search

udacity / simple_arm_01

Repository for RoboND's ROS Basics Lesson 02
19 stars 38 forks source link

Using this repo with Melodic and Ubuntu 18.04 #2

Closed Xiaohong-Deng closed 2 years ago

Xiaohong-Deng commented 6 years ago

If you are using newer version of Ubuntu and ROS like me, e.g., 18.04 and Melodic, you might encounter the following issue

When execute the command roslaunch simple_arm robot_spawn.launch

The following happens.

[INFO] [1533922425.774471, 261.179000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name simple_arm
[ERROR] [1533922425.775607, 261.179000]: Spawn service failed. Exiting.
[urdf_spawner-7] process has died [pid 8686, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -param robot_description -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 -model simple_arm __name:=urdf_spawner

The hint is just a few lines away as the following

[ WARN] [1533922426.361753519, 261.179000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint_1'.
[ WARN] [1533922426.362443170, 261.179000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint_2'.

It turns out the urdf file is a bit outdated. The file is located at ./urdf/simple_arm.urdf.xacro. Fix it and next time you launch simple_arm all will be well.

asabbah commented 5 years ago

Still getting the same error!

sunsided commented 5 years ago

Had the same problem; fixed the files and still saw that error. It got resolved when I ran roscore from the same environment, however.

CyberAMS commented 5 years ago

I also fixed the simple_arm.urdf.xacro file as described above:

  <!--Transmission and actuators-->
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint_2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

I am using roslaunch simple_arm robot_spawn.launch to start the simulation. Below is some of the terminal output I still get (the warnings are gone). Any chance you can help me understand how I use roscore to fix this?

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [5985]
process[robot_state_publisher-2]: started with pid [5986]
process[simple_arm/spawner-3]: started with pid [5987]
process[gazebo-4]: started with pid [5991]
process[gazebo_gui-5]: started with pid [5993]
process[urdf_spawner-6]: started with pid [5996]
[INFO] [1549209659.772957, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1549209660.180199028]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1549209660.185877442]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1549209660.280082688]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1549209660.289901841]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1549209660.837648, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1549209660.846084, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1549209661.153316, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1549209661.477608, 261.179000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name simple_arm
[ERROR] [1549209661.480397, 261.179000]: Spawn service failed. Exiting.
[urdf_spawner-6] process has died [pid 5996, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -param robot_description -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 -model simple_arm __name:=urdf_spawner __log:=/home/cyberams/.ros/log/c0eeb8fe-27cc-11e9-99d0-000c29ed7d8e/urdf_spawner-6.log].
log file: /home/cyberams/.ros/log/c0eeb8fe-27cc-11e9-99d0-000c29ed7d8e/urdf_spawner-6*.log
[ INFO] [1549209662.330640045, 261.179000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1549209662.339560390, 261.179000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1549209662.396577773, 261.179000000]: Loading gazebo_ros_control plugin
[ INFO] [1549209662.396993602, 261.179000000]: Starting gazebo_ros_control plugin in namespace: /simple_arm
[ INFO] [1549209662.398725036, 261.179000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1549209662.557855379, 261.179000000]: Loaded gazebo_ros_control.
[ INFO] [1549209662.599277788, 261.201000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1549209662.815112, 261.325000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1549209662.836359, 261.327000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[ INFO] [1549209662.836787225, 261.327000000]: Physics dynamic reconfigure ready.
[INFO] [1549209662.850672, 261.327000]: Loading controller: joint_state_controller
[INFO] [1549209662.940487, 261.365000]: Loading controller: joint_1_position_controller
[INFO] [1549209663.252956, 261.529000]: Loading controller: joint_2_position_controller
[INFO] [1549209663.620970, 261.715000]: Controller Spawner: Loaded controllers: joint_state_controller, joint_1_position_controller, joint_2_position_controller
[INFO] [1549209663.654644, 261.726000]: Started controllers: joint_state_controller, joint_1_position_controller, joint_2_position_controller
VMware: vmw_ioctl_command error Invalid argument.
Aborted (core dumped)
[gazebo_gui-5] process has died [pid 5993, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/cyberams/.ros/log/c0eeb8fe-27cc-11e9-99d0-000c29ed7d8e/gazebo_gui-5.log].
log file: /home/cyberams/.ros/log/c0eeb8fe-27cc-11e9-99d0-000c29ed7d8e/gazebo_gui-5*.log
jbreitbart commented 5 years ago

I had to do two things that are not named in the lesson:

marcin-sielski commented 4 years ago

I have fixed this issue with following PR: https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1024

KyuhwanYeon commented 4 years ago

Now I fixed this problem!

  1. rosdep check simple_arm : if not installed then 2.
  2. rosdep install -i simple_arm

It will be working

I had to do two things that are not named in the lesson:

  • Fix the files as shown here: sunsided@12dc5ba
  • Call rosdep install -i simple_arm in the environment

and also > * Fix the files as shown here: sunsided@12dc5ba

willhunt commented 4 years ago

As suggested by @sunsided I also needed to run roscore first in a different terminal:

Had the same problem; fixed the files and still saw that error. It got resolved when I ran roscore from the same environment, however.

Specifically I:

  1. Made the suggested fixes to /urdf/simple_arm.urdf.xacro
  2. Ran rosdep install -i simple_arm
  3. Ran roscore in terminal
  4. Ran roslaunch simple_arm robot_spawn.launch in second terminal
Sumukha-Udupa commented 4 years ago

I did do the changes in the urdf.xacro, run rosdep and roscore in terminal before roslaunch. But it still gives me the same error :/

alberto139 commented 4 years ago

I'm having the same issue where Gazebo launches and then stays on a black screen while the terminal has the warning [WARN] [1584551552.862596, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

EDIT: I followed the instructions as described by @willhunt and got it to work! NOTE that Gazevo takes a very long time to start up. It took about 2 hours for me

nkalavak commented 4 years ago

Can confirm that this works for me as well. Thanks @willhunt!

cheriyanhomey commented 4 years ago

i am still getting an error ...pls help [ERROR] [1591443981.826796, 261.179000]: Spawn service failed. Exiting. [urdf_spawner-6] process has died [pid 19183, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -param robot_description -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0

suprateembanerjee commented 3 years ago

Same as @cheriyanhomey . After having followed all of these, I'm getting Spawn service failed. Exiting.

Did not understand @marcin-sielski 's link. Where do we find that file where we have to insert that time.Now() command?

imboye commented 3 years ago

Using gazebo with Melodic on Ubuntu 18.04

When running the instructions rosrun gazebo_ros spawn_model -file </path_to_new_urdf/file_name.urdf> -urdf -x 0 -y 0 -z 1 -model panda, I get the error output below.

[INFO] [1620980158.998395]: Loading model XML from file franka_description/robots/panda_arm.urdf .xacro
[INFO] [1620980159.002218]: Waiting for service /gazebo/ spawn_ urdf model
[INFO] [1620980159.015941]: Calling service /gazebo/spawn_ urdf model
[INFO] [1620980169.031581]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name panda
[ERROR] [1620980169.033723]: Spawn service failed. Exiting.

Now I solve this problem as following: I guess that the .utrf file has no read-write permission, which makes it impossible to modify the content of the.utrf file. That is, the generated content is not writed into the .urtf file. Hence I use this command sudo chmod +w xx.urtf for appending the write permission to .urtf file. Finally, it is working.

UAnjali commented 2 years ago

We hope this issue is resolved from the suggestions shared above and are closing out the issue.