Hello all:
I am a beginner to ros, and I met a problem when I am learning gazebo which is as followed:
Error [Plugin.hh:147] Failed to resolve RegisterPlugin: /opt/ros/hydro/lib/libdiff_drive_controller.so: undefined symbol: RegisterPlugin[ INFO] [1438586829.560869251, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
I do not know how to solve this problem. Can anyone help me? Thanks very much.
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failed to resolve RegisterPlugin libdiff_drive_controller.so:undefined symbol
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How to set an intial joint state to a robot arm in gazebo
Is there a way to give an initial joint state to a robot arm in gazebo? (e.g. from the launch file setting)
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URDF Error: No valid hardware interface element found in joint
Dear all,
I am fairly new to ROS and Gazebo.
I am using ros-kinetic and gazebo7.3 on Ubuntu 16.04. I have been following this tutorial (http://www.generationrobots.com/blog/...) and have adapted it slightly for my own vehicle (4 wheels instead of 2, skid drive plugin instead of diff drive).
I receive errors when running roslaunch on my own project, and I get the same errors when using the same command on the project provided at the above link. I assume that means that I am missing something in ros or Gazebo.
Running:
roslaunch jaguar4x4_gazebo jaguar4x4_world.launch
gives the following errors (repeated for each joint and trans):
> [ERROR] [1472045218.311147687, 0.142000000]: No valid hardware interface element found in joint 'left_back_wheel_hinge'.>> [ERROR] [1472045218.311359894, 0.142000000]: Failed to load joints for transmission 'left_back_trans'.
Also:
> [ERROR] [1472045218.646822285, 0.365000000]: Exception thrown while initializing controller leftfrontWheel_effort_controller. Could not find resource 'left_front_wheel_hinge' in 'hardware_interface::EffortJointInterface'. >[ERROR] [WallTime: 1472045219.647578] [1.363000] Failed to load leftfrontWheel_effort_controller >[INFO] [WallTime: 1472045219.647938] [1.363000] Loading controller: leftbackwheel_effort_controller >[ERROR] [WallTime: 1472045220.651591] [2.366000] Failed to load leftbackwheel_effort_controller
This error is repeated for each of the 4 wheels.
I have seen similar error messages posted on this site, the solutions don’t seem to fix mine.
(1). http://answers.gazebosim.org/question/6654/gazeboos-x-109-no-valid-hardware-interface-element-found-in-joint/
I already use the hardwareInterface tags
(2). I have already installed ros_control
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How to Run Multiple Gazebo Simulations with Unique Clocks
As a follow on to my previous question: http://answers.ros.org/question/241005/gazebo-topic-publication-issue-within-namespaced-group-tag/
I'm trying to run multiple Gazebo simulations on one machine, using the tag to encapsulate each simulation within its own namespace. So far, this works fine. I'm able to launch the simulations, the robot URDF is loaded and parsed and the simulations proceed.
However, I'm running into one outstanding issue which I am unsure how to/if it can be addressed. For example, if I run four separate Gazebo simulations, each in their own namespaced group, the /clock topic is not namespaced. Therefore, each of the four simulations is writing and reading from a common clock leading to synchronization problems and incorrect simulation times. One simulation might run smoothly, but another might jump around timewise depending on how the underlying operating system schedules the processes.
This leads to wildly unpredictable results and invalid simulations.
Is there a way to place the /clock within the scope of a tag? I've been unable to find an example or documentation of this after a fairly comprehensive search. I'm almost thinking that it is not possible, but will wait for confirmation.
Thanks!
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Gazebo blank/black screen (not responding)
Hello,
I am a beginner at ROS and I tried today to run the gazebo for a start via ROS. I use ROS Jade.
I ran at the start :
roscore
then in a new terminal I ran :
roslaunch gazebo_ros empty_world.launch
The gazebo gui popped up and it shows black/blank screen with a Real Time Factor = 0.0 and it's stuck there no matter how much time I let it to load .
The same thing happens when I just run the command :
gazebo
with the exception that then the gui pops a "Does not respond" message .Does this mean that my pc requirements doesn't meet the requirements to run gazebo ?
I am at ubuntu 14.04 LTS (dual installed with Windows) and with the following system overview :
Memory : 3,7 GiB
Processor : Intel® Core™ i3 CPU 530 @ 2.93GHz × 4
Graphics : Gallium 0.4 on AMD CEDAR (DRM 2.43.0, LLVM 3.6.0)
OS type : 64-bit
Disk : 16,2 GB
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Error: Unable to find odometry for model
Hi all,
I am trying to simulate a car-like robot in gazebo with following frame tree: https://postimg.org/image/m31wz0st1/.
When I run my launch file the following error occurs:
[ERROR] [1472202557.517496142, 40.405000000]: Unable to find odometry for model name /=-1
My launch file looks like follows:
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gazebo-controller for car-like robot
Hello everyone,
I can't seem to find a working controller for my car-like robot. This is the model I am using:
false Gazebo/Grey false 0.6 0.5 1000000 0.1 0.01 10.0 0.6 0.5 1000000 0.1 0.01 10.0 transmission_interface/SimpleTransmission VelocityJointInterface VelocityJointInterface 1 transmission_interface/SimpleTransmission VelocityJointInterface VelocityJointInterface 1 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 1 transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 1 0 0 0 0 0 0 true 40 2000 1 -3.141593 3.141593 0.10 6 0.02 gaussian 0.0 0.01 /$(arg roboname) /$(arg roboname)/scan hokuyo_link /$(arg roboname) gazebo_ros_control/DefaultRobotHWSim back_left_wheel_joint, back_right_wheel_joint, front_left_steering_joint, front_right_steering_joint, front_right_wheel_joint, front_left_wheel_joint /$(arg roboname) 50.0 true /$(arg roboname)
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Which combination of ROS distro, Gazebo & Tum_simulator ?
I want to use parrot ar drone for a project. So, I plan to download its simulator in gazebo, tum_simulator.
I use Ubuntu 14.04 , ROS Indigo, and gazebo 2-2 (which is the default in indigo).
--I checked [tum_simulator page](http://wiki.ros.org/tum_simulator) , it says that
> "The ROS version should be fuerte and the Gazebo version of the ROS plugin (which is, for fuerte, 1.0.2)."
and it's true when I checked the [github](https://github.com/tum-vision/tum_simulator) , the only branch available in fuerte.
--Then, I found another [github page](https://github.com/dougvk/tum_simulator) , which provides tum_simulator using indigo. This version is also in the original git hub page's pull request, but hasn't been merged.
--My Questions:
1. Anyone ever used the tum_simulator for indigo that I put above? How's it different from the original one for fuerte? Are all the topics, msgs ,etc the same ?
2. Which one do you suggest, using the indigo version or the fuerte version?
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Is there a book that is best for learning gazebo?
Hi,
I want to learn gazebo for turtlebots. But I am having difficulty finding the resources and documentation on turtlebots in gazebo. is there a particular book that I can buy to get in depth knowledge on gazebo?
Thanks
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STRANGE ERROR! Unable to move Revolute Joints in Gazebo
I'm running : 1. ROS Indigo 2. Ubuntu 14.04 Trusty
I'm simulating a 6DOF robotic arm using ros_control and using gazebo_ros_control plugins. I'm using Joint Position Controllers.
I have set up the .yaml file containing the type of controllers. I have also added all the transmission and gazebo_ros_control tags in my URDF file.
Everything launches without any error. When I try to publish messages on /robot_arm/joint1_position_controller/command topic I'm unable to move the revolute joints. Interestingly I have two continuous joints among my 6DOF which move.
Also these movements are abrupt and not in a smooth manner. Whereas I've tried tutorials where the arm follows a smoother motion using Joint Position Controllers.
How should I get my revolute joints to move? Please help!
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differential drive gazebo ros plugin not working
Hello, i'm trying to build a simulation situation in which a mobile differential drive robot is controlled via keyboard input to terminal. So far i managed to get the keyboard input up and running. The issue i'm facing is:
1) When spawned, the robot starts to move very slowly even when there's absolutely nothing affecting it
2) The differential drive gazebo ros plugin doesn't seem to be working. because after doing the keyboard command mapping, and publishing the Twist message to the topic which gazebo subscribes too, the robot doesn't respond to the commands given, even though, echoing the velocity command topic and odometry topic too show that the commands are being published on the topic and gazebo publishes odometry on the odom topic. Any idea how can that be solved?
Here's a snap shot of my launch files and my config and files:
false 1000 1000 Gazebo/Black 1000 1000 Gazebo/Black 0 0 Gazebo/Red 1 1 Gazebo/Blue Gazebo/Orange /catbot 0.01 30.0 1.3962634 800 600 R8G8B8 0.02 300 gaussian 0.0 0.007 true 30.0 catbot/front_camera image_raw camera_info camera 0.07 0.0 0.0 0.0 0.0 0.0 0 0 0 0 0 0 false 40 720 1 -1.570796 1.570796 0.10 30.0 0.01 gaussian 0.0 0.01 /catbot/laser/scan laser_scanner Debug true /catbot true false true 100 left_motor right_motor 0.353 0.164 0 20 9.8 catbot/cmd_vel catbot/odom catbot/odom base_footprint false encoder 1
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error loading gazebo_plugins models (Pioneer)
I get one weird error trying to load some of the samples/models provided in gazebo_plugins on Ubuntu 16.04 with ROS kinetic installed via official repositories.
Particularly, for the multi_robot_scenario fails. On the other hand the tricycle demo or the pendulum demos work properly.
This is the error I get trying to load the multi_robot_scenario demo.
Error [Param.cc:451] Unable to set value [-nan -nan -nan] for key[size]
gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed.
[r1/urdf_spawner-4] process has finished cleanly
log file: /home/geus/.ros/log/37a5e414-7527-11e6-8e8a-d8cb8abfd844/r1-urdf_spawner-4*.log
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
Aborted (core dumped)
[gazebo-2] process has died [pid 19670, exit code 134, cmd /media/geus/Storage/simulation_gazebo/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/geus/.ros/log/37a5e414-7527-11e6-8e8a-d8cb8abfd844/gazebo-2.log].
log file: /home/geus/.ros/log/37a5e414-7527-11e6-8e8a-d8cb8abfd844/gazebo-2*.log
In order to reproduce this issue you have to install the package ros-kinetic-gazebo-plugins and execute the launch file:
> roslaunch $(rospack find gazebo_plugins)/test/multi_robot_scenario/launch/multi_robot_scenario.launch
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Gazebo Crashing
I am facing a problem about Gazebo. It crashes when I run the code `roslaunch seven_dof_arm_gazebo seven_dof_arm_world.launch
` of chapter 3 given in the Book "Mastering ROS for Robotics Programming". In particular, I face the following problem.
spawn_model script started
[gazebo-2] process has died [pid 12409, exit code 255, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/khan/.ros/log/6dcae69c-763b-11e6-989e-10604b7e1ec1/gazebo-2.log].
log file: /home/khan/.ros/log/6dcae69c-763b-11e6-989e-10604b7e1ec1/gazebo-2*.log
[INFO] [WallTime: 1473390831.029952] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1473390831.032962] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 12419, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/khan/.ros/log/6dcae69c-763b-11e6-989e-10604b7e1ec1/gazebo_gui-3.log].
log file: /home/khan/.ros/log/6dcae69c-763b-11e6-989e-10604b7e1ec1/gazebo_gui-3*.log
I have tried following these solutions ([link1](http://answers.gazebosim.org/question/4252/gazebo_gui-3-error-when-starting-gazebo-with-roslaunch/), [Link2](http://answers.gazebosim.org/question/4153/gazebo-crashes-immediately-using-roslaunch-after-installing-gazebo-ros-packages/)) and I feel that my problem is quite similar to that but as it can be noticed that these problems are not yet resolved there so I cannot go any further. Please, help me out to overcome this problem. It is worth mentioning that I am using Ubuntu 16.06 with ROS-Kinetic. I shall be very thankful to you for your kind suggestions.
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Restitution coefficient does not change
Hi all,
I'm trying to change the restitution coefficient in Gazebo7, but still I can't make it.
My URDF code is here:
Ball:
0.1 0.1 0.1 0.1 0.1 0.1 0.5 0.01 0.1 0.1 0.1 0.1 0.1 0.1 0.5 0.01 true 10.0 0.01 true 10.0 0.01
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amcl_pose vs odom/pose
Hi,
What is the difference between amcl_pose and odom/pose? I am running the gazebo simulator and making the turtlebot go from one point to another. The task completes without any issues. However, the pose values in each of these topics do not match. They are sort of close, but are definitely not THAT close. Is it one the REAL position of the turtlebot and the other one where the actual robot thinks it is?
Thanks!
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Turtlebot spinning in place + not going straight when speeding up simulation
Hello,
As I show in the videos above, the Turtlebot is spins around itself a bit, which could affect the direction when I try to go straight. When the real time factor (simulation speed) is normal the robot makes an acceptable straight line, but when the simulation is set to maximum the robot clearly turns to the right. This strange behaviour does not happen in empty worlds, just when the robot is inside a model. Any possible solution to this issue?
Nestor
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Video1 - Spining around itself
https://www.youtube.com/watch?v=LdImDUFFOck&feature=youtu.be
Video 2 - Trying to go straight - in 0:40 normal speed is tested
https://www.youtube.com/watch?v=ltf0eb4ZMcE&feature=youtu.be
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pr2_gazebo crashes on launch
If I try to launch PR2 in simulation, e.g. with roslaunch pr2_gazebo pr2_empty_world.launch, it briefly appears but then immediately crashes with the message below. I'm using ROS Electric on Ubuntu 11.10. Is there anything I can change to get it to launch?
[ WARN] [1337341099.631029728, 0.402000000]: You've passed in true for auto_start for the C++ action server at [/head_traj_controller/joint_trajectory_action]. You should always pass in false to avoid race conditions.
[ WARN] [1337341099.637939267, 0.416000000]: You've passed in true for auto_start for the C++ action server at [/head_traj_controller/follow_joint_trajectory]. You should always pass in false to avoid race conditions.
Traceback (most recent call last):
File "/opt/ros/electric/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner", line 159, in
if __name__ == '__main__': main()
File "/opt/ros/electric/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner", line 137, in main
resp = load_controller(name)
File "/opt/ros/electric/stacks/ros_comm/clients/rospy/src/rospy/impl/tcpros_service.py", line 430, in __call__
return self.call(*args, **kwds)
File "/opt/ros/electric/stacks/ros_comm/clients/rospy/src/rospy/impl/tcpros_service.py", line 519, in call
raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
[WARN] [WallTime: 1337341099.791753] [0.566000] Spawner couldn't reach pr2_controller_manager to take down controllers.
[gazebo-1] process has died [pid 24141, exit code -11].
log files: /home/james/.ros/log/ec82aca0-a0dd-11e1-9d3f-0024e814cae5/gazebo-1*.log
[default_controllers_spawner-22] process has died [pid 24306, exit code 1].
log files: /home/james/.ros/log/ec82aca0-a0dd-11e1-9d3f-0024e814cae5/default_controllers_spawner-22*.log
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Gazebo Camera Simulation Pause The Wall Time?
I would like to simulate 5 cameras in gazebo for my robot. I was wondering if Gazebo pauses simulation time to generate the images or lets the ros::Time increase as the image is generated. This would greatly affect the performance of the other nodes.
Your help is appreciated.
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Gazebo amcl_pose rate
Hi,
I am running a turtlebot in Gazebo and want to change the amcl_pose rate. Currently, when I type `rostopic hz /amcl_pose`, I get 1 or 2 messages like the following every 1 second:
average rate: 1.856
min: 0.132s max: 0.849s std dev: 0.14089s window: 80
Is there a way to increase this rate?
Thanks!
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Turtlebot-Gazebo-Demo: Gazebo sends wrong timestamps.
Hi all,
I get some warnings when I start the turtlebot gazebo amcl demo. Here is the warning:
Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 1 according to authority /amcl
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
at line 260 in /tmp/binarydeb/ros-kinetic-tf2-0.5.13/src/buffer_core.cpp
Here is what I use:
- Ubuntu 16.04 LTS 64bit
- ROS Kinetic
- roslaunch turtlebot_gazebo turtlebot_world.launch
- roslaunch turtlebot_gazebo amcl_demo.launch
By debugging the problem with roswtf, rqt_tf_tree_view, rostopic echo, etc. , I now know that AMCL is publishing the following tf message **sometimes**:
---
transforms:
-
header:
seq: 0
stamp:
secs: 1
nsecs: 0
frame_id: map
child_frame_id: odom
transform:
translation:
x: 0.0877543308947
y: -0.113482781495
z: 0.0
rotation:
x: -0.0
y: -0.0
z: 0.276478026871
w: 0.961020239463
The rosparam use_sim_time is set to true. I am not so sure why this happens, or whether there is a bug in the amcl_demo.launch configuration, or even in amcl? Any help is welcome. :)
**EDIT:**
I further debugged it and traced the wrong time stamp back to gazebo. The gazebo_ros_openni_kinect plugin sends these timestamps. But I don't know why this is happening.
Greetings,
Stephan
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