In the [tum_ardrone](https://github.com/tum-vision/tum_simulator) package, the urdf of quadrotor does not contain any transmission elements. Then how and where is the robot dynamics and control implemented? I keep reading that over the transmission elements, we write a controller. Can someone give me the whole pipeline so that i get a good overview?
↧
where is quadrotor dynamics simulated in gazebo simulation of tum_ardrone_gazebo_simulation or rotorS packages?
↧
Gazebo crashes when trying to roslaunch empty_world
I have not used Gazebo recently, but when I tried to today, it does not work. I can run standalone gazebo just fine, as well as `roscore & rosrun gazebo_ros gazebo`.
`roslaunch gazebo_ros empty_world.launch` produces the following output:
... logging to /home/josh/.ros/log/b0f1f296-25d9-11e7-ac6a-0800273acdef/roslaunch-josh-VirtualBox-3366.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.
started roslaunch server http://josh-VirtualBox:38854/
SUMMARY
========
PARAMETERS
* /rosdistro: jade
* /rosversion: 1.11.21
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
auto-starting new master
process[master]: started with pid [3378]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to b0f1f296-25d9-11e7-ac6a-0800273acdef
process[rosout-1]: started with pid [3391]
started core service [/rosout]
process[gazebo-2]: started with pid [3395]
process[gazebo_gui-3]: started with pid [3412]
[gazebo-2] process has died [pid 3395, exit code 255, cmd /opt/ros/jade/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/josh/.ros/log/b0f1f296-25d9-11e7-ac6a-0800273acdef/gazebo-2.log].
log file: /home/josh/.ros/log/b0f1f296-25d9-11e7-ac6a-0800273acdef/gazebo-2*.log
↧
↧
Quick start into simulation
Hi, I need a few beginner hints. I have this (wiki.ros.org/aubo_robot/Tutorials/Getting%20Started%20with%20a%20Aubo%20Robotrobot) package and I would like to write a simple program, for example to move with one joint and then simulate and visualize it (gazebo, rviz,...? I don't really understand the differences). I have been stuck at the beginning for a few days and really don't know how to start. Thank you for your time and help.
↧
Is it possible to use robot_localization for multiple robots?
Hello all,
I'm working on a small, multi-robot simulation using Husky robots. I've been using the base [husky_simulator](http://wiki.ros.org/husky_simulator) with some modifications to allow for multiple robots. The way I've accomplished this is through the use of namespaces. I call each "spawn_husky.launch" file in a separate namespace, which sets up all the plugins and publishes unique topics for each robot.
Everything seems to be working fine except for the the topics husky1/odometry/filtered and husky2/odometry/filtered. So I dug through the launch files and found that this topic is published in the control.launch file which uses a "robot_localization" node of the "ekf_localization_node" type.
The tf frame tree of a single robot simulation (without namespaces) looks like this:
But when launched from within the namespace, with multiple robots, looks like this:
I know it's hard to see, but the "odom" frame no longer exists, so this seems the localization is not working properly. My initial guess is that the robot_localization limits the parameters to "map" or "odom" but since I'm using a namespace and tf_prefix, it becomes "husky1/odom" and this is not allowed. But does anyone have any ideas as to how I might be able to correct this or why it might be happening?
Edit 1:
Some additional information, as requested by Tom.
Here are the frame_ids during a single robot simulation with no namespace or tf_prefix
RESULTS: for all Frames
Frames:
Frame: base_footprint published by unknown_publisher Average Delay: -0.000202703 Max Delay: 0
Frame: base_laser published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: base_link published by unknown_publisher Average Delay: -6.75676e-05 Max Delay: 0
Frame: front_bumper_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: front_left_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: front_right_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: imu_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: inertial_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: laser_mount_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: rear_bumper_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: rear_left_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: rear_right_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: topPlate published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: top_chassis_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: top_plate_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: user_rail_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
All Broadcasters:
Node: unknown_publisher 150.338 Hz, Average Delay: -6.94586e-05 Max Delay: 0
And here are all the frame_ids shown by tf_monitor when running the multi robot simulation:
RESULTS: for all Frames
Frames:
Frame: husky1/base_footprint published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/base_laser published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/front_bumper_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/front_left_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/front_right_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/imu_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/inertial_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/laser_mount_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/rear_bumper_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/rear_left_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/rear_right_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/topPlate published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/top_chassis_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/top_plate_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/user_rail_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky2/base_footprint published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/base_laser published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/front_bumper_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/front_left_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/front_right_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/imu_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/inertial_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/laser_mount_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/rear_bumper_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/rear_left_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/rear_right_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/topPlate published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/top_chassis_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/top_plate_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/user_rail_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
All Broadcasters:
Node: unknown_publisher 200.59 Hz, Average Delay: 0.0186471 Max Delay: 0.04
And this is what my localization.yaml file looks like (it is left the same for both):
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom
two_d_mode: true
frequency: 50
odom0: husky_velocity_controller/odom
odom0_config: [false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]
odom0_differential: false
odom0_queue_size: 10
imu0: imu/data
imu0_config: [false, false, false,
true, true, true,
false, false, false,
true, true, true,
false, false, false]
imu0_differential: true
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true
print_diagnostics: true
I notice there are no "base_link" frames for the multi-robot version, but I'm not sure what this could mean.
Edit 2:
Here is the output from rqt_map on the working single robot:
And now the output from the multi robot:
So it looks like there are for input topics coming into the localization node for husky1. Here are examples of all:
/tf
transforms:
-
header:
seq: 0
stamp:
secs: 1597
nsecs: 300000000
frame_id: husky1/base_link
child_frame_id: husky1/front_left_wheel_link
transform:
translation:
x: 0.256
y: 0.2854
z: 0.03282
rotation:
x: 0.0
y: 0.144187547375
z: 0.0
w: 0.989550378294
-
header:
seq: 0
stamp:
secs: 1597
nsecs: 300000000
frame_id: husky1/base_link
child_frame_id: husky1/front_right_wheel_link
transform:
translation:
x: 0.256
y: -0.2854
z: 0.03282
rotation:
x: 0.0
y: 0.157750826895
z: 0.0
w: 0.98747894996
-
header:
seq: 0
stamp:
secs: 1597
nsecs: 300000000
frame_id: husky1/base_link
child_frame_id: husky1/rear_left_wheel_link
transform:
translation:
x: -0.256
y: 0.2854
z: 0.03282
rotation:
x: 0.0
y: -0.158428913083
z: 0.0
w: 0.987370386177
-
header:
seq: 0
stamp:
secs: 1597
nsecs: 300000000
frame_id: husky1/base_link
child_frame_id: husky1/rear_right_wheel_link
transform:
translation:
x: -0.256
y: -0.2854
z: 0.03282
rotation:
x: 0.0
y: -0.192699433619
z: 0.0
w: 0.981257829667
/husky1/imu/data
header:
seq: 23902
stamp:
secs: 1776
nsecs: 540000000
frame_id: base_link
orientation:
x: 0.000136499101278
y: 1.42176279272e-05
z: 0.00338303918051
w: 0.999994268089
orientation_covariance: [2.6030820491461885e-07, 0.0, 0.0, 0.0, 2.6030820491461885e-07, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -0.00250481986211
y: 0.000314847644066
z: -0.00384896932272
angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05]
linear_acceleration:
x: -0.00435986520834
y: 0.00647963661132
z: 9.79696593816
linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05]
---
/husky1/husky_controller_velocity/odom
header:
seq: 29601
stamp:
secs: 1890
nsecs: 960000000
frame_id: odom
child_frame_id: base_link
pose:
pose:
position:
x: 0.00760542738025
y: -3.62838407179e-05
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.000862957133054
w: 0.999999627652
covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03]
twist:
twist:
linear:
x: 3.82179164307e-05
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -1.04046111105e-07
covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03]
---
And /tf_static
Which doesn't seem to be publishing anything.
Thanks all!
↧
how to use spawn_urdf_model service
Hi everyone
Currently I am trying to spawn a robot by calling spawn_urdf_model service. But, now matter what I did with it, it always failed to call the service. I think the problem is that I do not know how to assign value to model_xml field of gazebo_msgs::spawnmodel srv.
Does anyone know how to use this service? Especially, could anyone offer me some examples about how to use this service.
Thank you very much
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↧
ubuntu 16.04 (xenial) package for gazebo 7.4.0?
I understand there are several bugs in 7.0.0 (for instance [this one](https://bitbucket.org/osrf/gazebo/issues/1837/vmware-rendering-z-ordering-appears-random)) which hve been fixed in later versions like 7.4.0 and 7.5.0. Are there any PPA's which include a prebuilt version of 7.4.0 or do I need to build from source? Thanks,
philip
↧
Why is Gazebo not loading a model?
I am trying to work with Gazebo using xacro files. It seems that it works with Rviz, but there is no model in Gazebo. Please take a look at the files here: https://github.com/matrhint/model-problems I am running Kinetic. I am using roslaunch lawnmow_description lawnmow_rviz.launch and roslaunch lawnmow_gazebo lawnmow_world.launch to test it out.
Thank you for any assistance.
↧
lots of nan data when convert pointcloud2 to pcl::PointXYZ
HI all, I use Ubuntu 14.04 LTI with ROS Indigo. Then I simulate kinect in Gazebo:
` 20 ${60 * M_PI/180.0} R8G8B8 640 480 0.05 3 true 20 ${name}/rgb/image_raw ${name}/rgb/camera_info ${name}/depth/image_raw ${name}/depth/camera_info ${name}/depth/points 0.5 ${name}_depth_optical_frame 0.0 0.0 0.0 0.0 0.0 objects directly:
**My code:**
`void callback(const pcl::PointCloud::ConstPtr& position)
{
const char *path="/home/lin/Desktop/distance.dat";
ofstream file(path);
for(int i=0; i<307200;i++)
{
cout << "(x,y,z) = " << position -> points[i] << std::endl;
file << position -> points[i];
}
}
int main(int argc, char** argv){
ros::init(argc, argv, "distance_publisher");
ros::NodeHandle nh;
std::string topic = nh.resolveName("camera/depth/points");
uint32_t queue_size = 1;
// create a templated subscriber
ros::Subscriber sub = nh.subscribe> (topic, queue_size, callback);
ros::Rate r(0.1);
while(nh.ok()){
ros::spinOnce();
r.sleep();
}
}
`
**I get lots of NAN data , I just want to know when convert pointcloud2 to pcl::PointXYZ, it will remove nan data automatically or I need to filter it.**
↧
Differences between ros_control and arbotix driver package
1, I wonder what are the differences or similarities between ros_control and arbotix driver.
2, Does **arbotix driver** belong to firmware for harware ? In other words, it belongs to **hardware_interface:RobotHW** ?
3, **ros_control** covers the **controller_manager** and **harware resource interface layer** ?
↧
↧
Differences between ros_control and arbotix driver package
1, I wonder what are the differences or similarities between ros_control and arbotix driver.
2, Does **arbotix driver** belong to firmware for harware ? In other words, it belongs to **hardware_interface:RobotHW** ?
3, **ros_control** covers the **controller_manager** and **harware resource interface layer** ?
↧
How to use SDF with ROS packages in gazebo?
Using ROS Indigo and Gazebo 2.2 on Ubuntu 14.04
I have created a model for a robot that is similar to Clearpath's Jackal. What I am trying to do is have the already-created Jackal packages apply to my robot model. In other words, I am trying to substitute the model of Clearpath's Jackal with my robot model so that Clearpath's Jackal packages can apply to my model.
The robot I made is in SDF while the packages for Clearpath's jackal reference and use URDF/XACRO. Does anyone know if it is possible to implement the SDF files and/or remove the URDF/XACRO files from the packages so that the Clearpath's Jackal's packages would apply to my model? If it is possible, what would be the best implementation process?
Thanks!
Pooja
↧
Differences between ros_control and arbotix driver package
1, I wonder what are the differences or similarities between ros_control and arbotix driver.
2, Does **arbotix driver** belong to firmware for harware ? In other words, it belongs to **hardware_interface:RobotHW** ?
3, **ros_control** covers the **controller_manager** and **harware resource interface layer** ?
↧
Invalid tag
I am trying to modify hector_quadrotor in gazebo.
because I am quite new to ROS and Gazebo while processing `roslaunch hector_quadrotor_gazebo spawn_quadrotor_with_kinect.launch` which exists in the original packages i failed.it shows following error:
in file: /home/ayatoshi/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.gazebo.xacro
while processing /home/ayatoshi/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch:
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro '/home/ayatoshi/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.gazebo.xacro' base_link_frame:=/base_link world_frame:=world] returned with code [2].
Param xml is
The traceback for the exception was written to the log file
i dont know how to solve the problem
Can you give me some information about how to solve the problem?
thanks a lot.
here is the spawn_quadrotor_with_kinect.launch：
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↧
Two quadrotors in a single robot
Hello,
I'd like to know how to I spawn two quadrotors inside a single robot in Gazebo.
Since I want to add a object to link them, I have to be able to generate two inside a single model.
I'm using hector_quadrotor repository.
I've been using hector_quadrotor repository.
https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor
I have a project to develop a multi UAV payload sharing.
So far I have been able to control the quad through a joystick and also connect it with a bar, just like the image:
https://ibb.co/efGc3v
I want to add another quad fixed to the other side of the bar, and after that, I will at a payload in the middle.
Spawning a quad in another namespace doens't help me, because I won't be able to connect them with the bar.
So they have to be in the same robot/model.
Thanks in advance
↧
Invalid parameter "robot_namespace" when running Husky Robot
Hi everyone.
I want to run Husky Robot (http://wiki.ros.org/Robots/Husky) in my Gazebo simulator. Current version for Husky in ROS is still in Indigo, and Kinetic version is still not released yet. So I cloned Husky code from https://github.com/husky/husky into src folder in my new catkin workspace, compiled it using catkin_make, and run one of the launch file there :
roslaunch husky_gazebo husky_empty_world.launch
Then I met this errors:
Invalid parameter "robot_namespace"
XacroException('Invalid parameter "robot_namespace"',)
when instantiating macro: sick_lms1xx (/opt/ros/kinetic/share/lms1xx/urdf/sick_lms1xx.urdf.xacro)
in file: /home/myuserame/myworkspace/src/husky/husky_description/urdf/husky.urdf.xacro
while processing /home/myuserame/myworkspace/src/husky/husky_gazebo/launch/spawn_husky.launch:
while processing /home/myuserame/myworkspace/src/husky/husky_description/launch/description.launch:
Invalid < param > tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro '/home/myuserame/myworkspace/src/husky/husky_description/urdf/husky.urdf.xacro' --inorder robot_namespace:=/ laser_enabled:=true kinect_enabled:=false urdf_extras:= ] returned with code [2].
Param xml is < param command="$(find xacro)/xacro '$(find husky_description)/urdf/husky.urdf.xacro' --inorder robot_namespace:=$(arg robot_namespace) laser_enabled:=$(arg laser_enabled) kinect_enabled:=$(arg kinect_enabled) urdf_extras:=$(arg urdf_extras) " name="robot_description"/ >
The traceback for the exception was written to the log file
Am I missing something?
Thank you!
↧
How to write a gazebo_plugin for a new quadrotor?
How can I write a gazebo plugin for a new quadrotor and integrate it with the urdf? I went through the ros_control + gazebo plugin for this but that dint give me a complete idea here. RRBot has a single joint linked with transmission linked to a gazebo plugin controlller. But how does it work in quadrotor case?
↧
making urdf for front camera, gazebo !!
hi guys i am trying to attach a fake camera on my robot in gazebo, i have have complete my urdf file with the instruction from this link http://gazebosim.org/tutorials?tut=ros_gzplugins#DepthCamera . though i am encountering with no errorsi am not able to see my fake camera in my topic list . below is my code for camera (in urdf).
0.2 true 1.0 camera /camera/rgb/image_rect_color /camera/color/camera_info /camera/depth/image /camera/depth/camera_info /camera/depth_registered/points camera_link 0.5 0.00000001 0.00000001 0.00000001 0.00000001 0.00000001 0 0 0 0 0
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↧
Summit_xl_sim planting at launch (gazebo_gui-7 dying / segmentation fault))
Hello,
My kernel and distro : `Linux version 4.8.0-51-generic (buildd@lcy01-09) (gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.4) ) #54~16.04.1-Ubuntu SMP Wed Apr 26 16:00:28 UTC 2017
`
I had a lot of errors with the controller_manager not finding the spawner (i solved it by git cloning the controller_manager repertory instead of using apt_get) during the launch.
But now i have other problems on the initialization of different joints of the robot.
I don't know how to solve these errors so I'm here for some help.
My terminal output when launching Summit XL simulation:
enzo@cncr-2:~/catkin_ws$ roslaunch summit_xl_sim_bringup summit_xl_complete.launch
... logging to /home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/roslaunch-cncr-2-18633.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.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://cncr-2:34725/
SUMMARY
========
PARAMETERS
* /axis_angular: 2
* /axis_linear_x: 1
* /axis_linear_y: 0
* /axis_linear_z: 3
* /button_dead_man: 11
* /button_home: 8
* /button_kinematic_mode: 9
* /button_output_1: 15
* /button_output_2: 13
* /button_ptz_pan_left: 7
* /button_ptz_pan_right: 5
* /button_ptz_tilt_down: 6
* /button_ptz_tilt_up: 4
* /button_ptz_zoom_tele: 0
* /button_ptz_zoom_wide: 3
* /button_speed_down: 14
* /button_speed_up: 12
* /cmd_service_home: /summit_xl_contro...
* /cmd_service_io: /modbus_io/write_...
* /cmd_service_set_mode: /summit_xl_contro...
* /cmd_topic_ptz: /axis_camera/ptz_...
* /cmd_topic_vel: /pad_teleop/cmd_vel
* /joystick_dead_zone: true
* /num_of_buttons: 15
* /output_1: 1
* /output_2: 2
* /pan_increment: 5
* /ps3_joy/autorepeat_rate: 10.0
* /ps3_joy/deadzone: 0.12
* /ps3_joy/dev: /dev/input/js0
* /robot_description: base_footprint tf
[ INFO] [1493892061.277524508]: SummitXLPad num_of_buttons_ = 15
[ INFO] [1493892061.277593914]: bREG 0
[ INFO] [1493892061.277608156]: bREG 1
[ INFO] [1493892061.277618105]: bREG 2
[ INFO] [1493892061.277628738]: bREG 3
[ INFO] [1493892061.277640441]: bREG 4
[ INFO] [1493892061.277648647]: bREG 5
[ INFO] [1493892061.277657034]: bREG 6
[ INFO] [1493892061.277666054]: bREG 7
[ INFO] [1493892061.277674003]: bREG 8
[ INFO] [1493892061.277681671]: bREG 9
[ INFO] [1493892061.277693802]: bREG 10
[ INFO] [1493892061.277704145]: bREG 11
[ INFO] [1493892061.277714539]: bREG 12
[ INFO] [1493892061.277724397]: bREG 13
[ INFO] [1493892061.277734816]: bREG 14
[ INFO] [1493892061.284097942]: summit_xl_robot_control::spin()
[ INFO] [1493892061.284146066]: SummitXLControllerClass::starting
SpawnModel script started
[ INFO] [1493892061.378262779]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1493892061.378878944]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1493892061.461683, 0.000000]: Loading model XML from ros parameter
[INFO] [1493892061.464889, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1493892061.532412, 0.000000]: Controller Spawner: Waiting for service /summit_xl/controller_manager/load_controller
[ INFO] [1493892061.595727038, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1493892061.620291917, 0.046000000]: Physics dynamic reconfigure ready.
[INFO] [1493892061.767566, 0.189000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1493892062.284273740, 0.360000000]: SummitXLControllerClass::starting
[ INFO] [1493892062.394323217, 0.360000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1493892062.394370684, 0.360000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1493892062.396785824, 0.360000000]: Laser Plugin (ns = /) , set to ""
[INFO] [1493892062.403627, 0.360000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1493892062.442239353, 0.360000000]: Loading gazebo_ros_control plugin
[ INFO] [1493892062.442374782, 0.360000000]: Starting gazebo_ros_control plugin in namespace: /summit_xl
[ INFO] [1493892062.443113973, 0.360000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ WARN] [1493892062.601182266, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'joint_front_right_wheel'.
[ WARN] [1493892062.602135467, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'joint_front_left_wheel'.
[ WARN] [1493892062.603062641, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'joint_back_left_wheel'.
[ WARN] [1493892062.603548086, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the tag in joint 'joint_back_right_wheel'.
[ INFO] [1493892062.608249980, 0.360000000]: Loaded gazebo_ros_control.
[ WARN] [1493892062.611388272, 0.360000000]: GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/) missing , defaults to 0.000100
[ WARN] [1493892062.611416739, 0.360000000]: GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/) missing , defaults to 0.000100
[ WARN] [1493892062.611431970, 0.360000000]: GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/) missing , defaults to 0.010000
[ INFO] [1493892062.611492086, 0.360000000]: Starting GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/)!
[urdf_spawner-8] process has finished cleanly
log file: /home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/urdf_spawner-8*.log
[INFO] [1493892062.739651, 0.413000]: Controller Spawner: Waiting for service /summit_xl/controller_manager/switch_controller
[INFO] [1493892062.742544, 0.416000]: Controller Spawner: Waiting for service /summit_xl/controller_manager/unload_controller
[INFO] [1493892062.744441, 0.418000]: Loading controller: joint_blw_velocity_controller
[INFO] [1493892062.803965, 0.477000]: Loading controller: joint_brw_velocity_controller
[INFO] [1493892062.808881, 0.482000]: Loading controller: joint_frw_velocity_controller
[INFO] [1493892062.813744, 0.487000]: Loading controller: joint_flw_velocity_controller
[INFO] [1493892062.818717, 0.492000]: Loading controller: joint_pan_position_controller
[ERROR] [1493892062.844599970, 0.518000000]: Exception thrown while initializing controller joint_pan_position_controller.
Could not find resource 'joint_camera_pan' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1493892062.844636121, 0.518000000]: Initializing controller 'joint_pan_position_controller' failed
Segmentation fault (core dumped)
[gazebo_gui-7] process has died [pid 18686, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/gazebo_gui-7.log].
log file: /home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/gazebo_gui-7*.log
[ INFO] [1493892063.284466023, 0.954000000]: SummitXLControllerClass::starting
[ERROR] [1493892063.850324, 1.518000]: Failed to load joint_pan_position_controller
[INFO] [1493892063.850689, 1.518000]: Loading controller: joint_tilt_position_controller
[ERROR] [1493892063.884128057, 1.552000000]: Exception thrown while initializing controller joint_tilt_position_controller.
Could not find resource 'joint_camera_tilt' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1493892063.884165944, 1.552000000]: Initializing controller 'joint_tilt_position_controller' failed
[ INFO] [1493892064.284628089, 1.951000000]: SummitXLControllerClass::starting
[ERROR] [1493892064.888017, 2.552000]: Failed to load joint_tilt_position_controller
[INFO] [1493892064.888350, 2.552000]: Loading controller: joint_read_state_controller
[INFO] [1493892064.927273, 2.591000]: Controller Spawner: Loaded controllers: joint_blw_velocity_controller, joint_brw_velocity_controller, joint_frw_velocity_controller, joint_flw_velocity_controller, joint_read_state_controller
[INFO] [1493892064.930122, 2.594000]: Started controllers: joint_blw_velocity_controller, joint_brw_velocity_controller, joint_frw_velocity_controller, joint_flw_velocity_controller, joint_read_state_controller
[ INFO] [1493892065.284760983, 2.947000000]: SummitXLControllerClass::starting
^C[summit_xl_robot_control-9] killing on exit
[gazebo-6] killing on exit
[summit_xl_pad-5] killing on exit
[ps3_joy-4] killing on exit
[twist_mux-3] killing on exit
[robot_state_publisher-2] killing on exit
[summit_xl/controller_spawner-1] killing on exit
[INFO] [1493892999.389114, 935.617000]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1493893000.392898, 935.617000]: Stopping all controllers...
[gazebo-6] escalating to SIGTERM
[summit_xl/controller_spawner-1] escalating to SIGTERM
[WARN] [1493893014.412480, 935.617000]: Controller Spawner couldn't reach controller_manager to take down controllers. Waited for 30 second(s).
shutting down processing monitor...
... shutting down processing monitor complete
done
I don't understand why my gazebo is constantly dying.
Thank you for helping me please.
↧
Missing tfs from turtlebot in gazebo
Hi,
When I run the ```turtlebot_world.launch``` file in ```turtlebot_gazebo```, there are many missing transformations compared to when I run ```minimal.launch``` on a real turtlebot. This is the result I get from ```rosrun tf view_frames```:
I have not been able to figure out why these are the only transforms available. When I run ```minimal.launch``` on a real robot, there are many more, such as transforms for camera_depth and camera_rgb, cliff sensors, etc. Are the transforms shown above the only transforms expected when running ```turtlebot_world.launch```?
When I look at the ```/robot_description``` param after running ```turtle_world.launch```, it looks to be the same value as when I run ```minimal.launch```. It's very long, but here is the first part:
"\n\n\n\n\n\n
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Multiple robots in ROS Gazebo SITL with separate MAVlink/MAVproxy software codes
The problem statement is in simulating [ErleCopter and ErleRover](http://erlerobotics.com/docs/Simulation/Introduction.html) simultaneously for a non-commercial research. The statement is in letting quadcopter follow the line-following rover (preferably using GPS) and the documentation has been sparse.
Can somebody consider letting me know the possibilities? I am not sure if this problem is composed of two sub-problems.
First problem is in spawning the robots (URDF and Xacro files have been successfully modified to avoid significant performance on system and Copter has been spawned in line-follower environment) and the second one is in controlling both independently (and obtain the state parameters of both vehicles and use that as feedback).
Can you please let me know if two computers are really necessary for this with links to official documentation? (Lenovo-y50-70 is being used with Ubuntu 14.04; Two computers are not easy to obtain immediately though and internet connection has issues)
The following options are being considered:
1. Usage of two MavProxy/MavLink channels through the modification of TCP ports.
2. Usage of multiple launch files (two in this case with Rover having the 'master' port). (https://github.com/ArduPilot/MAVProxy/issues/215 and http://ardupilot.github.io/MAVProxy/html/getting_started/starting.html)
3. Usage of single launch file with 'namespace' grouping.
There is no tutorial or even simplified documentation on this and this 'thread' is being created to help people facing similar problems excepting [ClearPath's news-release which employs ROS's "black box"](https://www.clearpathrobotics.com/2016/03/simulating-multiple-husky-ugvs-in-gazebo/) and any insight on that would help too.
So, two attempts were made to launch both. (sim_vehicle.sh has been modified into two files for software - sim_copter.sh and sim_rover.sh; The $(pwd) in sim_copter.sh has been hard-coded to avoid the usage of terminal and that works)
false 0 0 100 0 0 0 0.8 0.8 0.8 1 0.9 0.9 0.9 1 1000 0.9 0.01 0.001 0 0 -1 model://jarama 0 0 0 0 0 0 erlecopter
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