mudasser@mudasser-PC:~$ roslaunch pr2_launch/pr2_nav_tutorial.launch
... logging to /home/mudasser/.ros/log/17a29d66-fb73-11e5-a526-a4173175490b/roslaunch-mudasser-PC-11206.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 307, in main
p.start()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
self._start_infrastructure()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
self._load_config()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
loader.load(f, config, verbose=verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 730, in load
self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 702, in _load_launch
self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 638, in _recurse_load
n = self._node_tag(tag, context, ros_config, default_machine, verbose=verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 379, in _node_tag
'launch-prefix', 'required'))
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 202, in opt_attrs
return [self.resolve_args(tag_value(tag,a), context) for a in attrs]
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args
return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 325, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 141, in _find
source_path_to_packages=source_path_to_packages)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 184, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 200, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: gazebo_worlds
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/opt/ros/indigo/share
ROS path [2]=/opt/ros/indigo/stacks
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map_server error
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using keyboard to control the robot in gazebo.
I want to use keyboard to control my robot in gazebo. And I don't know which package should I use.
I install the "ros-indigo-key-teleop" but I don't find which node can I use.
Somebody can help? Thank you very much!
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Gazebo camera plugin rendering in wrong order on Virtual Machine
We are using ROS & Gazebo over virtual machine (VMWare Player). The Gazebo camera rendering worked fine in the Gazebo shipped with ROS Hydro. But in Gazebo version shipped with ROS Indigo, the camera plugin is rendering objects in the wrong order. See images [here](http://imgur.com/TgJpOvh) and [here](http://imgur.com/FM8GsH3).
This problem appears to only happen on Virtual Machines (VMWare Player). This has been reported previously [here](http://answers.gazebosim.org/question/8220/gazebo-camera-plugin-rendering-meshes-in-wrong-order/).
It is important for us to work within Virtual Machine, and because ROS Indigo is an LTS release, we would like to upgrade to ROS Indigo. Is there any solution or workaround for this bug?
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Error during run of ros_catkin_ws/install_isolated/env.sh
System: OSX 10.11.2
On running ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
The process stops with the error
> [ 44%] Built target> gazebo_os_joint_state_publisher [ 44%]> Built target gazebo_os_block_laser> make: *** [all] Error 2 <== Failed to> process package 'gazebo_plugins': > Command> '['/Users/gunshigupta/ros_catkin_ws/install_isolated/env.sh',> 'make', '-j4', '-l4']' returned> non-zero exit status 2>> Reproduce this error by running:> ==> cd /Users/gunshigupta/ros_catkin_ws/build_isolated/gazebo_plugins>&&> /Users/gunshigupta/ros_catkin_ws/install_isolated/env.sh> make -j4 -l4>> Command failed, exiting.
So when i run the command:
> cd> /Users/gunshigupta/ros_catkin_ws/build_isolated/gazebo_plugins>&&> /Users/gunshigupta/ros_catkin_ws/install_isolated/env.sh> make -j4 -l4
to reproduce the error, I get the errors shown in this gist:
https://gist.github.com/gunshi/494f58eb5ad7889dd046dd902e4bbbad
Can anyone help me with what needs to be modified during the build process to get the gazebo_plugins to build and install?
Reference to same question asked by me on github: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/420
Thanks.
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Framework for a Simulationsoftware
Hi everyone,
I'm planning to write a simulation software for an automated guided vehicle system. The major goal is to generate a software that is capable of a virtual implementation. We want to test everything before the real setup at the customers production facility is done.
So my constrains are to model the facility as detailed as possible. I have to simulate the robot behavior and also the sensor data. But every sensor that is currently used, is only sending I/O signals. Additionally i have to take care of all other elements that are in the system, like conveyors, gateways, alarms, etc...
I'm pretty new to the simulation field and wanted to ask for a second opinion. My company is generally programming in C# and everything is running on Windows. So I looked for an C# approach at first and found Unity3D - good community, clear and easy framework - so why not using a game engine and staying conform with the company programming language... I'm just having doubts when its coming to the sensor topic, because then Gazebo has definitely the better framework. Laserrangescanners and Pointclouds can already interact with the environment, that might be of interest for future developments.
So my questions are:
1. What is from your point of view better --> Gazebo or Unity3D
2. Is Gazebo running on Windows? (Saw the tut but Im afraid to crush my working laptop)
I also read the following Paper that has also a very interesting approach: A realistic RoboCup Rescue Simulation
based on Gazebo
Would be very happy to hear your thoughts and thanks all advices,
Robert
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How can I connect to NAO in webots or gazebo by ROS?
How can I connect to NAO in Webots or Gazebo by nao_bringup in ROS?
I can connect to NAO in Webots by Choregraphe but, I can't connect by ROS!
Anyone can help me?
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How to gazebo master uri in roslaunch file?
I know that there are bunch of parameters we can define for gazebo in ros launch file
For example:
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Gazebo controller spawner warning
Hi everyone. I have a problem and I hope you can help me. :)
I have a robot: Two Schunk lwa4d arms mounted on a box.
I can load this robot in gazebo.
I can load this robot in moveit + rviz and plan path for it.
But the problem is making connection between these two. So far, I am unable of doing so. I know that in both sides, gazebo and moveit, i need to have some modifications. But my major suspicion is a warning message that I receive when launching my robot in gazebo, where it warns:
> [WARN] [WallTime: 1438070984.731293] [4.961000] Controller Spawner couldn't find the expected controller_manager ROS interface.>> [WARN] [WallTime: 1438070984.740924] [4.954000] Controller Spawner couldn't find the expected controller_manager ROS interface.
I know it has something to do with controller_manager.
In my launch file, I have:
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Distance between two robots in gazebo?
Is there an easy way to calculate the distance between two robots in gazebo?
If you have, for instance, the names of both robots, I would then like to be able to have a function which would allow me to easily calculate the minimum euclidean distance plus distance vector between the visual meshes of the two robots.
Is there something like that already implemented?
The distance between a point and a robot would be even better.
I've looked online and was not able to find anything useful, except the pointer to the fcl library. Is that really the only way to go?
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Move_base actionlib goal doesn't change to SUCCEED
Hi all,
I'm trying to made a random waypoints generator in ROS Indigo for my autonomous navigation simulator (made in Gazebo 2.2).
The robot moves without problem within the map when i send them goal publishing /move_base_simple/goal or using the 2D nav goal features on Rviz, but i always get that the status of the goals is (for ex.)
id: /move_base-3-1771.985000000
status: 1
text: This goal has been accepted by the simple action server
and it doesn't change when the robot reaches the goal (it should be SUCCEED, so = 3). For my generator, at the beginning i'm using this code as test
#include
#include
#include
typedef actionlib::SimpleActionClient MoveBaseClient;
int main(int argc, char** argv){
ros::init(argc, argv, "simple_navigation_goals");
MoveBaseClient ac("move_base", true);
while(!ac.waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the move_base action server to come up");
}
move_base_msgs::MoveBaseGoal goal;
goal.target_pose.header.frame_id = "base_link";
goal.target_pose.header.stamp = ros::Time::now();
goal.target_pose.pose.position.x = 1.0;
goal.target_pose.pose.orientation.w = 1.0;
ROS_INFO("Sending goal");
ac.sendGoal(goal);
ac.waitForResult();
if(ac.getState() == actionlib::SimpleClientGoalState::ACTIVE)
ROS_INFO("Hooray, the base moved 1 meter forward");
else ROS_INFO("The base failed to move forward 1 meter for some reason");
return 0;
}
and, when i run it, the robot does 1 meter in front of it, but the goal status get stuck on 1 (ACTIVE).
I've tried to find something within the ROS answer and someone suggests that it could be something related to the odom message where the vx and vy must be zero after the reaching of the goal, otherwise the navigation stack continues to adjust everything and the goal will never be reached: based on it I've seen that the odom topic coming from gazebo doesnt have the twist setted to zero when the robot reaches the goal...could it be the problem??
thanks in advance
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gazebo camera frame is inconsistent with rviz + opencv convention
It looks like the gazebo camera frame convention is not the same as rviz and opencv, which the image below shows
In opencv, z is pointing into the image (the blue axis), x is right (the red axis), and y is down (green axis), while in the gazebo camera x is pointing into the image and z is up, y is right which is similar to the robot convention of x being forward and z up.
The image above is using an rviz/Camera to overlay the purple grid on the frame generated from the gazebo camera plugin, instead of the grid overlaying properly on the ground and going to toward the horizon rviz thinks the camera is pointed at the ground.
This example is running the gazebo_ros_demos rrbot_gazebo and rrbot_control launch files, and using standard Ubuntu 14.04 + Jade packages.
I cross posted https://github.com/ros-simulation/gazebo_ros_pkgs/issues/424 - or is it the fault of rviz/Camera and opencv, every node calling opencv camera projection functions should rotate first? Or every node on either side should have options to support either frame? (Or do options exist already and I've missed them?)
My short term solution is going to be to republish every frame out of gazebo with a rotated camera frame in the header (and the urdf/xacro can create the corrected frame, or it could be sent to tf from the same republishing node).
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How to change turtlebot gazebo FOV and make it 270 degree?
Hi! I am trying to change the settings of turtlebot simulation, so I can get a better gmapping result.
But I can't find a better way to change FOV of kinect. Any help is much appreciated.
I went to the turtlebot_description folder and find the urdf file of turtlebot_gazebo.urdf.xarco.
I modified the following code.
${60.0*M_PI/180.0}
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Why Gazebo's/pose/info is changing dramatically when robot is not moving?
Hey,
So I found in Gazebo that I can see a window with a topic ~/pose/info (I assume its the same as echo). So I have my sample robot sitting in its starting position, I havent moved it at all, however position **x keeps reducing** and **y keeps increasing**.
Here is another picture to prove you that those two variables are changing when robot's position stays the same after around 10 seconds.
Why is this happening? I thought this would show me ground truth data that I could use in calculations later on.
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interface gazebo camera with c++ program
how can i interface camera in gazebo which publish image topic , to non ros c++ program which take its input from usb web cam ?
can i make a node to convert the ros topic to fake usb cam or what please help
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teb_local_planner in Gazebo
Hey,
I have been reading more about above mentioned planner and it was stated in github that it should be rather easy to intergrate into Gazebo.
Heres the quote:
"Currently it provides a differential drive and a carlike robot simulation setup. In order to depend on as few dependencies as possible, the simulations are performed with stage_ros and without any URDF models. However, they are easily extendable and integrable (e.g. Gazebo, URDF models, voxel costmaps, robot hardware nodes, ...)."
I was wondering if theres a sample somewhere that I could use. As I understand URDF has to be very specific to be able to make it drive as a car in Gazebo. I would be grateful if someone could provide me with a tutorial.
I also found this [tutorial](http://wiki.ros.org/teb_local_planner/Tutorials/Planning%20for%20car-like%20robots "tutorial"), but it does not provide a sample.
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control multiple robots in gazebo
hello
at first, I could control one robot.
now, I could spawn multiple robot with same description in gazebo but I can't control them
one_robot.launch
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ros_control actuators and transmissions
I am controlling a dynamixel based SCARA arm (4 revolute joints) using ROS (MoveIt + ros_control + dynamixel_controllers). Before controlling the actual arm, I attempted to test the system with Gazebo. (up to the point where I would connect ros_control to the dynamixel motors). In my URDF I added the transmissions (in my case 1:2) between the actuators and the joints. I am using the effort_controllers/JointTrajectoryController and my joint names when spawning the controllers.
The simulation works fine, and I am able to control the arm using MoveIt pretty much as expected, however when monitoring the joint angles which are send to my controllers they map 1:1 to the joint angles set in MoveIt, where I would expect them to be **double** because of the transmission between my motors and my joints.
How does ros_control take the transmission into account? Should I spawn my controllers using the actuator names instead of the joint directly? Or should I implement the transmission somewhere in the hardware abstraction layer which will connect ros_control to my dynamixel_controllers?
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Invoking "make -j2 -l2" failed
Hi, i followed exactly the instructions here http://erlerobotics.com/docs/Simulation/Configuring_your_environment.html , everything went find except the very last command :::
Then compile everything together:
cd ~/simulation/ros_catkin_ws
source devel/setup.bash catkin_make
Error in the terminal :
[ 98%] Building CXX object ardupilot_sitl_gazebo_plugin/ardupilot_sitl_gazebo_plugin/CMakeFiles/ardupilot_sitl_gazebo_plugin.dir/src/SocketAPM.cpp.o
Linking CXX shared library /home/omaralhebsi/simulation/ros_catkin_ws/devel/lib/libardupilot_sitl_gazebo_plugin.so
[ 98%] Built target ardupilot_sitl_gazebo_plugin
make: *** [all] Error 2
Invoking "make -j2 -l2" failed
What do i have to do ?? , plz help its only one step and then i can start working on Gazebo. I guess the problem is with catkin_make
i ran the code again and this is what i received :
[100%] Built target sitl_test_node
/home/simulation/ros_catkin_ws/src/gazebo_cpp_examples/erle-copter_pattern_follower/src/image_subscriber.cpp:5:25: fatal error: aruco/aruco.h: No such file or directory
#include
^
compilation terminated.
make[2]: *** [gazebo_cpp_examples/erle-copter_pattern_follower/CMakeFiles/ros_erle_pattern_follower.dir/src/image_subscriber.cpp.o] Error 1
make[1]: *** [gazebo_cpp_examples/erle-copter_pattern_follower/CMakeFiles/ros_erle_pattern_follower.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j2 -l2" failed
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gazebo set joint angles by ROS
Hi everyone!
I have a robot arm model in Gazebo with several "revolute" joints. I simply want to set the angles of the joints by a ROS service, topic or whatever WITHOUT any closed-loop controller. Just enter an angle and the robot jumps to that position. Is that possible?
Background:
I have a real robot arm, from which I can read the joint angles. These angles should be sent to Gazebo, where the simulated arm follows the movement of the real arm. In the simulation I want to recreate a special environment with several sensors for the robot arm to test my ROS nodes.
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Problem with Indigo and Gazebo 2.2
I have a problem with Gazebo 2.2. When I launch gazebo, I see this error
:~$ gazebo
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Msg Waiting for master
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.152
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.152
Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Error [gazebo.cc:220] Waited 11 seconds for namespaces. Giving up.
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
How Can I solve?
Thanks
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