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xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
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aram server. [ERROR] [1719712413.165201380, 0.373000000]: No p gain specified for pid. Namespace: /xarm/gazebo_ros_control/pid_gains/joint #232

Open ankitkumar-pi opened 1 week ago

ankitkumar-pi commented 1 week ago

When I am trying to load the robot in gazebo using the following command I am getting the following error , I just cloned the github and trying to run the gazebo model

roslaunch xarm_gazebo xarm6_beside_table.launch 


[ INFO] [1719712412.540473492]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1719712412.552641735, 0.011000000]: Physics dynamic reconfigure ready.
[INFO] [1719712412.717024, 0.170000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1719712412.979625, 0.373000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1719712413.053738901, 0.373000000]: Loading gazebo_ros_control plugin
[ INFO] [1719712413.053807961, 0.373000000]: Starting gazebo_ros_control plugin in namespace: /xarm
[ INFO] [1719712413.054091737, 0.373000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ERROR] [1719712413.165201380, 0.373000000]: No p gain specified for pid.  Namespace: /xarm/gazebo_ros_control/pid_gains/joint1
[ERROR] [1719712413.165726545, 0.373000000]: No p gain specified for pid.  Namespace: /xarm/gazebo_ros_control/pid_gains/joint2
[ERROR] [1719712413.166172929, 0.373000000]: No p gain specified for pid.  Namespace: /xarm/gazebo_ros_control/pid_gains/joint3
[ERROR] [1719712413.166589993, 0.373000000]: No p gain specified for pid.  Namespace: /xarm/gazebo_ros_control/pid_gains/joint4
[ERROR] [1719712413.167100800, 0.373000000]: No p gain specified for pid.  Namespace: /xarm/gazebo_ros_control/pid_gains/joint5
[ERROR] [1719712413.167504254, 0.373000000]: No p gain specified for pid.  Namespace: /xarm/gazebo_ros_control/pid_gains/joint6
[ INFO] [1719712413.170177687, 0.373000000]: Loaded gazebo_ros_control.
Loaded 'xarm6_traj_controller'
Loaded 'joint_state_controller'
Started ['xarm6_traj_controller'] successfully
Started ['joint_state_controller'] successfully
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/akumar/.ros/log/8d3fdf76-3683-11ef-abbc-ed72bec3aa91/spawn_gazebo_model-4*.log
[xarm/traj_controller_spawner-5] process has finished cleanly
log file: /home/akumar/.ros/log/8d3fdf76-3683-11ef-abbc-ed72bec3aa91/xarm-traj_controller_spawner-5*.log
penglongxiang commented 6 days ago

Hi @ankitkumar-pi , this error message will not affect the simulation with position control interface. You can just ignore it and see if the simulation can be carried out normally.