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turtlebot / turtlebot4

Turtlebot4 common packages.
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Error when trying to simulate the turtlebot4 in Gazebo #388

Closed francescodonofrio closed 3 months ago

francescodonofrio commented 3 months ago

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

I do not know

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

1.0.1-1jammy.20240321.134526

Type of issue

Other

Expected behaviour

It is expected that the turtlebot4 simulation in Gazebo is started with the empty world.

Actual behaviour

An error occurs when parsing the robot's urdf.

Error messages

[ruby $(which ign) gazebo-1] [INFO] [1711708564.116039117] [gz_ros2_control]: connected to service!! robot_state_publisher asking for robot_description
[ruby $(which ign) gazebo-1] [INFO] [1711708564.116853038] [gz_ros2_control]: Received URDF from param server
[ruby $(which ign) gazebo-1] [INFO] [1711708564.121486048] [gz_ros2_control]: The position_proportional_gain has been set to: 0.1
[ruby $(which ign) gazebo-1] [INFO] [1711708564.121898665] [gz_ros2_control]: Loading joint: left_wheel_joint
[ruby $(which ign) gazebo-1] [INFO] [1711708564.121914659] [gz_ros2_control]:   State:
[ruby $(which ign) gazebo-1] [INFO] [1711708564.121927020] [gz_ros2_control]:        velocity
[ruby $(which ign) gazebo-1] [INFO] [1711708564.121940011] [gz_ros2_control]:        position
[ruby $(which ign) gazebo-1] [INFO] [1711708564.121950836] [gz_ros2_control]:   Command:
[ruby $(which ign) gazebo-1] [INFO] [1711708564.121961941] [gz_ros2_control]:        velocity
[ruby $(which ign) gazebo-1] [INFO] [1711708564.122097361] [gz_ros2_control]: Loading sensor: imu
[ruby $(which ign) gazebo-1] [INFO] [1711708564.122111120] [gz_ros2_control]:   State:
[ruby $(which ign) gazebo-1] [INFO] [1711708564.122146250] [resource_manager]: Initialize hardware 'left_wheel_controller' 
[ruby $(which ign) gazebo-1] [WARN] [1711708564.122167551] [gz_ros2_control]: On init...
[ruby $(which ign) gazebo-1] [INFO] [1711708564.122229500] [resource_manager]: Successful initialization of hardware 'left_wheel_controller'
[ruby $(which ign) gazebo-1] [INFO] [1711708564.122270496] [resource_manager]: 'configure' hardware 'left_wheel_controller' 
[ruby $(which ign) gazebo-1] [INFO] [1711708564.122276712] [gz_ros2_control]: System Successfully configured!
[ruby $(which ign) gazebo-1] [INFO] [1711708564.122288166] [resource_manager]: Successful 'configure' of hardware 'left_wheel_controller'
[ruby $(which ign) gazebo-1] [INFO] [1711708564.122294800] [resource_manager]: 'activate' hardware 'left_wheel_controller' 
[ruby $(which ign) gazebo-1] [INFO] [1711708564.122301016] [resource_manager]: Successful 'activate' of hardware 'left_wheel_controller'
[ruby $(which ign) gazebo-1] terminate called after throwing an instance of 'rclcpp::exceptions::ParameterAlreadyDeclaredException'
[ruby $(which ign) gazebo-1]   what():  parameter 'position_proportional_gain' has already been declared
[ruby $(which ign) gazebo-1] Stack trace (most recent call last):
[ruby $(which ign) gazebo-1] #31   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f30634c96, in 
[ruby $(which ign) gazebo-1] #30   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f30631fc5, in 
[ruby $(which ign) gazebo-1] #29   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f3062fc34, in 
[ruby $(which ign) gazebo-1] #28   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7a4f3079144b, in 
[ruby $(which ign) gazebo-1] #27   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f305fd088, in rb_nogvl
[ruby $(which ign) gazebo-1] #26   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7a4f30790d6b, in 
[ruby $(which ign) gazebo-1] #25   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7a4f30782492, in 
[ruby $(which ign) gazebo-1] #24   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7a4f30785e2d, in 
[ruby $(which ign) gazebo-1] #23   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.16.0", at 0x7a4f2b9aee20, in runServer
[ruby $(which ign) gazebo-1] #22   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b41fad9, in 
[ruby $(which ign) gazebo-1] #21   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b430d3a, in ignition::gazebo::v6::SimulationRunner::Run(unsigned long)
[ruby $(which ign) gazebo-1] #20   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b4305cd, in ignition::gazebo::v6::SimulationRunner::Step(ignition::gazebo::v6::UpdateInfo const&)
[ruby $(which ign) gazebo-1] #19   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b427549, in ignition::gazebo::v6::SimulationRunner::UpdateSystems()
[ruby $(which ign) gazebo-1] #18   Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x7a4f08f9a7b8, in ignition::gazebo::v6::systems::UserCommands::PreUpdate(ignition::gazebo::v6::UpdateInfo const&, ignition::gazebo::v6::EntityComponentManager&)
[ruby $(which ign) gazebo-1] #17   Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x7a4f08f9f5fc, in ignition::gazebo::v6::systems::CreateCommand::Execute()
[ruby $(which ign) gazebo-1] #16   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b3f2d7f, in ignition::gazebo::v6::SdfEntityCreator::CreateEntities(sdf::v12::Model const*)
[ruby $(which ign) gazebo-1] #15   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b403275, in void ignition::gazebo::v6::EventManager::Emit<ignition::common::EventT<void (unsigned long, std::vector<sdf::v12::Plugin, std::allocator<sdf::v12::Plugin> >), ignition::gazebo::v6::events::LoadPluginsTag>, unsigned long const&, std::vector<sdf::v12::Plugin, std::allocator<sdf::v12::Plugin> > const&>(unsigned long const&, std::vector<sdf::v12::Plugin, std::allocator<sdf::v12::Plugin> > const&)
[ruby $(which ign) gazebo-1] #14   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b427788, in ignition::gazebo::v6::SimulationRunner::LoadPlugins(unsigned long, std::vector<sdf::v12::Plugin, std::allocator<sdf::v12::Plugin> > const&)
[ruby $(which ign) gazebo-1] #13   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b442265, in ignition::gazebo::v6::SystemManager::LoadPlugin(unsigned long, sdf::v12::Plugin const&)
[ruby $(which ign) gazebo-1] #12   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b441f66, in ignition::gazebo::v6::SystemManager::AddSystem(ignition::plugin::TemplatePluginPtr<ignition::plugin::SpecializedPlugin<ignition::gazebo::v6::System, ignition::gazebo::v6::ISystemConfigure, ignition::gazebo::v6::ISystemPreUpdate, ignition::gazebo::v6::ISystemUpdate, ignition::gazebo::v6::ISystemPostUpdate> > const&, unsigned long, std::shared_ptr<sdf::v12::Element const>)
[ruby $(which ign) gazebo-1] #11   Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7a4f2b441900, in ignition::gazebo::v6::SystemManager::AddSystemImpl(ignition::gazebo::v6::SystemInternal, std::shared_ptr<sdf::v12::Element const>)
[ruby $(which ign) gazebo-1] #10   Object "/opt/ros/humble/lib/libign_ros2_control-system.so", at 0x7a4f08bc7954, in ign_ros2_control::IgnitionROS2ControlPlugin::Configure(unsigned long const&, std::shared_ptr<sdf::v12::Element const> const&, ignition::gazebo::v6::EntityComponentManager&, ignition::gazebo::v6::EventManager&)
[ruby $(which ign) gazebo-1] #9    Object "/opt/ros/humble/lib/libign_hardware_plugins.so", at 0x7a4ee9c8d9f9, in ign_ros2_control::IgnitionSystem::initSim(std::shared_ptr<rclcpp::Node>&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, unsigned long, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, unsigned long> > >&, hardware_interface::HardwareInfo const&, ignition::gazebo::v6::EntityComponentManager&, int&)
[ruby $(which ign) gazebo-1] #8    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7a4f05f18a76, in rclcpp::node_interfaces::NodeParameters::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, bool)
[ruby $(which ign) gazebo-1] #7    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7a4f05ec61c3, in 
[ruby $(which ign) gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7a4f2c2ae4d7, in __cxa_throw
[ruby $(which ign) gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7a4f2c2ae276, in std::terminate()
[ruby $(which ign) gazebo-1] #4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7a4f2c2ae20b, in 
[ruby $(which ign) gazebo-1] #3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7a4f2c2a2b9d, in 
[ruby $(which ign) gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7a4f300287f2, in abort
[ruby $(which ign) gazebo-1] #1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7a4f30042475, in raise
[ruby $(which ign) gazebo-1] #0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7a4f300969fc, in pthread_kill
[ruby $(which ign) gazebo-1] Aborted (Signal sent by tkill() 46249 1000)
[spawner-32] [INFO] [1711708564.722060422] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:52: TypeError: Cannot read property 'dialogOnExitText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:54: TypeError: Cannot read property 'exitDialogShowCloseGui' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:53: TypeError: Cannot read property 'exitDialogShowShutdown' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:251: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/SideDrawer.qml:93: TypeError: Cannot read property 'showDefaultDrawerOpts' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/IgnSplit.qml:56: TypeError: Cannot read property 'pluginCount' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:41: TypeError: Cannot read property 'toolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:42: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:43: TypeError: Cannot read property 'toolBarColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:44: TypeError: Cannot read property 'toolBarTextColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:45: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:46: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:47: TypeError: Cannot read property 'pluginToolBarColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:48: TypeError: Cannot read property 'pluginToolBarTextColorDark' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:50: TypeError: Cannot read property 'defaultExitAction' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:51: TypeError: Cannot read property 'showDialogOnExit' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:55: TypeError: Cannot read property 'exitDialogShutdownText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:56: TypeError: Cannot read property 'exitDialogCloseGuiText' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:66: TypeError: Cannot read property 'toolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:76: TypeError: Cannot read property 'toolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:219: TypeError: Cannot read property 'showPluginMenu' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:202: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:188: TypeError: Cannot read property 'showDrawer' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:128: TypeError: Cannot read property 'pluginToolBarColorLight' of null
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::qml/IgnCard.qml:139: TypeError: Cannot read property 'pluginToolBarTextColorLight' of null
[ruby $(which ign) gazebo-1] Stack trace (most recent call last):
[ruby $(which ign) gazebo-1] #19   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[ruby $(which ign) gazebo-1] #18   Object "ign gazebo gui", at 0x55e66f2f11c4, in _start
[ruby $(which ign) gazebo-1] #17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7a4f30029e3f, in __libc_start_main
[ruby $(which ign) gazebo-1] #16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7a4f30029d8f, in 
[ruby $(which ign) gazebo-1] #15   Object "ign gazebo gui", at 0x55e66f2f117e, in 
[ruby $(which ign) gazebo-1] #14   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f304a8e19, in ruby_run_node
[ruby $(which ign) gazebo-1] #13   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f304a5317, in 
[ruby $(which ign) gazebo-1] #12   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f3063a30c, in rb_vm_exec
[ruby $(which ign) gazebo-1] #11   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f30634c96, in 
[ruby $(which ign) gazebo-1] #10   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f30631fc5, in 
[ruby $(which ign) gazebo-1] #9    Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f3062fc34, in 
[ruby $(which ign) gazebo-1] #8    Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f3057ba27, in 
[ruby $(which ign) gazebo-1] #7    Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7a4f304a8db5, in ruby_stop
[ruby $(which ign) gazebo-1] #6    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7a4f3004560f, in exit
[ruby $(which ign) gazebo-1] #5    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7a4f30045494, in 
[ruby $(which ign) gazebo-1] #4    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x7a4f28e9c64c, in 
[ruby $(which ign) gazebo-1] #3    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x7a4f28eaa611, in 
[ruby $(which ign) gazebo-1] #2    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x7a4f28ec544c, in QQmlPropertyCache::~QQmlPropertyCache()
[ruby $(which ign) gazebo-1] #1    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x7a4f28ec5108, in QQmlPropertyCache::~QQmlPropertyCache()
[ruby $(which ign) gazebo-1] #0    Object "/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x7a4f28e60ff0, in 
[ruby $(which ign) gazebo-1] Segmentation fault (Address not mapped to object [0x7a4ed00f8f80])
[INFO] [ruby $(which ign) gazebo-1]: process has finished cleanly [pid 45930]

To Reproduce

  1. Install all the turtlebot4 packages as indicated in Turtlebot4 software manual section until the simulator section (simulator section included).
  2. ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py world:=empty

Other notes

No response

IbrayevRamil commented 3 months ago

I have exactly same issue parameter 'position_proportional_gain' has already been declared with command ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py. Tried both from deb packages and sources

hilary-luo commented 3 months ago

This issue has been answered on Robotics Stack Exchange. @francescodonofrio please close this issue with your accepted answer if your issue has been resolved by that answer.

francescodonofrio commented 3 months ago

Thank you for your help @hilary-luo

francescodonofrio commented 3 months ago

This issue has been answered on Robotics Stack Exchange. @francescodonofrio please close this issue with your accepted answer if your issue has been resolved by that answer.