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tu-darmstadt-ros-pkg / hector_quadrotor

hector_quadrotor contains packages related to modeling, control and simulation of quadrotor UAV systems.
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Quadrotor not responding to cmd_vel (with ROS Kinetic and Gazebo 7) #66

Closed DianeBury closed 7 years ago

DianeBury commented 7 years ago

Working with ROS Kinetic and Gazebo 7.

I downloaded the source from the kinetic-devel branch. It compiles fine, but when I launch the demo, I can't make the quadrotor move. I can see the commands being published on cmd_vel. I also checked that gazebo subscribes to cmd_vel and command/twist. Problem doesn't come from the joystick either. It seems that the callback of the velocity controller is being called but there's no modification of the drone position.

At first I thought the problem was that I needed Matlab to compile, but I get the same result with or without.

Other idea is I think the action takeoff has to be called, but I don't know how, it doesn't seem to be linked to anything.

meyerj commented 7 years ago

This problem already has been reported in #62. The cause is that, starting from kinetic-devel, the quadrotor spawns with motors disabled. You have to call the enable_motors service with the argument set to true, e.g.

# namespace is optional and depends on how you spawned the simulated quadrotor
rosservice call [namespace/]enable_motors true

This "feature" was introduced in https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/pull/57, but probably we should revert the default behaviour to spawn with motors enabled for backwards compatibility.

The action servers provided by hector_quadrotor_actions indeed already enable/shutdown motors internally, so they would be an alternative. With the teleop package hector_quadrotor_teleop the functions to enable/shutdown the motors can be assigned to a button depending on the mode.

DianeBury commented 7 years ago

Thanks, works fine now! It makes sense to use this service but the information was hard to find, would be great to make it more obvious for other people.

YCH188 commented 6 years ago

I tried this method.And found a problem.rosservice call enable_motors true ERROR: Unable to load type [hector_uav_msgs/EnableMotors]. Have you typed 'make' in [hector_uav_msgs]? How can I fix it

YCH188 commented 6 years ago

@DianeBury @meyerj Now the problem change to ERROR: Service [/enabel_motors] is not available.

nm46nm commented 6 years ago

@YCH188 Did you source in the new terminal? You should 'source devel/setup.bash' in your new terminal and then the service may be available.

YCH188 commented 6 years ago

@nm46nm Thanks for your help, this is the reason.

yeknafar commented 5 years ago

@meyerj when I tried to enable motor, I got this erro: "ERROR: Service [/enable_motors] is not available."

I aslo source devel/setup.bash

is there another way to enable the motor ? Thank you

lcucos commented 4 years ago

I am using Ros Melodic with Gazebo 9 and I am having the same problem:

"Service [/enable_motors]" never becomes available and furthermore I can't enable the motors

I sourced devel/setup.bash. How do I troubleshoot from here?

Thank you

[ INFO] [1572522752.042774160]: Finished loading Gazebo ROS API Plugin. [ INFO] [1572522752.044541737]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [INFO] [1572522752.393813, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1572522752.412064, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1572522753.020509, 0.015000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1572522753.033414114, 0.027000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1572522753.071783856, 0.064000000]: waitForService: Service [/enable_motors] has not been advertised, waiting... [ INFO] [1572522753.075779768, 0.068000000]: waitForService: Service [/enable_motors] has not been advertised, waiting... [ INFO] [1572522753.578911146, 0.195000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1572522753.582273124, 0.195000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1572522753.678428547, 0.195000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1572522753.678517815, 0.195000000]: Starting Laser Plugin (ns = /) [INFO] [1572522753.679642, 0.195000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1572522753.679763045, 0.195000000]: Laser Plugin (ns = /) , set to "" [ INFO] [1572522753.700172417, 0.207000000]: Physics dynamic reconfigure ready. [spawn_robot-10] process has finished cleanly log file: /home/user/.ros/log/1cd5298e-fbd3-11e9-980e-3ff1d43d58a0/spawn_robot-10.log [WARN] [1572522781.970296, 21.492000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [controller_spawner-5] process has finished cleanly log file: /home/user/.ros/log/1cd5298e-fbd3-11e9-980e-3ff1d43d58a0/controller_spawner-5.log [rviz-14] process has finished cleanly log file: /home/user/.ros/log/1cd5298e-fbd3-11e9-980e-3ff1d43d58a0/rviz-14*.log

gets stuck here <<<<<<<<<<<<