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sgang007 / sangi1.0

Sangi is a low cost autonomous robot which used Ultrasonic sensors to perform localization and mapping of the environement
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roslaunch not working properly #4

Closed gsssrao closed 9 years ago

gsssrao commented 9 years ago

roslaunch sangi_gazebo sangi_world.launch is giving errors. Here are the screenshots: screenshot from 2015-05-13 22 31 10 screenshot from 2015-05-13 22 31 15

So, rosrun turtlesim turtle_teleop_key /turtle1/cmd_vel:=/sangi/cmd_vel is also not working properly.

Output of: rospack profile is

Full tree crawl took 0.128808 seconds.
Directories marked with (*) contain no manifest.  You may
want to delete these directories.
To get just of list of directories without manifests,
re-run the profile with --zombie-only
-------------------------------------------------------------
0.119835   /opt/ros/indigo/share
0.001776   /home/gsssrao/Desktop/sangi1.0/Remote_System/remote_ws/src
0.000221 * /opt/ros/indigo/share/doc
0.000013 * /opt/ros/indigo/share/doc/liborocos-kdl
sgang007 commented 9 years ago

Look at this link : cannot launch node and then execute the following commands rospack find controller_manager And see if the controller_manager package is installed and can be found. If, it can't be found, try rospack profile or install it . If, it can be found, try running it invidually: roscore && rosrun controller_manager controller_manager list

See, if any controllers are being listed.

Post the output of the following commands.

gsssrao commented 9 years ago

Ok. For rospack find controller_manager [rospack] Error: package 'control_manager' not found So, it is not installed. Found the package here

So tried the debian package install: sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

So, now this is the output of roslaunch:

gsssrao@gsssrao:~/Desktop/sangi1.0/Remote_System/remote_ws$ roslaunch sangi_gazebo sangi_world.launch
... logging to /home/gsssrao/.ros/log/902d426c-fa5d-11e4-a888-685b35c6f08a/roslaunch-gsssrao-3953.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://gsssrao:34259/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.10
 * /sangi/joint_state_controller/publish_rate: 50
 * /sangi/joint_state_controller/type: joint_state_contr...
 * /sangi/leftWheel_effort_controller/joint: left_wheel_hinge
 * /sangi/leftWheel_effort_controller/pid/d: 10.0
 * /sangi/leftWheel_effort_controller/pid/i: 0.1
 * /sangi/leftWheel_effort_controller/pid/p: 100.0
 * /sangi/leftWheel_effort_controller/type: effort_controller...
 * /sangi/rightWheel_effort_controller/joint: right_wheel_hinge
 * /sangi/rightWheel_effort_controller/pid/d: 10.0
 * /sangi/rightWheel_effort_controller/pid/i: 0.1
 * /sangi/rightWheel_effort_controller/pid/p: 100.0
 * /sangi/rightWheel_effort_controller/type: effort_controller...
 * /use_sim_time: True

NODES
  /sangi/
    controller_spawner (controller_manager/spawner)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    sangi_spawn (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [3971]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 902d426c-fa5d-11e4-a888-685b35c6f08a
process[rosout-1]: started with pid [3984]
started core service [/rosout]
process[sangi_spawn-2]: started with pid [4008]
process[gazebo-3]: started with pid [4009]
process[gazebo_gui-4]: started with pid [4013]
process[sangi/controller_spawner-5]: started with pid [4021]
process[robot_state_publisher-6]: started with pid [4024]
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
Gazebo multi-robot simulator, version 2.2.5
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.5
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.[ INFO] [1431624049.494107391]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master[ INFO] [1431624049.494587263]: 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: 172.20.128.167
spawn_model script started
[INFO] [WallTime: 1431624049.698116] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [WallTime: 1431624049.710746] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1431624049.712816] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1431624049.761808291, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1431624049.788176801, 0.047000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1431624050.015289] [0.268000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1431624050.127089] [0.361000] Spawn status: SpawnModel: Successfully spawned model
Error [Plugin.hh:149] Failed to load plugin libgazebo_ros_control.so: libgazebo_ros_control.so: cannot open shared object file: No such file or directory
[ INFO] [1431624050.128462400, 0.361000000]: GazeboRosJointStatePublisher is going to publish joint: left_wheel_hinge
[ INFO] [1431624050.128500723, 0.361000000]: GazeboRosJointStatePublisher is going to publish joint: right_wheel_hinge
[ INFO] [1431624050.128513672, 0.361000000]: Starting GazeboRosJointStatePublisher Plugin (ns = /sangi/)!, parent name: sangi
[ INFO] [1431624050.135078622, 0.361000000]: Starting plugin DiffDrive(ns = /sangi/)!
[ INFO] [1431624050.135140261, 0.361000000]: DiffDrive(ns = /sangi/): <rosDebugLevel> = 1
[ INFO] [1431624050.135659190, 0.361000000]: DiffDrive(ns = /sangi/): <tf_prefix> = /sangi
Error [Param.hh:154] Unable to convert parameter[publishTf] whose type is[string], to type[b]
[ INFO] [1431624050.135914887, 0.361000000]: DiffDrive(ns = /sangi/): Advertise joint_states!
[ INFO] [1431624050.136439310, 0.361000000]: DiffDrive(ns = /sangi/): Try to subscribe to cmd_vel!
[ INFO] [1431624050.138799978, 0.361000000]: DiffDrive(ns = /sangi/): Subscribe to cmd_vel!
[sangi_spawn-2] process has finished cleanly
log file: /home/gsssrao/.ros/log/902d426c-fa5d-11e4-a888-685b35c6f08a/sangi_spawn-2*.log

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 172.20.128.167

But, teleoperator is not working properly as per arrow keys. The bot just keeps turning with wheels moving in opposite directions.

I am also getting this warning: [WARN] [WallTime: 1431625504.249363] [30.007000] Controller Spawner couldn't find the expected controller_manager ROS interface.

Output of rospack profile is: /opt/ros/indigo/share/controller_manager

Output of roscore && rosrun controller_manager controller_manager list is:

gsssrao@gsssrao:~/Desktop/sangi1.0/Remote_System/remote_ws$ roscore && rosrun controller_manager controller_manager list
... logging to /home/gsssrao/.ros/log/bc7eb702-fa61-11e4-b1d2-685b35c6f08a/roslaunch-gsssrao-6775.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://gsssrao:36836/
ros_comm version 1.11.10

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.10

NODES

auto-starting new master
process[master]: started with pid [6787]
ROS_MASTER_URI=http://gsssrao:11311/

setting /run_id to bc7eb702-fa61-11e4-b1d2-685b35c6f08a
process[rosout-1]: started with pid [6800]
started core service [/rosout]
sgang007 commented 9 years ago

Then, the problem was with controller manager not installed. From the log, there's an error that the libgazebo_ros_control plugin is not installed, Install it by: sudo apt-get install ros-indigo-gazebo-ros-control

Now, the gazebo sim is running properly. The teleoperation is controlled by the turtlesim package which is debugged. The problem with the teleoperation is probably because you are using a Mac. The keymappings maybe different in Mac.

Try running the turtlesim and see if that runs properly:

roscore rosrun turtlesim turtlesim_node rosrun turtlesim turtle_teleop_key

And see if this works properly.

If not, look at how the turtlesim node can be calibrated

I am closing this issue as of now as the gazebo and launch files are working well.

ankithjain commented 9 years ago

why is it showing "[turtlemimic.launch] is neither a launch file in package [beginner_tutorials] nor is [beginner_tutorials] a launch file name The traceback for the exception was written to the log file" when i tried to launch a launch file ?

On Fri, May 15, 2015 at 8:44 PM, Shubhojyoti Ganguly < notifications@github.com> wrote:

Closed #4 https://github.com/sgang007/sangi1.0/issues/4.

Reply to this email directly or view it on GitHub https://github.com/sgang007/sangi1.0/issues/4#event-305928529.

sgang007 commented 9 years ago

@ankithjain This thread is for all issues related to launch files of the sangi code. Since you are working on a different code where this error has popped, please move your messages to a different place or a private chat