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unitreerobotics / unitree_ros

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[urdf_spawner-4] process has died #36

Open xiinyuzhang opened 2 years ago

xiinyuzhang commented 2 years ago

After I deleted the comment and successfully opened the models in the Rviz by the guidance in Issue #35 , I found I have problem in running the simulation by the command roslaunch unitree_gazebo normal.launch in the terminal. It gave me the following errors:

[urdf_spawner-4] process has died [pid 17950, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -z 0.6 -model laikago_gazebo -param robot_description -unpause __name:=urdf_spawner __log:=/home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/urdf_spawner-4.log].
log file: /home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/urdf_spawner-4*.log

The complete terminal output was as follows:

... logging to /home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/roslaunch-Office-17909.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://Office:37841/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /laikago_gazebo/FL_calf_controller/joint: FL_calf_joint
 * /laikago_gazebo/FL_calf_controller/pid/d: 8.0
 * /laikago_gazebo/FL_calf_controller/pid/i: 0.0
 * /laikago_gazebo/FL_calf_controller/pid/p: 300.0
 * /laikago_gazebo/FL_calf_controller/type: unitree_legged_co...
 * /laikago_gazebo/FL_hip_controller/joint: FL_hip_joint
 * /laikago_gazebo/FL_hip_controller/pid/d: 5.0
 * /laikago_gazebo/FL_hip_controller/pid/i: 0.0
 * /laikago_gazebo/FL_hip_controller/pid/p: 100.0
 * /laikago_gazebo/FL_hip_controller/type: unitree_legged_co...
 * /laikago_gazebo/FL_thigh_controller/joint: FL_thigh_joint
 * /laikago_gazebo/FL_thigh_controller/pid/d: 8.0
 * /laikago_gazebo/FL_thigh_controller/pid/i: 0.0
 * /laikago_gazebo/FL_thigh_controller/pid/p: 300.0
 * /laikago_gazebo/FL_thigh_controller/type: unitree_legged_co...
 * /laikago_gazebo/FR_calf_controller/joint: FR_calf_joint
 * /laikago_gazebo/FR_calf_controller/pid/d: 8.0
 * /laikago_gazebo/FR_calf_controller/pid/i: 0.0
 * /laikago_gazebo/FR_calf_controller/pid/p: 300.0
 * /laikago_gazebo/FR_calf_controller/type: unitree_legged_co...
 * /laikago_gazebo/FR_hip_controller/joint: FR_hip_joint
 * /laikago_gazebo/FR_hip_controller/pid/d: 5.0
 * /laikago_gazebo/FR_hip_controller/pid/i: 0.0
 * /laikago_gazebo/FR_hip_controller/pid/p: 100.0
 * /laikago_gazebo/FR_hip_controller/type: unitree_legged_co...
 * /laikago_gazebo/FR_thigh_controller/joint: FR_thigh_joint
 * /laikago_gazebo/FR_thigh_controller/pid/d: 8.0
 * /laikago_gazebo/FR_thigh_controller/pid/i: 0.0
 * /laikago_gazebo/FR_thigh_controller/pid/p: 300.0
 * /laikago_gazebo/FR_thigh_controller/type: unitree_legged_co...
 * /laikago_gazebo/RL_calf_controller/joint: RL_calf_joint
 * /laikago_gazebo/RL_calf_controller/pid/d: 8.0
 * /laikago_gazebo/RL_calf_controller/pid/i: 0.0
 * /laikago_gazebo/RL_calf_controller/pid/p: 300.0
 * /laikago_gazebo/RL_calf_controller/type: unitree_legged_co...
 * /laikago_gazebo/RL_hip_controller/joint: RL_hip_joint
 * /laikago_gazebo/RL_hip_controller/pid/d: 5.0
 * /laikago_gazebo/RL_hip_controller/pid/i: 0.0
 * /laikago_gazebo/RL_hip_controller/pid/p: 100.0
 * /laikago_gazebo/RL_hip_controller/type: unitree_legged_co...
 * /laikago_gazebo/RL_thigh_controller/joint: RL_thigh_joint
 * /laikago_gazebo/RL_thigh_controller/pid/d: 8.0
 * /laikago_gazebo/RL_thigh_controller/pid/i: 0.0
 * /laikago_gazebo/RL_thigh_controller/pid/p: 300.0
 * /laikago_gazebo/RL_thigh_controller/type: unitree_legged_co...
 * /laikago_gazebo/RR_calf_controller/joint: RR_calf_joint
 * /laikago_gazebo/RR_calf_controller/pid/d: 8.0
 * /laikago_gazebo/RR_calf_controller/pid/i: 0.0
 * /laikago_gazebo/RR_calf_controller/pid/p: 300.0
 * /laikago_gazebo/RR_calf_controller/type: unitree_legged_co...
 * /laikago_gazebo/RR_hip_controller/joint: RR_hip_joint
 * /laikago_gazebo/RR_hip_controller/pid/d: 5.0
 * /laikago_gazebo/RR_hip_controller/pid/i: 0.0
 * /laikago_gazebo/RR_hip_controller/pid/p: 100.0
 * /laikago_gazebo/RR_hip_controller/type: unitree_legged_co...
 * /laikago_gazebo/RR_thigh_controller/joint: RR_thigh_joint
 * /laikago_gazebo/RR_thigh_controller/pid/d: 8.0
 * /laikago_gazebo/RR_thigh_controller/pid/i: 0.0
 * /laikago_gazebo/RR_thigh_controller/pid/p: 300.0
 * /laikago_gazebo/RR_thigh_controller/type: unitree_legged_co...
 * /laikago_gazebo/joint_state_controller/publish_rate: 1000
 * /laikago_gazebo/joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /robot_name: laikago
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    urdf_spawner (gazebo_ros/spawn_model)
  /laikago_gazebo/
    controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [17922]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 00c0cee8-9aef-11ec-976c-103d1c3e9504
process[rosout-1]: started with pid [17933]
started core service [/rosout]
process[gazebo-2]: started with pid [17940]
process[gazebo_gui-3]: started with pid [17945]
process[urdf_spawner-4]: started with pid [17950]
process[laikago_gazebo/controller_spawner-5]: started with pid [17951]
process[robot_state_publisher-6]: started with pid [17952]
[ INFO] [1646311185.155471846]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1646311185.157043612]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1646311185.160730852]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1646311185.162966871]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1646311185.184220, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/gazebo_ros/spawn_model", line 34, in <module>
    from tf.transformations import quaternion_from_euler
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/__init__.py", line 30, in <module>
    from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 39, in <module>
    from .buffer_interface import *
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in <module>
    import roslib; roslib.load_manifest('tf2_ros')
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest
    sys.path = _generate_python_path(package_name, _rospack) + sys.path
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path
    m = rospack.get_manifest(pkg)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
  File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 414, in parse_manifest_file
    _static_rosdep_view = init_rospack_interface()
  File "/usr/lib/python2.7/dist-packages/rosdep2/rospack.py", line 60, in init_rospack_interface
    lookup = _get_default_RosdepLookup(Options())
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 136, in _get_default_RosdepLookup
    verbose=options.verbose)
  File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 609, in create_default
    sources = load_cached_sources_list(sources_cache_dir=sources_cache_dir, verbose=verbose)
  File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 566, in load_cached_sources_list
    raise CachePermissionError('Failed to write cache file: ' + str(e))
rosdep2.core.CachePermissionError: Failed to write cache file: [Errno 13] Permission denied: '/home/xinyu/.ros/rosdep/sources.cache/index'
[urdf_spawner-4] process has died [pid 17950, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -z 0.6 -model laikago_gazebo -param robot_description -unpause __name:=urdf_spawner __log:=/home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/urdf_spawner-4.log].
log file: /home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/urdf_spawner-4*.log
[ INFO] [1646311185.992605882]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1646311186.003600256]: Physics dynamic reconfigure ready.
[WARN] [1646311215.255998, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[laikago_gazebo/controller_spawner-5] process has finished cleanly
log file: /home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/laikago_gazebo-controller_spawner-5*.log

I've successfully run the simulation before, it's weird to have a error like this.

Dong-No commented 2 years ago

I'm not sure why but changing the rosdep permission solved this. $ sudo rosdep fix-permissions

xyq1223 commented 1 year ago

Hello,you can check the runtime environment of the program.

JadisHee commented 9 months ago

I've got the same problem, just change DISTRIB_ID in /etc/lsb-realse from "kylin" to "debian" will be fine