteryConsumerPlugin.so">\n <link_name>base_link</link_name>\n <battery_name>linear_battery</battery_name>\n <power_load>6.6</power_load>\n </plugin>\n </gazebo>\n-->\n <!-- All static links get collapsed down to base_link in Gazebo, so that\'s\n the one to apply the colour to (in Gazebo 5+). -->\n <gazebo reference="base_link">\n <material>Gazebo/DarkGrey</material>\n <gravity>true</gravity>\n </gazebo>\n <!-- Individual link colouring still needed in Gazebo 2.x -->\n <gazebo reference="chassis_link">\n <material>Gazebo/DarkGrey</material>\n </gazebo>\n <gazebo reference="top_link">\n <material>Gazebo/DarkGrey</material>\n </gazebo>\n <gazebo reference="left_side_cover_link">\n <material>Gazebo/Yellow</material>\n </gazebo>\n <gazebo reference="right_side_cover_link">\n <material>Gazebo/Yellow</material>\n </gazebo>\n <gazebo reference="front_cover_link">\n <material>Gazebo/DarkGrey</material>\n </gazebo>\n <gazebo reference="rear_cover_link">\n <material>Gazebo/DarkGrey</material>\n </gazebo>\n <gazebo reference="front_lights_link">\n <material>Gazebo/White</material>\n </gazebo>\n <gazebo reference="rear_lights_link">\n <material>Gazebo/Red</material>\n </gazebo>\n <gazebo reference="front_rocker_link">\n <material>Gazebo/DarkGrey</material>\n </gazebo>\n <gazebo reference="rear_rocker_link">\n <material>Gazebo/DarkGrey</material>\n </gazebo>\n <gazebo reference="axle_link">\n <material>Gazebo/DarkGrey</material>\n </gazebo>\n <!-- Wheel friction to zero, as movement is handled by applying forces at\n the body level. -->\n <gazebo reference="front_left_wheel_link">\n <material>Gazebo/DarkGrey</material>\n <mu1>0.0</mu1>\n <mu2>0.0</mu2>\n </gazebo>\n <gazebo reference="front_right_wheel_link">\n <material>Gazebo/DarkGrey</material>\n <mu1>0.0</mu1>\n <mu2>0.0</mu2>\n </gazebo>\n <gazebo reference="rear_left_wheel_link">\n <material>Gazebo/DarkGrey</material>\n <mu1>0.0</mu1>\n <mu2>0.0</mu2>\n </gazebo>\n <gazebo reference="rear_right_wheel_link">\n <material>Gazebo/DarkGrey</material>\n <mu1>0.0</mu1>\n <mu2>0.0</mu2>\n </gazebo>\n <joint name="front_laser_joint" type="fixed">\n <origin rpy="0 0 0.0" xyz="0.3932 0 0.2330"/>\n <parent link="chassis_link"/>\n <child link="front_laser"/>\n </joint>\n <link name="front_laser">\n <inertial>\n <mass value="0.130"/>\n <origin xyz="0 0 0"/>\n <inertia ixx="8.01666346e-05" ixy="0.0" ixz="0.0" iyy="8.01666346e-05" iyz="0.0" izz="5.4166645e-05"/>\n </inertial>\n <visual>\n <origin rpy="0 0 0" xyz="0 0 0"/>\n <geometry>\n <!-- Origin of this mesh is the focal point of the LIDAR. -->\n <mesh filename="package://ridgeback_description/meshes/ust-10lx.stl"/>\n </geometry>\n <material name="dark_grey"/>\n </visual>\n <collision>\n <origin rpy="0 0 0" xyz="0 0 -0.0122"/>\n <geometry>\n <box size="0.05 0.05 0.07"/>\n </geometry>\n </collision>\n </link>\n <gazebo reference="front_laser">\n <turnGravityOff>false</turnGravityOff>\n <sensor name="front_laser" type="ray">\n <pose>0 0 0 0 0 0</pose>\n <visualize>false</visualize>\n <update_rate>50</update_rate>\n <ray>\n <scan>\n <horizontal>\n <samples>720</samples>\n <resolution>1</resolution>\n <min_angle>-2.35619</min_angle>\n <max_angle>2.35619</max_angle>\n </horizontal>\n </scan>\n <range>\n <min>0.20</min>\n <max>10.0</max>\n <resolution>0.01</resolution>\n </range>\n <noise>\n <type>gaussian</type>\n <mean>0.0</mean>\n <stddev>0.001</stddev>\n </noise>\n </ray>\n <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_laser">\n <topicName>front/scan</topicName>\n <frameName>front_laser</frameName>\n <hokuyoMinIntensity>101</hokuyoMinIntensity>\n </plugin>\n </sensor>\n <material>Gazebo/DarkGrey</material>\n </gazebo>\n</robot>\n\n\'},\n RosParameter \'/move_base/global_costmap/obstacles_layer/scan/marking\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/scan/marking\' value true},\n RosParameter \'/move_base/recovery_behavior_enabled\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/recovery_behavior_enabled\' value true},\n RosParameter \'/battery_load_control_node/odom_topic\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/odom_topic\' value \'/odom\'},\n RosParameter \'/move_base/global_costmap/obstacles_layer/scan/data_type\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/scan/data_type\' value \'LaserScan\'},\n RosParameter \'/move_base/global_costmap/obstacles_layer/scan/min_obstacle_height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/scan/min_obstacle_height\' value -2.0},\n RosParameter \'/safety_distance_publisher_node/scan_filter_chain\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./safety_distance_publisher_node/scan_filter_chain\' value {\n { \'type\' { value \'laser_filters/LaserScanAngularBoundsFilter\'}},\n { \'params\' { value {\n { \'lower_angle\' { value -1.99}},\n { \'upper_angle\' { value 1.99}}}}},\n { \'name\' { value \'angle\'}}}},\n RosParameter \'/ekf_localization/print_diagnostics\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/print_diagnostics\' value false},\n RosParameter \'/move_base/local_costmap/resolution\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/resolution\' value 0.05},\n RosParameter \'/gazebo_ros_control/pid_gains/rear_right_wheel/p\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/rear_right_wheel/p\' value 1},\n RosParameter \'/battery_load_control_node/const_acceleration\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/const_acceleration\' value 0.1},\n RosParameter \'/move_base/global_costmap/obstacles_layer/scan/topic\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/scan/topic\' value \'front/scan\'},\n RosParameter \'/move_base/TrajectoryPlannerROS/meter_scoring\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/meter_scoring\' value true},\n RosParameter \'/move_base/global_costmap/obstacles_layer/scan/sensor_frame\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/scan/sensor_frame\' value \'front_laser\'},\n RosParameter \'/move_base/global_costmap/obstacles_layer/scan/raytrace_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/scan/raytrace_range\' value 12.0},\n RosParameter \'/move_base/TrajectoryPlannerROS/escape_reset_theta\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/escape_reset_theta\' value 0.1},\n RosParameter \'/move_base/global_costmap/transform_tolerance\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/transform_tolerance\' value 0.5},\n RosParameter \'/ridgeback_velocity_controller/wheel_radius_multiplier\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/wheel_radius_multiplier\' value 1.0},\n RosParameter \'/move_base/TrajectoryPlannerROS/goal_distance_bias\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/goal_distance_bias\' value 0.7},\n RosParameter \'/move_base/local_costmap/z_resolution\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/z_resolution\' value 1},\n RosParameter \'/ekf_localization/odom0\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/odom0\' value \'/ridgeback_velocity_controller/odom\'},\n RosParameter \'/move_base/global_costmap/origin_z\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/origin_z\' value 0.0},\n RosParameter \'/move_base/global_costmap/obstacles_layer/scan/max_obstacle_height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/scan/max_obstacle_height\' value 2.0},\n RosParameter \'/ridgeback_velocity_controller/wheel_separation_x\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/wheel_separation_x\' value 0.638},\n RosParameter \'/ridgeback_velocity_controller/wheel_separation_y\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/wheel_separation_y\' value 0.551},\n RosParameter \'/ridgeback_velocity_controller/back_left_wheel_joint\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/back_left_wheel_joint\' value \'rear_left_wheel\'},\n RosParameter \'/gazebo_ros_control/pid_gains/front_left_wheel/p\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/front_left_wheel/p\' value 1},\n RosParameter \'/move_base/local_costmap/obstacles_layer/observation_sources\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/observation_sources\' value \'scan\'},\n RosParameter \'/move_base/local_costmap/obstacles_layer/point_cloud/data_type\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/point_cloud/data_type\' value \'PointCloud2\'},\n RosParameter \'/qa_safety\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./qa_safety\' value 0.68},\n RosParameter \'/move_base/local_costmap/obstacles_layer/point_cloud/min_obstacle_height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/point_cloud/min_obstacle_height\' value 0.05},\n RosParameter \'/laser_filter/shadows/neighbors\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./laser_filter/shadows/neighbors\' value 1},\n RosParameter \'/move_base/local_costmap/obstacles_layer/point_cloud/obstacle_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/point_cloud/obstacle_range\' value 8.0},\n RosParameter \'/ridgeback_velocity_controller/back_right_wheel_joint\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/back_right_wheel_joint\' value \'rear_right_wheel\'},\n RosParameter \'/move_base/TrajectoryPlannerROS/max_vel_theta\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/max_vel_theta\' value 1.57},\n RosParameter \'/move_base/TrajectoryPlannerROS/min_vel_theta\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/min_vel_theta\' value -1.57},\n RosParameter \'/move_base/local_costmap/obstacles_layer/point_cloud/clearing\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/point_cloud/clearing\' value true},\n RosParameter \'/qa_energy\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./qa_energy\' value 0.34},\n RosParameter \'/move_base/local_costmap/obstacles_layer/point_cloud/raytrace_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/point_cloud/raytrace_range\' value 8.0},\n RosParameter \'/ridgeback_velocity_controller/linear/y/max_velocity\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/linear/y/max_velocity\' value 1.1},\n RosParameter \'/ridgeback_velocity_controller/cmd_vel_timeout\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/cmd_vel_timeout\' value 0.25},\n RosParameter \'/move_base/TrajectoryPlannerROS/min_vel_y\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/min_vel_y\' value 0.1},\n RosParameter \'/gazebo/enable_ros_network\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo/enable_ros_network\' value true},\n RosParameter \'/move_base/TrajectoryPlannerROS/holonomic_robot\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/holonomic_robot\' value true},\n RosParameter \'/move_base/local_costmap/obstacles_layer/point_cloud/max_obstacle_height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/point_cloud/max_obstacle_height\' value 0.5},\n RosParameter \'/use_sim_time\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./use_sim_time\' value true},\n RosParameter \'/move_base/local_costmap/obstacles_layer/point_cloud/topic\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/point_cloud/topic\' value \'camera/depth/points\'},\n RosParameter \'/move_base/global_costmap/obstacles_layer/scan/clearing\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/obstacles_layer/scan/clearing\' value true},\n RosParameter \'/move_base/local_costmap/obstacles_layer/scan/obstacle_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/scan/obstacle_range\' value 10.0},\n RosParameter \'/move_base/TrajectoryPlannerROS/angular_sim_granularity\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/angular_sim_granularity\' value 0.02},\n RosParameter \'/ekf_localization/two_d_mode\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/two_d_mode\' value true},\n RosParameter \'/move_base/local_costmap/obstacles_layer/scan/marking\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/scan/marking\' value true},\n RosParameter \'/ridgeback_velocity_controller/type\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/type\' value \'mecanum_drive_controller/MecanumDriveController\'},\n RosParameter \'/move_base/local_costmap/obstacles_layer/scan/data_type\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/scan/data_type\' value \'LaserScan\'},\n RosParameter \'/move_base/local_costmap/obstacles_layer/scan/min_obstacle_height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/scan/min_obstacle_height\' value -2.0},\n RosParameter \'/battery_load_control_node/const_linear_vel\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/const_linear_vel\' value 1.3},\n RosParameter \'/move_base/TrajectoryPlannerROS/dwa\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/dwa\' value true},\n RosParameter \'/laser_filter/scan_filter_chain\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./laser_filter/scan_filter_chain\' value {\n { \'type\' { value \'laser_filters/LaserScanAngularBoundsFilter\'}},\n { \'params\' { value {\n { \'lower_angle\' { value -1.99}},\n { \'upper_angle\' { value 1.99}}}}},\n { \'name\' { value \'angle\'}}}},\n RosParameter \'/move_base/local_costmap/obstacles_layer/scan/clearing\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/scan/clearing\' value true},\n RosParameter \'/move_base/global_costmap/publish_frequency\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/publish_frequency\' value 1.0},\n RosParameter \'/move_base/local_costmap/obstacles_layer/scan/topic\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/scan/topic\' value \'front/scan\'},\n RosParameter \'/move_base/TrajectoryPlannerROS/escape_vel\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/escape_vel\' value -0.5},\n RosParameter \'/move_base/global_costmap/origin_x\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/origin_x\' value -20.0},\n RosParameter \'/move_base/local_costmap/obstacles_layer/scan/sensor_frame\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/scan/sensor_frame\' value \'front_laser\'},\n RosParameter \'/move_base/local_costmap/obstacles_layer/scan/raytrace_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/scan/raytrace_range\' value 12.0},\n RosParameter \'/move_base/local_costmap/obstacles_layer/scan/max_obstacle_height\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/scan/max_obstacle_height\' value 2.0},\n RosParameter \'/move_base/TrajectoryPlannerROS/min_in_place_vel_theta\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/min_in_place_vel_theta\' value 0.375},\n RosParameter \'/move_base/local_costmap/transform_tolerance\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/transform_tolerance\' value 0.5},\n RosParameter \'/ridgeback_velocity_controller/linear/y/has_acceleration_limits\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/linear/y/has_acceleration_limits\' value true},\n RosParameter \'/move_base/planner_frequency\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/planner_frequency\' value 3.0},\n RosParameter \'/ridgeback_velocity_controller/front_right_wheel_joint\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/front_right_wheel_joint\' value \'front_right_wheel\'},\n RosParameter \'/move_base/TrajectoryPlannerROS/path_distance_bias\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/path_distance_bias\' value 0.7},\n RosParameter \'/gazebo_ros_control/pid_gains/front_right_wheel/i\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./gazebo_ros_control/pid_gains/front_right_wheel/i\' value 0.1},\n RosParameter \'/laser_filter/shadows/remove_shadow_start_point\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./laser_filter/shadows/remove_shadow_start_point\' value false},\n RosParameter \'/move_base/local_costmap/width\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/width\' value 10.0},\n RosParameter \'/move_base/local_costmap/inflater_layer/inflation_radius\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/inflater_layer/inflation_radius\' value 0.5},\n RosParameter \'/move_base/TrajectoryPlannerROS/xy_goal_tolerance\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/xy_goal_tolerance\' value 0.25},\n RosParameter \'/ekf_localization/odom0_config\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/odom0_config\' value {False, False, False, False, False, False, True, True, False, False, False, True, False, False, False}},\n RosParameter \'/move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance\' value false},\n RosParameter \'/move_base/TrajectoryPlannerROS/acc_lim_x\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/acc_lim_x\' value 3.6},\n RosParameter \'/ekf_localization/odom0_differential\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ekf_localization/odom0_differential\' value false},\n RosParameter \'/move_base/local_costmap/publish_voxel_map\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/publish_voxel_map\' value false},\n RosParameter \'/move_base/TrajectoryPlannerROS/sim_granularity\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/sim_granularity\' value 0.02},\n RosParameter \'/ridgeback_velocity_controller/angular/z/max_acceleration\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/angular/z/max_acceleration\' value 1.0},\n RosParameter \'/move_base/local_costmap/obstacles_layer/point_cloud/marking\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacles_layer/point_cloud/marking\' value true},\n RosParameter \'/move_base/local_costmap/origin_z\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/origin_z\' value 0.0},\n RosParameter \'/move_base/local_costmap/raytrace_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/raytrace_range\' value 13.0},\n RosParameter \'/move_base/TrajectoryPlannerROS/heading_scoring_timestep\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/heading_scoring_timestep\' value 0.8},\n RosParameter \'/move_base/TrajectoryPlannerROS/acc_lim_y\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/acc_lim_y\' value 3.6},\n RosParameter \'/move_base/TrajectoryPlannerROS/occdist_scale\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/occdist_scale\' value 0.05},\n RosParameter \'/ridgeback_velocity_controller/front_left_wheel_joint\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/front_left_wheel_joint\' value \'front_left_wheel\'},\n RosParameter \'/move_base/local_costmap/footprint\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/footprint\' value {{0.48, -0.4}, {0.48, 0.4}, {-0.48, 0.4}, {-0.48, -0.4}}},\n RosParameter \'/move_base/TrajectoryPlannerROS/vx_samples\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/vx_samples\' value 6},\n RosParameter \'/ridgeback_velocity_controller/angular/z/has_velocity_limits\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/angular/z/has_velocity_limits\' value true},\n RosParameter \'/move_base/clearing_rotation_allowed\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/clearing_rotation_allowed\' value true},\n RosParameter \'/move_base/local_costmap/robot_base_frame\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/robot_base_frame\' value \'base_link\'},\n RosParameter \'/ridgeback_velocity_controller/linear/x/max_velocity\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/linear/x/max_velocity\' value 1.1},\n RosParameter \'/move_base/TrajectoryPlannerROS/max_vel_y\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/max_vel_y\' value 0.3},\n RosParameter \'/ridgeback_joint_publisher/publish_rate\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_joint_publisher/publish_rate\' value 50},\n RosParameter \'/move_base/local_costmap/z_voxels\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/z_voxels\' value 2},\n RosParameter \'/move_base/TrajectoryPlannerROS/escape_reset_dist\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/escape_reset_dist\' value 0.1},\n RosParameter \'/battery_load_control_node/max_power_load\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/max_power_load\' value 5.0},\n RosParameter \'/ridgeback_velocity_controller/wheel_separation_multiplier\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/wheel_separation_multiplier\' value 1.0},\n RosParameter \'/move_base/local_costmap/map_type\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/map_type\' value \'costmap\'},\n RosParameter \'/move_base/TrajectoryPlannerROS/vtheta_samples\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/vtheta_samples\' value 20},\n RosParameter \'/move_base/local_costmap/obstacle_range\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/obstacle_range\' value 12.0},\n RosParameter \'/move_base/global_costmap/robot_base_frame\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/global_costmap/robot_base_frame\' value \'base_link\'},\n RosParameter \'/battery_load_control_node/power_load_topic\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/power_load_topic\' value \'/power_load\'},\n RosParameter \'/move_base/local_costmap/global_frame\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/global_frame\' value \'map\'},\n RosParameter \'/move_base/local_costmap/plugins\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/plugins\' value {\n { \'type\' { value \'costmap_2d::StaticLayer\'}},\n { \'name\' { value \'static_layer\'}}}},\n RosParameter \'/laser_filter/shadows/window\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./laser_filter/shadows/window\' value 1},\n RosParameter \'/ridgeback_joint_publisher/type\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_joint_publisher/type\' value \'joint_state_controller/JointStateController\'},\n RosParameter \'/ridgeback_velocity_controller/linear/y/max_acceleration\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/linear/y/max_acceleration\' value 2.5},\n RosParameter \'/move_base/local_costmap/rolling_window\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/rolling_window\' value true},\n RosParameter \'/ridgeback_velocity_controller/enable_odom_tf\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./ridgeback_velocity_controller/enable_odom_tf\' value false},\n RosParameter \'/move_base/TrajectoryPlannerROS/oscillation_reset_dist\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/TrajectoryPlannerROS/oscillation_reset_dist\' value 0.05},\n RosParameter \'/battery_load_control_node/additional_consumption\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/additional_consumption\' value 0.0},\n RosParameter \'/fake_localization/base_frame_id\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./fake_localization/base_frame_id\' value \'base_link\'},\n RosParameter \'/move_base/local_costmap/publish_frequency\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/publish_frequency\' value 1.0},\n RosParameter \'/laser_filter/shadows/max_angle\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./laser_filter/shadows/max_angle\' value 100.0},\n RosParameter \'/battery_load_control_node/cmd_vel_topic\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/cmd_vel_topic\' value \'/cmd_vel\'},\n RosParameter \'/battery_load_control_node/const_frequency\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./battery_load_control_node/const_frequency\' value 0.04},\n RosParameter \'/laser_filter/shadows/min_angle\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./laser_filter/shadows/min_angle\' value 80.0},\n RosParameter \'/move_base/local_costmap/meter_scoring\' {RefParameter \'dummy_pkg.parameters_node.parameters_node./move_base/local_costmap/meter_scoring\' value true}}\n}\n)}', 5230, 'Expected ")"')
Exception in thread Thread-4:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 754, in run
self.__target(*self.__args, **self.__kwargs)
File "/home/airlab/metacontrol_ws/src/rosgraph_monitor/src/rosgraph_monitor/monitor_manager.py", line 62, in call_all
status_msg = service.generate_diagnostics()
File "/home/airlab/metacontrol_ws/src/rosgraph_monitor/src/rosgraph_monitor/monitor_manager.py", line 17, in generate_diagnostics
status_msg = self.diagnostics_from_response(resp)
File "/home/airlab/metacontrol_ws/src/rosgraph_monitor/scripts/monitor", line 28, in diagnostics_from_response
dynamic_model = parser.parse()
File "/home/airlab/metacontrol_ws/src/rosgraph_monitor/src/rosgraph_monitor/parser.py", line 187, in parse
return self._result
AttributeError: 'ModelParser' object has no attribute '_result'
[ INFO] [1597069823.388745913]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1597069823.395515386]: BRASS CP1 battery is constructed.
[ INFO] [1597069823.395814684]: ROS node is up
[ INFO] [1597069823.402348465]: Created a battery
[ INFO] [1597069823.402831955]: Plugin is fully loaded.
[ INFO] [1597069823.403006012]: Init Battery
[ INFO] [1597069823.411359404]: Consumer loaded
[ INFO] [1597069823.411394655]: Consumer is initialized
[ INFO] [1597069823.415345283]: Physics dynamic reconfigure ready.
[INFO] [1597069823.555013, 0.000000]: Increase power conspumtion service is now available.
[INFO] [1597069823.555807, 0.000000]: battery_load_controller_node Initialization completed
[INFO] [1597069823.617228, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1597069823.766337960]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1597069823.766374305]: Starting Laser Plugin (ns = /)
[ INFO] [1597069823.767084514]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1597069823.901595434]: Loading gazebo_ros_control plugin
[ INFO] [1597069823.901691254]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1597069823.902261095]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1597069824.060401609]: Loaded gazebo_ros_control.
[ INFO] [1597069824.064929169]: GazeboRosJointStatePublisher is going to publish joint: front_rocker
[ INFO] [1597069824.064949275]: Starting GazeboRosJointStatePublisher Plugin (ns = //)!, parent name: ridgeback
[ INFO] [1597069824.326600663]: Use the roller's radius rather than the wheel's: 0.
[ INFO] [1597069824.327179876]: Front left wheel joint (wheel0) is : front_left_wheel
[ INFO] [1597069824.327688623]: Back left wheel joint (wheel1) is : rear_left_wheel
[INFO] [1597069824.327819, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1597069824.328396606]: Back right wheel joint (wheel2) is : rear_right_wheel
[ INFO] [1597069824.329615272]: Front right wheel joint (wheel3) is : front_right_wheel
[ INFO] [1597069824.330545638]: Controller state will be published at 50Hz.
[ INFO] [1597069824.331278067]: Velocity commands will be considered old if they are older than 0.25s.
[ INFO] [1597069824.331525368]: Base frame_id set to base_link
[ INFO] [1597069824.331791298]: Odom frame_id set to odom
[ INFO] [1597069824.332163468]: Publishing to tf is disabled
[ INFO] [1597069824.339071856]: Wheel seperation in X: 0.638
[ INFO] [1597069824.339093934]: Wheel seperation in Y: 0.551
[ INFO] [1597069824.339151668]: Wheel radius: 0.0759
[workcell_spawner-3] process has finished cleanly
log file: /home/airlab/.ros/log/0478a0c8-db16-11ea-93eb-acd564a7de0b/workcell_spawner-3*.log
[urdf_spawner-20] process has finished cleanly
log file: /home/airlab/.ros/log/0478a0c8-db16-11ea-93eb-acd564a7de0b/urdf_spawner-20*.log
[ WARN] [1597069824.775943728, 0.281000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1597069824.776833244, 0.282000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1597069824.780851836, 0.286000000]: Requesting the map...
[ INFO] [1597069825.000350249, 0.487000000]: Resizing costmap to 1504 X 1536 at 0.020000 m/pix
[ INFO] [1597069825.108050026, 0.587000000]: Received a 1504 X 1536 map at 0.020000 m/pix
[ INFO] [1597069825.110123129, 0.590000000]: global_costmap: Using plugin "obstacles_layer"
[ INFO] [1597069825.113113379, 0.593000000]: Subscribed to Topics: scan
[ INFO] [1597069825.122293371, 0.601000000]: global_costmap: Using plugin "inflater_layer"
[ WARN] [1597069825.144523783, 0.621000000]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1597069825.144917172, 0.621000000]: local_costmap: Using plugin "static_layer"
[ INFO] [1597069825.147052749, 0.623000000]: Requesting the map...
[ INFO] [1597069825.148623767, 0.624000000]: Resizing static layer to 1504 X 1536 at 0.020000 m/pix
[ INFO] [1597069825.256016466, 0.723000000]: Received a 1504 X 1536 map at 0.020000 m/pix
[ INFO] [1597069825.257778221, 0.725000000]: local_costmap: Using plugin "obstacles_layer"
[ INFO] [1597069825.260129868, 0.727000000]: Subscribed to Topics: scan
[ INFO] [1597069825.268238147, 0.735000000]: local_costmap: Using plugin "inflater_layer"
[ INFO] [1597069825.288057168, 0.753000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1597069825.293222403, 0.757000000]: Sim period is set to 0.07
[ INFO] [1597069825.448747115, 0.894000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1597069825.451716049, 0.897000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1597069825.622373429, 1.053000000]: Power load of consumer has changed to: 0.2
[INFO] [1597069825.725025, 1.146000]: Connected to move_base server and sending Nav Goal
target_pose:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "map"
pose:
position:
x: -8.5
y: 7.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
[INFO] [1597069825.726327, 1.147000]: [send_goal_from_yaml_node] Safe shutdown
[send_initial_goal_node-18] process has finished cleanly
log file: /home/airlab/.ros/log/0478a0c8-db16-11ea-93eb-acd564a7de0b/send_initial_goal_node-18*.log
[ INFO] [1597069826.656584950, 2.003000000]: Power load of consumer has changed to: 0.595533
[ INFO] [1597069827.743719689, 3.002000000]: Power load of consumer has changed to: 0.59867
[ INFO] [1597069828.841438915, 4.002000000]: Power load of consumer has changed to: 0.59893
[ INFO] [1597069829.931833112, 5.002000000]: Power load of consumer has changed to: 0.599054
[ INFO] [1597069831.014653189, 6.003000000]: Power load of consumer has changed to: 0.599251
[ INFO] [1597069832.106678114, 7.005000000]: Power load of consumer has changed to: 0.59938
[ INFO] [1597069833.200223518, 8.003000000]: Power load of consumer has changed to: 0.599818
[ INFO] [1597069834.296946047, 9.002000000]: Power load of consumer has changed to: 0.599909
[ INFO] [1597069835.402638996, 10.001000000]: Power load of consumer has changed to: 0.6
[ INFO] [1597069836.498610964, 11.001000000]: Power load of consumer has changed to: 0.6
[ WARN] [1597069836.806948256, 11.281000000]: Clearing both costmaps to unstuck robot (3.00m).
[ INFO] [1597069837.596053828, 12.002000000]: Power load of consumer has changed to: 0.599909
[ INFO] [1597069838.687276756, 13.003000000]: Power load of consumer has changed to: 0.600091
[ INFO] [1597069839.769144734, 14.003000000]: Power load of consumer has changed to: 0.600273
[ INFO] [1597069840.852378415, 15.004000000]: Power load of consumer has changed to: 0.600091
[ INFO] [1597069841.941388006, 16.001000000]: Power load of consumer has changed to: 0.600182
[ INFO] [1597069843.025913397, 17.002000000]: Power load of consumer has changed to: 0.599909
[ INFO] [1597069844.108901722, 18.002000000]: Power load of consumer has changed to: 0.588148
[ INFO] [1597069845.201721484, 19.003000000]: Power load of consumer has changed to: 0.600091
[ INFO] [1597069846.281465381, 20.002000000]: Power load of consumer has changed to: 0.6
[ INFO] [1597069847.373717901, 21.002000000]: Power load of consumer has changed to: 0.6
[ WARN] [1597069847.893487015, 21.481000000]: Rotate recovery behavior started.
[ INFO] [1597069848.459325178, 22.002000000]: Power load of consumer has changed to: 0.628871
[ INFO] [1597069849.547749948, 23.002000000]: Power load of consumer has changed to: 0.66443
[ INFO] [1597069850.638966500, 24.002000000]: Power load of consumer has changed to: 0.704
[ INFO] [1597069851.729731158, 25.002000000]: Power load of consumer has changed to: 0.747593
[ INFO] [1597069852.814185564, 26.003000000]: Power load of consumer has changed to: 0.798226
[ INFO] [1597069853.905983926, 27.001000000]: Power load of consumer has changed to: 0.8
[ INFO] [1597069854.989931571, 28.004000000]: Power load of consumer has changed to: 0.800162
[ INFO] [1597069856.086583241, 29.002000000]: Power load of consumer has changed to: 0.8
[ INFO] [1597069857.177869627, 30.002000000]: Power load of consumer has changed to: 0.800162
[ INFO] [1597069858.261684109, 31.003000000]: Power load of consumer has changed to: 0.800162
[ INFO] [1597069859.343712073, 32.003000000]: Power load of consumer has changed to: 0.800162
[ INFO] [1597069860.426923726, 33.002000000]: Power load of consumer has changed to: 0.8
[ INFO] [1597069861.511983999, 34.002000000]: Power load of consumer has changed to: 0.800162
[ INFO] [1597069862.594618763, 35.003000000]: Power load of consumer has changed to: 0.800162
[ INFO] [1597069863.676262182, 36.003000000]: Power load of consumer has changed to: 0.800162
[ INFO] [1597069864.756325639, 37.003000000]: Power load of consumer has changed to: 0.800162
el
[INFO] [1597069821.824825, 0.000000]: RosgraphManipulator Action Server started.
('RosSystem { Name \'dummy_system\'\n RosComponents ( \n ComponentInterface { name \'/robot_state_publisher\'\n RosSubscribers {\n RosSubscriber \'/joint_states\' {RefSubscriber \'dummy_pkg./robot_state_publisher./robot_state_publisher./joint_states\'}}\n},\n ComponentInterface { name \'/rviz\'\n},\n ComponentInterface { name \'/battery_load_control_node\'\n RosPublishers {\n RosPublisher \'/power_load\' {RefPublisher \'dummy_pkg./battery_load_control_node./battery_load_control_node./power_load\'}}\n RosSubscribers {\n RosSubscriber \'/odom\' {RefSubscriber \'dummy_pkg./battery_load_control_node./battery_load_control_node./odom\'},\n RosSubscriber \'/imu/data\' {RefSubscriber \'dummy_pkg./battery_load_control_node./battery_load_control_node./imu/data\'},\n RosSubscriber \'/cmd_vel\' {RefSubscriber \'dummy_pkg./battery_load_control_node./battery_load_control_node./cmd_vel\'}}\n},\n ComponentInterface { name \'/laser_filter\'\n RosPublishers {\n RosPublisher \'/laser_filter/shadows/parameter_updates\' {RefPublisher \'dummy_pkg./laser_filter./laser_filter./laser_filter/shadows/parameter_updates\'},\n RosPublisher \'/laser_filter/shadows/parameter_descriptions\' {RefPublisher \'dummy_pkg./laser_filter./laser_filter./laser_filter/shadows/parameter_descriptions\'},\n RosPublisher \'/scan_filtered\' {RefPublisher \'dummy_pkg./laser_filter./laser_filter./scan_filtered\'}}\n RosSubscribers {\n RosSubscriber \'/front/scan\' {RefSubscriber \'dummy_pkg./laser_filter./laser_filter./front/scan\'}}\n RosSrvServers {\n RosServiceServer \'/laser_filter/shadows/set_parameters\' {RefServer \'dummy_pkg./laser_filter./laser_filter./laser_filter/shadows/set_parameters\'}}\n},\n ComponentInterface { name \'/map_server\'\n},\n ComponentInterface { name \'/cmd_vel_relay\'\n RosSubscribers {\n RosSubscriber \'/cmd_vel\' {RefSubscriber \'dummy_pkg./cmd_vel_relay./cmd_vel_relay./cmd_vel\'}}\n},\n ComponentInterface { name \'/fake_localization\'\n RosPublishers {\n RosPublisher \'/particlecloud\' {RefPublisher \'dummy_pkg./fake_localization./fake_localization./particlecloud\'},\n RosPublisher \'/amcl_pose\' {RefPublisher \'dummy_pkg./fake_localization./fake_localization./amcl_pose\'}}\n RosSubscribers {\n RosSubscriber \'/ground_truth/state\' {RefSubscriber \'dummy_pkg./fake_localization./fake_localization./ground_truth/state\'},\n RosSubscriber \'/initialpose\' {RefSubscriber \'dummy_pkg./fake_localization./fake_localization./initialpose\'}}\n},\n ComponentInterface { name \'/ekf_localization\'\n RosPublishers {\n RosPublisher \'/odometry/filtered\' {RefPublisher \'dummy_pkg./ekf_localization./ekf_localization./odometry/filtered\'},\n RosPublisher \'/diagnostics\' {RefPublisher \'dummy_pkg./ekf_localization./ekf_localization./diagnostics\'}}\n RosSubscribers {\n RosSubscriber \'/set_pose\' {RefSubscriber \'dummy_pkg./ekf_localization./ekf_localization./set_pose\'},\n RosSubscriber \'/imu/data\' {RefSubscriber \'dummy_pkg./ekf_localization./ekf_localization./imu/data\'},\n RosSubscriber \'/ridgeback_velocity_controller/odom\' {RefSubscriber \'dummy_pkg./ekf_localization./ekf_localization./ridgeback_velocity_controller/odom\'}}\n RosSrvServers {\n RosServiceServer \'/set_pose\' {RefServer \'dummy_pkg./ekf_localization./ekf_localization./set_pose\'},\n RosServiceServer \'/ekf_localization/toggle\' {RefServer \'dummy_pkg./ekf_localization./ekf_localization./ekf_localization/toggle\'},\n RosServiceServer \'/ekf_localization/enable\' {RefServer [ INFO] [1597069865.837026187, 38.002000000]: Power load of consumer has changed to: 0.8
[ INFO] [1597069866.940095169, 39.002000000]: Power load of consumer has changed to: 0.8
[ INFO] [1597069868.026995279, 40.001000000]: Power load of consumer has changed to: 0.800162gazebo is launched with the par paused=true. When I change this to paused=false, the robot does move. However, it moves strangly, turning while driving slowly.
edit: The simulation should unpause when the robot is spawned, so this is not the solution. The sim time is increasing after the robot is spawned so the unpause is working
JWijkhuizen
commented
4 years ago Gazebo is subscribed to /ridgeback_velocity_controller/cmd_vel, and velocity commands are published on this topic. I also tried to launch teleop, to move the robot with a controller, without succes as well.
chcorbato
commented
4 years ago I think I run into this same issue. When teleoperating, I noticed that the robot moved a few centimeters when sending commands initially, but not more.
JWijkhuizen
commented
4 years ago Mario mentioned yesterday that you had this issue before. Is it working for you now?
I can see the robot move a few centimeters in rviz, but in gazebo nothing happens.
I get this warning:
[WARN] [1597132220.423710, 43.127000]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
JWijkhuizen
commented
4 years ago I found the solution! Not all ridgeback packages were installed. The robot is moving after installing:
sudo apt install ros-melodic-ridgeback-gazebo
I reported this as an issue in the metacontrol_sim package, since this dependency is missing in the package.xml
chcorbato
commented
4 years ago
When running the script, same as in the readme:
./run_single_sim.sh -p 1 -g 1 -n "f1_v2_r2" -o 2 -r "true" -p 1.7 -c "false"A global plan is planned, but the robot does not move.
Troubleshooting will be done with the launch file:
roslaunch metacontrol_sim MVP_metacontrol_world.launch