penglongxiang
commented
11 months ago Hi, according to the output:
/usr/bin/env: ‘python’: No such file or directory
process[robot_state_publisher-6]: started with pid [2666525]
[xarm/traj_controller_spawner-5] process has died [pid 2666524, exit code 127, cmd /home/lyb/catkin_ws/src/ros_control/controller_manager/scripts/controller_manager spawn xarm7_traj_controller joint_state_controller __name:=traj_controller_spawner __log:=/home/lyb/.ros/log/e59d946c-3777-11ee-9446-f147a27eb3fa/xarm-traj_controller_spawner-5.log].Have you properly installed python? In order to make sure the proper execution, please also make sure you have installed everything mentioned in readme Chapter 3.
HoteSaing
Hi, I have been trying to run gazebo simulation on xarm according to the official guide here: https://github.com/xArm-Developer/xarm_ros. However, after running the simulation for a few seconds the manipulator just falls to the ground and I cannot do anything about it. It would be much appreciated if you could help me. Here is my error message:
$ roslaunch xarm_gazebo xarm7_beside_table.launch ... logging to /home/lyb/.ros/log/e59d946c-3777-11ee-9446-f147a27eb3fa/roslaunch-lyb-2666363.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. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. started roslaunch server http://lyb:36797/
SUMMARY
PARAMETERS
NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawn_gazebo_model (gazebo_ros/spawn_model) /xarm/ traj_controller_spawner (controller_manager/controller_manager)
auto-starting new master process[master]: started with pid [2666446] ROS_MASTER_URI=http://localhost:11311
setting /run_id to e59d946c-3777-11ee-9446-f147a27eb3fa process[rosout-1]: started with pid [2666506] started core service [/rosout] process[gazebo-2]: started with pid [2666513] process[gazebo_gui-3]: started with pid [2666517] process[spawn_gazebo_model-4]: started with pid [2666523] process[xarm/traj_controller_spawner-5]: started with pid [2666524] /usr/bin/env: ‘python’: No such file or directory process[robot_state_publisher-6]: started with pid [2666525] [xarm/traj_controller_spawner-5] process has died [pid 2666524, exit code 127, cmd /home/lyb/catkin_ws/src/ros_control/controller_manager/scripts/controller_manager spawn xarm7_traj_controller joint_state_controller name:=traj_controller_spawner log:=/home/lyb/.ros/log/e59d946c-3777-11ee-9446-f147a27eb3fa/xarm-traj_controller_spawner-5.log]. log file: /home/lyb/.ros/log/e59d946c-3777-11ee-9446-f147a27eb3fa/xarm-traj_controller_spawner-5*.log SpawnModel script started [INFO] [1691669859.720464, 0.000000]: Loading model XML from ros parameter [INFO] [1691669859.721568, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ INFO] [1691669859.744580924]: Finished loading Gazebo ROS API Plugin. [ INFO] [1691669859.744855696]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... Warning [parser.cc:833] XML Attribute[update_rate] in element[physics] not defined in SDF, ignoring. [ INFO] [1691669859.968192870, 0.002000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1691669859.976660927, 0.010000000]: Physics dynamic reconfigure ready. [INFO] [1691669860.025607, 0.057000]: Calling service /gazebo/spawn_urdf_model [INFO] [1691669860.198109, 0.173000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1691669860.228283340, 0.173000000]: Loading gazebo_ros_control plugin [ INFO] [1691669860.228402253, 0.173000000]: Starting gazebo_ros_control plugin in namespace: /xarm [ INFO] [1691669860.228734254, 0.173000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ERROR] [1691669860.355144719, 0.173000000]: Did not find PID configuration for joint 'joint1'. Commands from 'hardware_interface::PositionJointInterface' will bypass dynamics. [ERROR] [1691669860.355426097, 0.173000000]: Did not find PID configuration for joint 'joint2'. Commands from 'hardware_interface::PositionJointInterface' will bypass dynamics. [ERROR] [1691669860.355538144, 0.173000000]: Did not find PID configuration for joint 'joint3'. Commands from 'hardware_interface::PositionJointInterface' will bypass dynamics. [ERROR] [1691669860.355631218, 0.173000000]: Did not find PID configuration for joint 'joint4'. Commands from 'hardware_interface::PositionJointInterface' will bypass dynamics. [ERROR] [1691669860.355718136, 0.173000000]: Did not find PID configuration for joint 'joint5'. Commands from 'hardware_interface::PositionJointInterface' will bypass dynamics. [ERROR] [1691669860.355803253, 0.173000000]: Did not find PID configuration for joint 'joint6'. Commands from 'hardware_interface::PositionJointInterface' will bypass dynamics. [ERROR] [1691669860.356020510, 0.173000000]: Did not find PID configuration for joint 'joint7'. Commands from 'hardware_interface::PositionJointInterface' will bypass dynamics. [ INFO] [1691669860.356235199, 0.173000000]: Joint mode switching is enabled [ INFO] [1691669860.361156587, 0.173000000]: Loaded gazebo_ros_control.
[spawn_gazebo_model-4] process has finished cleanly log file: /home/lyb/.ros/log/e59d946c-3777-11ee-9446-f147a27eb3fa/spawn_gazebo_model-4*.log ../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.