running gazebo

[sasabot]

The robot starts collapsing when I use gazebo (see images below). Any advise? How I installed:

cd aero_description
./setup.sh typeFCESy
cd ../aero_ros_controller
catkin bt
source ~/.bashrc
cd ../aero_gazebo
catkin bt
source ~/.bashrc

outputs

$ roslaunch aero_gazebo aero_gazebo.launch

SUMMARY
========

PARAMETERS
 * /amcl/base_frame_id: base_link
 * /amcl/gui_publish_rate: 10.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 60
 * /amcl/laser_max_range: 12.0
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 2000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.4
 * /amcl/odom_alpha3: 0.2
 * /amcl/odom_alpha4: 0.4
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: odom
 * /amcl/odom_model_type: omni-corrected
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 1.0
 * /amcl/update_min_a: 0.2
 * /amcl/update_min_d: 0.25
 * /amcl/use_map_topic: True
 * /head_controller/gains/neck_p_joint/d: 0.4
 * /head_controller/gains/neck_p_joint/i: 0.003
 * /head_controller/gains/neck_p_joint/p: 200.0
 * /head_controller/gains/neck_r_joint/d: 0.4
 * /head_controller/gains/neck_r_joint/i: 0.003
 * /head_controller/gains/neck_r_joint/p: 200.0
 * /head_controller/gains/neck_y_joint/d: 0.4
 * /head_controller/gains/neck_y_joint/i: 0.003
 * /head_controller/gains/neck_y_joint/p: 200.0
 * /head_controller/joints: ['neck_y_joint', ...
 * /head_controller/type: effort_controller...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /larm_controller/gains/l_elbow_joint/d: 6.0
 * /larm_controller/gains/l_elbow_joint/i: 0.003
 * /larm_controller/gains/l_elbow_joint/p: 1200.0
 * /larm_controller/gains/l_hand_y_joint/d: 0.5
 * /larm_controller/gains/l_hand_y_joint/i: 0.003
 * /larm_controller/gains/l_hand_y_joint/p: 200.0
 * /larm_controller/gains/l_shoulder_p_joint/d: 6.0
 * /larm_controller/gains/l_shoulder_p_joint/i: 0.003
 * /larm_controller/gains/l_shoulder_p_joint/p: 800.0
 * /larm_controller/gains/l_shoulder_r_joint/d: 6.0
 * /larm_controller/gains/l_shoulder_r_joint/i: 0.003
 * /larm_controller/gains/l_shoulder_r_joint/p: 800.0
 * /larm_controller/gains/l_shoulder_y_joint/d: 3.0
 * /larm_controller/gains/l_shoulder_y_joint/i: 0.003
 * /larm_controller/gains/l_shoulder_y_joint/p: 400.0
 * /larm_controller/gains/l_wrist_p_joint/d: 0.5
 * /larm_controller/gains/l_wrist_p_joint/i: 0.003
 * /larm_controller/gains/l_wrist_p_joint/p: 200.0
 * /larm_controller/gains/l_wrist_r_joint/d: 0.5
 * /larm_controller/gains/l_wrist_r_joint/i: 0.003
 * /larm_controller/gains/l_wrist_r_joint/p: 200.0
 * /larm_controller/gains/l_wrist_y_joint/d: 0.5
 * /larm_controller/gains/l_wrist_y_joint/i: 0.003
 * /larm_controller/gains/l_wrist_y_joint/p: 200.0
 * /larm_controller/joints: ['l_shoulder_p_jo...
 * /larm_controller/type: effort_controller...
 * /lhand_controller/gains/l_indexbase_joint/d: 0.02
 * /lhand_controller/gains/l_indexbase_joint/i: 0.003
 * /lhand_controller/gains/l_indexbase_joint/p: 25.0
 * /lhand_controller/gains/l_thumb_joint/d: 0.02
 * /lhand_controller/gains/l_thumb_joint/i: 0.003
 * /lhand_controller/gains/l_thumb_joint/p: 25.0
 * /lhand_controller/joints: ['l_indexbase_joi...
 * /lhand_controller/type: effort_controller...
 * /lifter_controller/gains/ankle_joint/d: 20.0
 * /lifter_controller/gains/ankle_joint/i: 2.0
 * /lifter_controller/gains/ankle_joint/p: 4000.0
 * /lifter_controller/gains/knee_joint/d: 20.0
 * /lifter_controller/gains/knee_joint/i: 2.0
 * /lifter_controller/gains/knee_joint/p: 4000.0
 * /lifter_controller/joints: ['knee_joint', 'a...
 * /lifter_controller/type: effort_controller...
 * /move_base/EBandPlannerROS/differential_drive: False
 * /move_base/EBandPlannerROS/max_acceleration: 0.5
 * /move_base/EBandPlannerROS/max_rotational_acceleration: 1.0
 * /move_base/EBandPlannerROS/max_translational_acceleration: 0.5
 * /move_base/EBandPlannerROS/max_vel_lin: 0.5
 * /move_base/EBandPlannerROS/max_vel_th: 0.5
 * /move_base/EBandPlannerROS/min_vel_lin: 0.1
 * /move_base/EBandPlannerROS/min_vel_th: 0.0
 * /move_base/EBandPlannerROS/xy_goal_tolerance: 0.03
 * /move_base/EBandPlannerROS/yaw_goal_tolerance: 0.05
 * /move_base/TrajectoryPlannerROS/max_rotational_vel: 0.5
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: eband_local_plann...
 * /move_base/free_thresh: 0.196
 * /move_base/global_costmap/footprint: [[-0.35, -0.25], ...
 * /move_base/global_costmap/footprint_padding: 0.001
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation/inflation_radius: 0.2
 * /move_base/global_costmap/obstacle_range: 2.5
 * /move_base/global_costmap/obstacles_laser/laser/clearing: True
 * /move_base/global_costmap/obstacles_laser/laser/data_type: LaserScan
 * /move_base/global_costmap/obstacles_laser/laser/inf_is_valid: True
 * /move_base/global_costmap/obstacles_laser/laser/marking: True
 * /move_base/global_costmap/obstacles_laser/laser/topic: scan
 * /move_base/global_costmap/obstacles_laser/observation_sources: laser
 * /move_base/global_costmap/plugins: [{'type': 'costma...
 * /move_base/global_costmap/publish_frequency: 3.0
 * /move_base/global_costmap/raytrace_range: 3.0
 * /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/static/map_topic: /map
 * /move_base/global_costmap/static/subscribe_to_updates: True
 * /move_base/global_costmap/track_unknown_space: True
 * /move_base/global_costmap/transform_tolerance: 0.5
 * /move_base/global_costmap/update_frequency: 4.0
 * /move_base/image: map.pgm
 * /move_base/local_costmap/footprint: [[-0.35, -0.25], ...
 * /move_base/local_costmap/footprint_padding: 0.001
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 2.5
 * /move_base/local_costmap/inflation/inflation_radius: 0.2
 * /move_base/local_costmap/obstacle_range: 2.5
 * /move_base/local_costmap/obstacles_laser/laser/clearing: True
 * /move_base/local_costmap/obstacles_laser/laser/data_type: LaserScan
 * /move_base/local_costmap/obstacles_laser/laser/inf_is_valid: True
 * /move_base/local_costmap/obstacles_laser/laser/marking: True
 * /move_base/local_costmap/obstacles_laser/laser/topic: scan
 * /move_base/local_costmap/obstacles_laser/observation_sources: laser
 * /move_base/local_costmap/plugins: [{'type': 'costma...
 * /move_base/local_costmap/publish_frequency: 3.0
 * /move_base/local_costmap/raytrace_range: 3.0
 * /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/static/map_topic: /map
 * /move_base/local_costmap/static/subscribe_to_updates: True
 * /move_base/local_costmap/transform_tolerance: 0.5
 * /move_base/local_costmap/update_frequency: 4.0
 * /move_base/local_costmap/width: 2.5
 * /move_base/negate: 0
 * /move_base/occupied_thresh: 0.65
 * /move_base/origin: [-10.0, -10.0, 0.0]
 * /move_base/resolution: 0.025
 * /rarm_controller/gains/r_elbow_joint/d: 6.0
 * /rarm_controller/gains/r_elbow_joint/i: 0.03
 * /rarm_controller/gains/r_elbow_joint/p: 1200.0
 * /rarm_controller/gains/r_hand_y_joint/d: 0.5
 * /rarm_controller/gains/r_hand_y_joint/i: 0.03
 * /rarm_controller/gains/r_hand_y_joint/p: 200.0
 * /rarm_controller/gains/r_shoulder_p_joint/d: 6.0
 * /rarm_controller/gains/r_shoulder_p_joint/i: 0.03
 * /rarm_controller/gains/r_shoulder_p_joint/p: 800.0
 * /rarm_controller/gains/r_shoulder_r_joint/d: 6.0
 * /rarm_controller/gains/r_shoulder_r_joint/i: 0.03
 * /rarm_controller/gains/r_shoulder_r_joint/p: 800.0
 * /rarm_controller/gains/r_shoulder_y_joint/d: 3.0
 * /rarm_controller/gains/r_shoulder_y_joint/i: 0.03
 * /rarm_controller/gains/r_shoulder_y_joint/p: 400.0
 * /rarm_controller/gains/r_wrist_p_joint/d: 0.5
 * /rarm_controller/gains/r_wrist_p_joint/i: 0.03
 * /rarm_controller/gains/r_wrist_p_joint/p: 200.0
 * /rarm_controller/gains/r_wrist_r_joint/d: 0.5
 * /rarm_controller/gains/r_wrist_r_joint/i: 0.03
 * /rarm_controller/gains/r_wrist_r_joint/p: 200.0
 * /rarm_controller/gains/r_wrist_y_joint/d: 0.5
 * /rarm_controller/gains/r_wrist_y_joint/i: 0.03
 * /rarm_controller/gains/r_wrist_y_joint/p: 200.0
 * /rarm_controller/joints: ['r_shoulder_p_jo...
 * /rarm_controller/type: effort_controller...
 * /rhand_controller/gains/r_indexbase_joint/d: 0.02
 * /rhand_controller/gains/r_indexbase_joint/i: 0.003
 * /rhand_controller/gains/r_indexbase_joint/p: 25.0
 * /rhand_controller/gains/r_thumb_joint/d: 0.02
 * /rhand_controller/gains/r_thumb_joint/i: 0.003
 * /rhand_controller/gains/r_thumb_joint/p: 25.0
 * /rhand_controller/joints: ['r_indexbase_joi...
 * /rhand_controller/type: effort_controller...
 * /robot_description: <?xml version="1....
 * /robot_description_gazebo: <?xml version="1....
 * /robot_description_kinematics/both_arms/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/both_arms/kinematics_solver_attempts: 3
 * /robot_description_kinematics/both_arms/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/both_arms/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/both_arms_with_waist/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/both_arms_with_waist/kinematics_solver_attempts: 3
 * /robot_description_kinematics/both_arms_with_waist/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/both_arms_with_waist/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/head/kinematics_solver_attempts: 3
 * /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/head/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/larm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/larm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/larm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/larm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/larm_with_lifter/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/larm_with_lifter/kinematics_solver_attempts: 3
 * /robot_description_kinematics/larm_with_lifter/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/larm_with_lifter/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/larm_with_torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/larm_with_torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/larm_with_torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/larm_with_torso/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/larm_with_waist/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/larm_with_waist/kinematics_solver_attempts: 3
 * /robot_description_kinematics/larm_with_waist/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/larm_with_waist/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/lifter/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/lifter/kinematics_solver_attempts: 3
 * /robot_description_kinematics/lifter/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/lifter/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/rarm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/rarm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/rarm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/rarm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/rarm_with_lifter/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/rarm_with_lifter/kinematics_solver_attempts: 3
 * /robot_description_kinematics/rarm_with_lifter/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/rarm_with_lifter/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/rarm_with_torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/rarm_with_torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/rarm_with_torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/rarm_with_torso/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/rarm_with_waist/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/rarm_with_waist/kinematics_solver_attempts: 3
 * /robot_description_kinematics/rarm_with_waist/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/rarm_with_waist/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/torso/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/upper_body/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/upper_body/kinematics_solver_attempts: 3
 * /robot_description_kinematics/upper_body/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/upper_body/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/waist/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/waist/kinematics_solver_attempts: 3
 * /robot_description_kinematics/waist/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/waist/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/whole_body/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/whole_body/kinematics_solver_attempts: 3
 * /robot_description_kinematics/whole_body/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/whole_body/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/ankle_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ankle_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ankle_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ankle_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/ankle_joint_mimic/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ankle_joint_mimic/has_velocity_limits: False
 * /robot_description_planning/joint_limits/ankle_joint_mimic/max_acceleration: 0
 * /robot_description_planning/joint_limits/ankle_joint_mimic/max_velocity: 0
 * /robot_description_planning/joint_limits/knee_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/knee_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/knee_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/knee_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/knee_joint_mimic/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/knee_joint_mimic/has_velocity_limits: False
 * /robot_description_planning/joint_limits/knee_joint_mimic/max_acceleration: 0
 * /robot_description_planning/joint_limits/knee_joint_mimic/max_velocity: 0
 * /robot_description_planning/joint_limits/l_elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_elbow_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/l_indexbase_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_indexbase_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_indexbase_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_indexbase_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_indexend_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_indexend_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_indexend_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_indexend_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_indexmid_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_indexmid_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_indexmid_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_indexmid_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_shoulder_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_shoulder_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_shoulder_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_shoulder_p_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_shoulder_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_shoulder_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_shoulder_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_shoulder_r_joint/max_velocity: 0.6
 * /robot_description_planning/joint_limits/l_shoulder_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_shoulder_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_shoulder_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_shoulder_y_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_thumb_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_thumb_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_thumb_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_thumb_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_wrist_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_wrist_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_wrist_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_wrist_p_joint/max_velocity: 1.3
 * /robot_description_planning/joint_limits/l_wrist_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_wrist_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_wrist_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_wrist_r_joint/max_velocity: 1.3
 * /robot_description_planning/joint_limits/l_wrist_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_wrist_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_wrist_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_wrist_y_joint/max_velocity: 1.5
 * /robot_description_planning/joint_limits/neck_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/neck_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/neck_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/neck_p_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/neck_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/neck_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/neck_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/neck_r_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/neck_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/neck_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/neck_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/neck_y_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_elbow_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/r_indexbase_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_indexbase_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_indexbase_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_indexbase_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_indexend_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_indexend_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_indexend_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_indexend_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_indexmid_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_indexmid_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_indexmid_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_indexmid_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_shoulder_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_shoulder_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_shoulder_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_shoulder_p_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_shoulder_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_shoulder_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_shoulder_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_shoulder_r_joint/max_velocity: 0.6
 * /robot_description_planning/joint_limits/r_shoulder_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_shoulder_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_shoulder_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_shoulder_y_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_thumb_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_thumb_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_thumb_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_thumb_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_wrist_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_wrist_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_wrist_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_wrist_p_joint/max_velocity: 1.3
 * /robot_description_planning/joint_limits/r_wrist_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_wrist_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_wrist_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_wrist_r_joint/max_velocity: 1.3
 * /robot_description_planning/joint_limits/r_wrist_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_wrist_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_wrist_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_wrist_y_joint/max_velocity: 1.5
 * /robot_description_planning/joint_limits/waist_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/waist_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/waist_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/waist_p_joint/max_velocity: 0.3
 * /robot_description_planning/joint_limits/waist_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/waist_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/waist_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/waist_r_joint/max_velocity: 0.3
 * /robot_description_planning/joint_limits/waist_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/waist_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/waist_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/waist_y_joint/max_velocity: 0.5
 * /robot_description_semantic: <?xml version="1....
 * /robot_interface_controllers: ['rarm', 'larm', ...
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /use_sim_time: True
 * /waist_controller/gains/waist_p_joint/d: 60.0
 * /waist_controller/gains/waist_p_joint/i: 0.003
 * /waist_controller/gains/waist_p_joint/p: 4000.0
 * /waist_controller/gains/waist_r_joint/d: 60.0
 * /waist_controller/gains/waist_r_joint/i: 0.003
 * /waist_controller/gains/waist_r_joint/p: 4000.0
 * /waist_controller/gains/waist_y_joint/d: 60.0
 * /waist_controller/gains/waist_y_joint/i: 0.003
 * /waist_controller/gains/waist_y_joint/p: 1000.0
 * /waist_controller/joints: ['waist_y_joint',...
 * /waist_controller/type: effort_controller...

NODES
  /
    aero_hand_controller (aero_ros_controller/aero_hand_controller_node)
    aero_state_publisher (robot_state_publisher/robot_state_publisher)
    amcl (amcl/amcl)
    controller_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    map_server (map_server/map_server)
    move_base (move_base/move_base)
    urdf_spawner (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [7477]
process[gazebo_gui-2]: started with pid [7481]
process[urdf_spawner-3]: started with pid [7485]
process[controller_spawner-4]: started with pid [7486]
process[aero_state_publisher-5]: started with pid [7487]
process[aero_hand_controller-6]: started with pid [7488]
process[map_server-7]: started with pid [7508]
process[amcl-8]: started with pid [7539]
process[move_base-9]: started with pid [7549]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.[ INFO] [1525043914.097867395]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1525043914.099356872]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 157.54.144.84
spawn_model script started
[INFO] [WallTime: 1525043914.371772] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1525043914.381458] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
[INFO] [WallTime: 1525043914.410961] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 157.54.144.84
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Error [gazebo.cc:220] Waited 11 seconds for namespaces. Giving up.
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
[WARN] [WallTime: 1525043944.589405] [0.000000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-4] process has finished cleanly
log file: /home/t-kasas/.ros/log/4ea79b62-4a69-11e8-8b94-d8d38577bdbb/controller_spawner-4*.log
Warning [parser.cc:340] Converting a deprecated source[/home/t-kasas/ros/indigo/src/aero-ros-pkg/aero_gazebo/gazebo_models/fcsc_shelf/model-1.4.sdf].
Warning [Converter.cc:59]   Version[1.3] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Warning [parser.cc:340] Converting a deprecated source[/home/t-kasas/ros/indigo/src/aero-ros-pkg/aero_gazebo/gazebo_models/fcsc_shelf2/model-1.4.sdf].
Warning [Converter.cc:59]   Version[1.3] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Warning [parser.cc:478] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:478] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:478] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:478] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
[INFO] [WallTime: 1525043958.761828] [0.000000] Calling service /gazebo/spawn_urdf_model
[ INFO] [1525043960.139900434, 0.001000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1525043960.140113663, 0.001000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1525043960.164755506, 0.001000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1525043960.891957497, 0.001000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[INFO] [WallTime: 1525043960.895187] [0.001000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1525043960.904114572, 0.001000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[urdf_spawner-3] process has finished cleanly
log file: /home/t-kasas/.ros/log/4ea79b62-4a69-11e8-8b94-d8d38577bdbb/urdf_spawner-3*.log
[ INFO] [1525043966.191832766, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1525043966.192186461, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1525043966.197347762, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[FATAL] [1525043966.368613101, 0.001000000]: No matching hardware interface found for 'hardware_interface/EffortJointInterface
[FATAL] [1525043966.368934232, 0.001000000]: Could not initialize robot simulation interface
[ INFO] [1525043966.426323801, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1525043966.463514432, 0.044000000]: Physics dynamic reconfigure ready.
[ INFO] [1525043968.361188000, 1.567000000]: Using plugin "static"
[ INFO] [1525043968.373075979, 1.577000000]: Requesting the map...
[ INFO] [1525043968.620869139, 1.781000000]: Resizing costmap to 800 X 800 at 0.025000 m/pix
[ INFO] [1525043968.744250122, 1.881000000]: Received a 800 X 800 map at 0.025000 m/pix
[ INFO] [1525043968.744366536, 1.881000000]: Subscribing to updates
[ INFO] [1525043968.754424559, 1.887000000]: Using plugin "inflation"
[ INFO] [1525043968.889767332, 1.978000000]: Using plugin "obstacles_laser"
[ INFO] [1525043968.893529835, 1.982000000]:     Subscribed to Topics: laser
[ INFO] [1525043968.924141960, 1.999000000]: Using plugin "inflation"
[FATAL] [1525043968.979026255, 2.048000000]: Failed to create the eband_local_planner/EBandPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class eband_local_planner/EBandPlannerROS with base class type nav_core::BaseLocalPlanner does not exist. Declared types are  base_local_planner/TrajectoryPlannerROS dwa_local_planner/DWAPlannerROS
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
[move_base-9] process has died [pid 7549, exit code 1

[sasabot]

It seems that the problem is caused because the thigh_dummy and shank_dummy are not connected to the leg_knee and leg_base. The model of these two links (lifter_bone_dummy.dae) will rotate around its parent joint causing the robot to collapse. How to fix this? (just adding a dummy joint to the mimic joint does not seem to help)

In addition, the bounding box of the leg_knee and leg_shank seems to be larger than the actual model. The bounding box of the dummy links does not correspond to the model at all.

[YoheiKakiuchi]

Here is a cause of the problem.

Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.

Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Error [gazebo.cc:220] Waited 11 seconds for namespaces. Giving up.

You can launch gazebo again. Then check this line does not exist.

Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.

Another point, EBandPlanner does not exist. (but it does not relate to this issue)

[FATAL] [1525043968.979026255, 2.048000000]: Failed to create the eband_local_planner/EBandPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class eband_local_planner/EBandPlannerROS with base class type nav_core::BaseLocalPlanner does not exist. Declared types are  base_local_planner/TrajectoryPlannerROS dwa_local_planner/DWAPlannerROS
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
[move_base-9] process has died [pid 7549, exit code 1

You can install it with this commnad.

roscd aero_startup/..
rosdep install --from-paths aero_startup --ignore-src -r

[YoheiKakiuchi]

For this problem, you should check your source files. Is there any difference with origin/master ?

It seems that the problem is caused because the thigh_dummy and shank_dummy are not connected to the leg_knee and leg_base. The model of these two links (lifter_bone_dummy.dae) will rotate around its parent joint causing the robot to collapse. How to fix this? (just adding a dummy joint to the mimic joint does not seem to help) In addition, the bounding box of the leg_knee and leg_shank seems to be larger than the actual model. The bounding box of the dummy links does not correspond to the model at all.

This picture is current status of origin/master.

[sasabot]

There are no diffs but the bounding box is not correct.

On branch master
Your branch is up-to-date with 'origin/master'.

Untracked files:
  (use "git add <file>..." to include in what will be committed)

    ../../../aero_startup/aero_extra_controllers/AeroHandController.hh
    ../../../aero_startup/aero_move_base/AeroBaseController.hh

and

origin  https://github.com/seed-solutions/aero-ros-pkg (fetch)
origin  https://github.com/seed-solutions/aero-ros-pkg (push)

and

From https://github.com/seed-solutions/aero-ros-pkg
 * branch            master     -> FETCH_HEAD
Already up-to-date.

Tried the rosdep install. Tried launching several times, but still no luck. output

SUMMARY
========

PARAMETERS
 * /amcl/base_frame_id: base_link
 * /amcl/gui_publish_rate: 10.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 60
 * /amcl/laser_max_range: 12.0
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 2000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.4
 * /amcl/odom_alpha3: 0.2
 * /amcl/odom_alpha4: 0.4
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: odom
 * /amcl/odom_model_type: omni-corrected
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 1.0
 * /amcl/update_min_a: 0.2
 * /amcl/update_min_d: 0.25
 * /amcl/use_map_topic: True
 * /head_controller/gains/neck_p_joint/d: 0.4
 * /head_controller/gains/neck_p_joint/i: 0.003
 * /head_controller/gains/neck_p_joint/p: 200.0
 * /head_controller/gains/neck_r_joint/d: 0.4
 * /head_controller/gains/neck_r_joint/i: 0.003
 * /head_controller/gains/neck_r_joint/p: 200.0
 * /head_controller/gains/neck_y_joint/d: 0.4
 * /head_controller/gains/neck_y_joint/i: 0.003
 * /head_controller/gains/neck_y_joint/p: 200.0
 * /head_controller/joints: ['neck_y_joint', ...
 * /head_controller/type: effort_controller...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /larm_controller/gains/l_elbow_joint/d: 6.0
 * /larm_controller/gains/l_elbow_joint/i: 0.003
 * /larm_controller/gains/l_elbow_joint/p: 1200.0
 * /larm_controller/gains/l_hand_y_joint/d: 0.5
 * /larm_controller/gains/l_hand_y_joint/i: 0.003
 * /larm_controller/gains/l_hand_y_joint/p: 200.0
 * /larm_controller/gains/l_shoulder_p_joint/d: 6.0
 * /larm_controller/gains/l_shoulder_p_joint/i: 0.003
 * /larm_controller/gains/l_shoulder_p_joint/p: 800.0
 * /larm_controller/gains/l_shoulder_r_joint/d: 6.0
 * /larm_controller/gains/l_shoulder_r_joint/i: 0.003
 * /larm_controller/gains/l_shoulder_r_joint/p: 800.0
 * /larm_controller/gains/l_shoulder_y_joint/d: 3.0
 * /larm_controller/gains/l_shoulder_y_joint/i: 0.003
 * /larm_controller/gains/l_shoulder_y_joint/p: 400.0
 * /larm_controller/gains/l_wrist_p_joint/d: 0.5
 * /larm_controller/gains/l_wrist_p_joint/i: 0.003
 * /larm_controller/gains/l_wrist_p_joint/p: 200.0
 * /larm_controller/gains/l_wrist_r_joint/d: 0.5
 * /larm_controller/gains/l_wrist_r_joint/i: 0.003
 * /larm_controller/gains/l_wrist_r_joint/p: 200.0
 * /larm_controller/gains/l_wrist_y_joint/d: 0.5
 * /larm_controller/gains/l_wrist_y_joint/i: 0.003
 * /larm_controller/gains/l_wrist_y_joint/p: 200.0
 * /larm_controller/joints: ['l_shoulder_p_jo...
 * /larm_controller/type: effort_controller...
 * /lhand_controller/gains/l_indexbase_joint/d: 0.02
 * /lhand_controller/gains/l_indexbase_joint/i: 0.003
 * /lhand_controller/gains/l_indexbase_joint/p: 25.0
 * /lhand_controller/gains/l_thumb_joint/d: 0.02
 * /lhand_controller/gains/l_thumb_joint/i: 0.003
 * /lhand_controller/gains/l_thumb_joint/p: 25.0
 * /lhand_controller/joints: ['l_indexbase_joi...
 * /lhand_controller/type: effort_controller...
 * /lifter_controller/gains/ankle_joint/d: 20.0
 * /lifter_controller/gains/ankle_joint/i: 2.0
 * /lifter_controller/gains/ankle_joint/p: 4000.0
 * /lifter_controller/gains/knee_joint/d: 20.0
 * /lifter_controller/gains/knee_joint/i: 2.0
 * /lifter_controller/gains/knee_joint/p: 4000.0
 * /lifter_controller/joints: ['knee_joint', 'a...
 * /lifter_controller/type: effort_controller...
 * /move_base/EBandPlannerROS/differential_drive: False
 * /move_base/EBandPlannerROS/max_acceleration: 0.5
 * /move_base/EBandPlannerROS/max_rotational_acceleration: 1.0
 * /move_base/EBandPlannerROS/max_translational_acceleration: 0.5
 * /move_base/EBandPlannerROS/max_vel_lin: 0.5
 * /move_base/EBandPlannerROS/max_vel_th: 0.5
 * /move_base/EBandPlannerROS/min_vel_lin: 0.1
 * /move_base/EBandPlannerROS/min_vel_th: 0.0
 * /move_base/EBandPlannerROS/xy_goal_tolerance: 0.03
 * /move_base/EBandPlannerROS/yaw_goal_tolerance: 0.05
 * /move_base/TrajectoryPlannerROS/max_rotational_vel: 0.5
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: eband_local_plann...
 * /move_base/free_thresh: 0.196
 * /move_base/global_costmap/footprint: [[-0.35, -0.25], ...
 * /move_base/global_costmap/footprint_padding: 0.001
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation/inflation_radius: 0.2
 * /move_base/global_costmap/obstacle_range: 2.5
 * /move_base/global_costmap/obstacles_laser/laser/clearing: True
 * /move_base/global_costmap/obstacles_laser/laser/data_type: LaserScan
 * /move_base/global_costmap/obstacles_laser/laser/inf_is_valid: True
 * /move_base/global_costmap/obstacles_laser/laser/marking: True
 * /move_base/global_costmap/obstacles_laser/laser/topic: scan
 * /move_base/global_costmap/obstacles_laser/observation_sources: laser
 * /move_base/global_costmap/plugins: [{'type': 'costma...
 * /move_base/global_costmap/publish_frequency: 3.0
 * /move_base/global_costmap/raytrace_range: 3.0
 * /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/static/map_topic: /map
 * /move_base/global_costmap/static/subscribe_to_updates: True
 * /move_base/global_costmap/track_unknown_space: True
 * /move_base/global_costmap/transform_tolerance: 0.5
 * /move_base/global_costmap/update_frequency: 4.0
 * /move_base/image: map.pgm
 * /move_base/local_costmap/footprint: [[-0.35, -0.25], ...
 * /move_base/local_costmap/footprint_padding: 0.001
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 2.5
 * /move_base/local_costmap/inflation/inflation_radius: 0.2
 * /move_base/local_costmap/obstacle_range: 2.5
 * /move_base/local_costmap/obstacles_laser/laser/clearing: True
 * /move_base/local_costmap/obstacles_laser/laser/data_type: LaserScan
 * /move_base/local_costmap/obstacles_laser/laser/inf_is_valid: True
 * /move_base/local_costmap/obstacles_laser/laser/marking: True
 * /move_base/local_costmap/obstacles_laser/laser/topic: scan
 * /move_base/local_costmap/obstacles_laser/observation_sources: laser
 * /move_base/local_costmap/plugins: [{'type': 'costma...
 * /move_base/local_costmap/publish_frequency: 3.0
 * /move_base/local_costmap/raytrace_range: 3.0
 * /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/static/map_topic: /map
 * /move_base/local_costmap/static/subscribe_to_updates: True
 * /move_base/local_costmap/transform_tolerance: 0.5
 * /move_base/local_costmap/update_frequency: 4.0
 * /move_base/local_costmap/width: 2.5
 * /move_base/negate: 0
 * /move_base/occupied_thresh: 0.65
 * /move_base/origin: [-10.0, -10.0, 0.0]
 * /move_base/resolution: 0.025
 * /rarm_controller/gains/r_elbow_joint/d: 6.0
 * /rarm_controller/gains/r_elbow_joint/i: 0.03
 * /rarm_controller/gains/r_elbow_joint/p: 1200.0
 * /rarm_controller/gains/r_hand_y_joint/d: 0.5
 * /rarm_controller/gains/r_hand_y_joint/i: 0.03
 * /rarm_controller/gains/r_hand_y_joint/p: 200.0
 * /rarm_controller/gains/r_shoulder_p_joint/d: 6.0
 * /rarm_controller/gains/r_shoulder_p_joint/i: 0.03
 * /rarm_controller/gains/r_shoulder_p_joint/p: 800.0
 * /rarm_controller/gains/r_shoulder_r_joint/d: 6.0
 * /rarm_controller/gains/r_shoulder_r_joint/i: 0.03
 * /rarm_controller/gains/r_shoulder_r_joint/p: 800.0
 * /rarm_controller/gains/r_shoulder_y_joint/d: 3.0
 * /rarm_controller/gains/r_shoulder_y_joint/i: 0.03
 * /rarm_controller/gains/r_shoulder_y_joint/p: 400.0
 * /rarm_controller/gains/r_wrist_p_joint/d: 0.5
 * /rarm_controller/gains/r_wrist_p_joint/i: 0.03
 * /rarm_controller/gains/r_wrist_p_joint/p: 200.0
 * /rarm_controller/gains/r_wrist_r_joint/d: 0.5
 * /rarm_controller/gains/r_wrist_r_joint/i: 0.03
 * /rarm_controller/gains/r_wrist_r_joint/p: 200.0
 * /rarm_controller/gains/r_wrist_y_joint/d: 0.5
 * /rarm_controller/gains/r_wrist_y_joint/i: 0.03
 * /rarm_controller/gains/r_wrist_y_joint/p: 200.0
 * /rarm_controller/joints: ['r_shoulder_p_jo...
 * /rarm_controller/type: effort_controller...
 * /rhand_controller/gains/r_indexbase_joint/d: 0.02
 * /rhand_controller/gains/r_indexbase_joint/i: 0.003
 * /rhand_controller/gains/r_indexbase_joint/p: 25.0
 * /rhand_controller/gains/r_thumb_joint/d: 0.02
 * /rhand_controller/gains/r_thumb_joint/i: 0.003
 * /rhand_controller/gains/r_thumb_joint/p: 25.0
 * /rhand_controller/joints: ['r_indexbase_joi...
 * /rhand_controller/type: effort_controller...
 * /robot_description: <?xml version="1....
 * /robot_description_gazebo: <?xml version="1....
 * /robot_description_kinematics/both_arms/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/both_arms/kinematics_solver_attempts: 3
 * /robot_description_kinematics/both_arms/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/both_arms/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/both_arms_with_waist/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/both_arms_with_waist/kinematics_solver_attempts: 3
 * /robot_description_kinematics/both_arms_with_waist/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/both_arms_with_waist/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/head/kinematics_solver_attempts: 3
 * /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/head/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/larm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/larm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/larm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/larm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/larm_with_lifter/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/larm_with_lifter/kinematics_solver_attempts: 3
 * /robot_description_kinematics/larm_with_lifter/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/larm_with_lifter/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/larm_with_torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/larm_with_torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/larm_with_torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/larm_with_torso/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/larm_with_waist/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/larm_with_waist/kinematics_solver_attempts: 3
 * /robot_description_kinematics/larm_with_waist/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/larm_with_waist/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/lifter/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/lifter/kinematics_solver_attempts: 3
 * /robot_description_kinematics/lifter/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/lifter/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/rarm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/rarm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/rarm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/rarm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/rarm_with_lifter/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/rarm_with_lifter/kinematics_solver_attempts: 3
 * /robot_description_kinematics/rarm_with_lifter/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/rarm_with_lifter/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/rarm_with_torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/rarm_with_torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/rarm_with_torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/rarm_with_torso/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/rarm_with_waist/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/rarm_with_waist/kinematics_solver_attempts: 3
 * /robot_description_kinematics/rarm_with_waist/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/rarm_with_waist/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/torso/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/upper_body/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/upper_body/kinematics_solver_attempts: 3
 * /robot_description_kinematics/upper_body/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/upper_body/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/waist/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/waist/kinematics_solver_attempts: 3
 * /robot_description_kinematics/waist/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/waist/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/whole_body/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/whole_body/kinematics_solver_attempts: 3
 * /robot_description_kinematics/whole_body/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/whole_body/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/ankle_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ankle_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ankle_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ankle_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/ankle_joint_mimic/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ankle_joint_mimic/has_velocity_limits: False
 * /robot_description_planning/joint_limits/ankle_joint_mimic/max_acceleration: 0
 * /robot_description_planning/joint_limits/ankle_joint_mimic/max_velocity: 0
 * /robot_description_planning/joint_limits/knee_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/knee_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/knee_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/knee_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/knee_joint_mimic/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/knee_joint_mimic/has_velocity_limits: False
 * /robot_description_planning/joint_limits/knee_joint_mimic/max_acceleration: 0
 * /robot_description_planning/joint_limits/knee_joint_mimic/max_velocity: 0
 * /robot_description_planning/joint_limits/l_elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_elbow_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/l_indexbase_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_indexbase_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_indexbase_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_indexbase_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_indexend_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_indexend_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_indexend_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_indexend_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_indexmid_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_indexmid_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_indexmid_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_indexmid_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_shoulder_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_shoulder_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_shoulder_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_shoulder_p_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_shoulder_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_shoulder_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_shoulder_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_shoulder_r_joint/max_velocity: 0.6
 * /robot_description_planning/joint_limits/l_shoulder_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_shoulder_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_shoulder_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_shoulder_y_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_thumb_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_thumb_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_thumb_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_thumb_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/l_wrist_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_wrist_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_wrist_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_wrist_p_joint/max_velocity: 1.3
 * /robot_description_planning/joint_limits/l_wrist_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_wrist_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_wrist_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_wrist_r_joint/max_velocity: 1.3
 * /robot_description_planning/joint_limits/l_wrist_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/l_wrist_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_wrist_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/l_wrist_y_joint/max_velocity: 1.5
 * /robot_description_planning/joint_limits/neck_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/neck_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/neck_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/neck_p_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/neck_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/neck_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/neck_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/neck_r_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/neck_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/neck_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/neck_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/neck_y_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_elbow_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/r_indexbase_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_indexbase_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_indexbase_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_indexbase_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_indexend_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_indexend_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_indexend_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_indexend_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_indexmid_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_indexmid_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_indexmid_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_indexmid_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_shoulder_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_shoulder_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_shoulder_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_shoulder_p_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_shoulder_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_shoulder_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_shoulder_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_shoulder_r_joint/max_velocity: 0.6
 * /robot_description_planning/joint_limits/r_shoulder_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_shoulder_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_shoulder_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_shoulder_y_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_thumb_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_thumb_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_thumb_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_thumb_joint/max_velocity: 0.5
 * /robot_description_planning/joint_limits/r_wrist_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_wrist_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_wrist_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_wrist_p_joint/max_velocity: 1.3
 * /robot_description_planning/joint_limits/r_wrist_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_wrist_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_wrist_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_wrist_r_joint/max_velocity: 1.3
 * /robot_description_planning/joint_limits/r_wrist_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/r_wrist_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_wrist_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/r_wrist_y_joint/max_velocity: 1.5
 * /robot_description_planning/joint_limits/waist_p_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/waist_p_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/waist_p_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/waist_p_joint/max_velocity: 0.3
 * /robot_description_planning/joint_limits/waist_r_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/waist_r_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/waist_r_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/waist_r_joint/max_velocity: 0.3
 * /robot_description_planning/joint_limits/waist_y_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/waist_y_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/waist_y_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/waist_y_joint/max_velocity: 0.5
 * /robot_description_semantic: <?xml version="1....
 * /robot_interface_controllers: ['rarm', 'larm', ...
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /use_sim_time: True
 * /waist_controller/gains/waist_p_joint/d: 60.0
 * /waist_controller/gains/waist_p_joint/i: 0.003
 * /waist_controller/gains/waist_p_joint/p: 4000.0
 * /waist_controller/gains/waist_r_joint/d: 60.0
 * /waist_controller/gains/waist_r_joint/i: 0.003
 * /waist_controller/gains/waist_r_joint/p: 4000.0
 * /waist_controller/gains/waist_y_joint/d: 60.0
 * /waist_controller/gains/waist_y_joint/i: 0.003
 * /waist_controller/gains/waist_y_joint/p: 1000.0
 * /waist_controller/joints: ['waist_y_joint',...
 * /waist_controller/type: effort_controller...

NODES
  /
    aero_hand_controller (aero_ros_controller/aero_hand_controller_node)
    aero_state_publisher (robot_state_publisher/robot_state_publisher)
    amcl (amcl/amcl)
    controller_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    map_server (map_server/map_server)
    move_base (move_base/move_base)
    urdf_spawner (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [7162]
process[gazebo_gui-2]: started with pid [7166]
process[urdf_spawner-3]: started with pid [7170]
process[controller_spawner-4]: started with pid [7171]
process[aero_state_publisher-5]: started with pid [7172]
process[aero_hand_controller-6]: started with pid [7173]
process[map_server-7]: started with pid [7208]
process[amcl-8]: started with pid [7225]
process[move_base-9]: started with pid [7250]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1525101994.310630409]: Finished loading Gazebo ROS API Plugin.
[1;[ INFO] [1525101994.311820503]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
32mMsg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 157.54.144.84
spawn_model script started
[INFO] [WallTime: 1525101994.510942] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [WallTime: 1525101994.634598] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1525101994.643518] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Warning [parser.cc:340] Converting a deprecated source[/home/t-kasas/ros/indigo/src/aero-ros-pkg/aero_gazebo/gazebo_models/fcsc_shelf/model-1.4.sdf].
Warning [Converter.cc:59]   Version[1.3] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Warning [parser.cc:340] Converting a deprecated source[/home/t-kasas/ros/indigo/src/aero-ros-pkg/aero_gazebo/gazebo_models/fcsc_shelf2/model-1.4.sdf].
Warning [Converter.cc:59]   Version[1.3] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 157.54.144.84
Warning [parser.cc:478] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:478] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:478] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:478] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
[INFO] [WallTime: 1525101995.851066] [0.000000] Calling service /gazebo/spawn_urdf_model
[ INFO] [1525101997.231592176, 0.001000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1525101997.231656097, 0.001000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1525101997.233134687, 0.001000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1525101997.487249055, 0.001000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[INFO] [WallTime: 1525101997.490114] [0.001000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1525101997.496681333, 0.001000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[urdf_spawner-3] process has finished cleanly
log file: /home/t-kasas/.ros/log/4ea79b62-4a69-11e8-8b94-d8d38577bdbb/urdf_spawner-3*.log
[ INFO] [1525102002.277833051, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1525102002.277933122, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1525102002.278981107, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[FATAL] [1525102002.399466762, 0.001000000]: No matching hardware interface found for 'hardware_interface/EffortJointInterface
[FATAL] [1525102002.399722901, 0.001000000]: Could not initialize robot simulation interface
[ INFO] [1525102002.435680941, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1525102002.475684218, 0.052000000]: Physics dynamic reconfigure ready.
[ INFO] [1525102004.330845206, 1.544000000]: Using plugin "static"
[ INFO] [1525102004.340490689, 1.554000000]: Requesting the map...
[ INFO] [1525102004.588503908, 1.758000000]: Resizing costmap to 800 X 800 at 0.025000 m/pix
[ INFO] [1525102004.710860771, 1.858000000]: Received a 800 X 800 map at 0.025000 m/pix
[ INFO] [1525102004.710902253, 1.858000000]: Subscribing to updates
[ INFO] [1525102004.720702398, 1.867000000]: Using plugin "inflation"
[ INFO] [1525102004.804751403, 1.926000000]: Using plugin "obstacles_laser"
[ INFO] [1525102004.807348023, 1.926000000]:     Subscribed to Topics: laser
[ INFO] [1525102004.843337091, 1.952000000]: Using plugin "inflation"
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
[ INFO] [1525102004.899350073, 2.000000000]: Created local_planner eband_local_planner/EBandPlannerROS
[ INFO] [1525102005.229034366, 2.259000000]: Recovery behavior will clear layer obstacles
[ INFO] [1525102005.235509379, 2.265000000]: Recovery behavior will clear layer obstacles

[sasabot]

This picture is current status of origin/master.

Could you please somehow share the generated model files you are using? Could you also please make sure that your "git log" is the same as master and there are no forgotten pushes?

[YoheiKakiuchi]

You also need to

roscd aero_startup/..
rosdep install --from-paths aero_gazebo --ignore-src -r
rosdep install --from-paths aero_ros_controller --ignore-src -r

Here is urdf file. https://gist.github.com/YoheiKakiuchi/b73305cd777be388a2c7859e2aad8334

[sasabot]

Is the aero.urdf file the only file required for gazebo? how about aero.urdf.xacro and lifter.urdf.xacro?

[YoheiKakiuchi]

you can check aero.urdf with aero_description/robots/aero.urdf

[YoheiKakiuchi]

aero.urdf is just generated by rosrun xacro xacro aero_description/robots/aero.urdf.xacro

[sasabot]

hmm... so if the aero.urdf is completely the same, should I get the same results in gazebo? It appears that the generated urdf is the same as the urdf in the link above but I am still encountering the same problems.

Just to make sure, what is the tested version of gazebo and rosdistro?

btw. I have done the rosdep installs didn't help.

[YoheiKakiuchi]

Cause of the problem is here

[FATAL] [1525102002.399466762, 0.001000000]: No matching hardware interface found for 'hardware_interface/EffortJointInterface
[FATAL] [1525102002.399722901, 0.001000000]: Could not initialize robot simulation interface

Then, you need some packages.

minimum install process is here https://github.com/seed-solutions/aero-ros-pkg/blob/master/Dockerfile.kinetic

I checked gazebo with kinetic(docker can run gazebo) and indigo (my laptop)

[sasabot]

Okay, I will check for packages. In the meantime, I have two questions.

1, Is <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> different from <hardwareInterface>EffortJointInterface</hardwareInterface>? Because the latter seems to work without errors (although that did not solve the problem).

btw. I am using indigo.

2, I think the common_urdf/gazebo.xacro is also being read? Is this up to date in master?

[sasabot]

Additional questions.

3, [urdf_spawner-3] process has finished cleanly should this happen?

4, Are the model parameters correct? Have you ever left the robot standing and leave it for more than one simtime minute? In addition, I have tried removing the dummy links (as these were the links that was obviously moving weirdly). Now, I get the image below. But the model is entering a joint range that is impossible with the real robot (the shank stays correctly).

6, Why do we need dummy links? If it is for visual purposes, couldn't the thigh and shank .dae contain the dummy bone models?

From what I found, removing the mimic joints did not change the problem in question 4. So my guess is, these problems are not related to the mimic plugin or the PID parameters. However, I do not know what is causing question 4 to happen.

[sasabot]

I got a similar report from @taichiH After two minutes in SimTime, the robot bends down. He is using kinetic.

@taichiH could you please post your screen capture and output log?

[YoheiKakiuchi]

I found reported error occurred in indigo. But, I tested in kinetic well.

[taichiH]

My gazebo robot also starts collapsing like below image. But, in my case, the robot collapsing once every fifth time.

After collapsing once, I continue to tested launch gazebo model and wait collapsing. but, at present, the robot doesn't collapsing in the same way.

i'm sorry, I've lost gazebo log when collapsing robot by mistake.

[YoheiKakiuchi]

1, Is hardware_interface/EffortJointInterface different from EffortJointInterface? Because the latter seems to work without errors (although that did not solve the problem).

EffortJointInterface is deprecated in kinetic, there are warning messages but working.

2, I think the common_urdf/gazebo.xacro is also being read? Is this up to date in master?

Yes

3, [urdf_spawner-3] process has finished cleanly should this happen?

Yes

4

mimic plugin is required to support upper-body with lifter. We can see messages like that if mimic plugin works correctly.

Loading mimic plugin
reg: knee_joint -> knee_joint_mimic
offset: 0, multiplier: -1
P: 4000, I: 0.1, D: 80, imax: 500, imin: -500, cmax: 2000, cmin: -2000

6, Why do we need dummy links? If it is for visual purposes, couldn't the thigh and shank .dae contain the dummy bone models?

Dummy links are just for visual. So, geometry for collision is removed.

[YoheiKakiuchi]

PR https://github.com/seed-solutions/aero-ros-pkg/pull/328 may solve the problem.

[sasabot]

Hooray!!! It works! Thank you very much.

but I still see issues with the bounding box (knee and thigh). also, when you send the below command from [0.0, 0.0], the robot seems to jump.

rostopic pub /lifter_controller/commajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names:
- 'ankle_joint'
- 'knee_joint'
points:
- positions: [1.0, -1.0]
  velocities: [0, 0]
  accelerations: [0, 0]
  effort: [0, 0]
  time_from_start: {secs: 3, nsecs: 0}"

can we fix this? or should we wait for the real robot to match the virtual?

[YoheiKakiuchi]

but I still see issues with the bounding box (knee and thigh).

This might be a bug of gazebo. It is solved at gazebo7 and kinetic.

also, when you send the below command from [0.0, 0.0], the robot seems to jump. can we fix this? or should we wait for the real robot to match the virtual?

I found it also at kinetic. It is also a bug or a typical behavior of gazebo. I think it is hard to fix it. You should use a lifter slower for gazebo.

[sasabot]

OK thanks. Then I think we can close this issue for now.

btw. I see a lot of other open issues including those from the old system. maybe we should add tags such as "2.1.0", "2.0.0", "old-system", "old-system-frozen(unsolved)" and close these issues.