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How to move rbcar in Gazebo simulation

Hello, I am trying to use the rbcar_common and rbcar_sim (http://wiki.ros.org/rbcar_sim?distro=indigo) packages to get an rbcar robot to move in Gazebo. The robot uses the skidsteeringplugin according to the wiki. I'm new to ROS and I am finding it hard to realize how to publish topics that will make this robot move.

roslaunch rbcar_gazebo rbcar.launch opens the model in Gazebo and it looks ok. I have then tried all the lauch files in rbcar_navigation but none of them have worked. In particular when I run:

roslaunch rbcar_navigation move_base_amcl.launch 

I get

NODES
  /
    amcl (amcl/amcl)
    map_server (map_server/map_server)
    move_base (move_base/move_base)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[map_server-1]: started with pid [6166]
process[amcl-2]: started with pid [6167]
process[move_base-3]: started with pid [6168]
process[rviz-4]: started with pid [6190]
[ INFO] [1477589354.751377650]: Requesting the map...
[ INFO] [1477589354.769636127]: Received a 2432 X 2272 map @ 0.050 m/pix

[ INFO] [1477589354.846352822]: Initializing likelihood field model; this can take some time on large maps...
[ WARN] [1477589354.893053667, 9.535000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 9.535 timeout was 0.1.
[ INFO] [1477589355.146714273, 9.789000000]: Done initializing likelihood field model.
[ WARN] [1477589359.944013281, 14.577000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1477589364.988898232, 19.614000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1477589370.043614880, 24.660000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589370.248725939, 24.864000000]: No laser scan received (and thus no pose updates have been published) for 24.864000 seconds.  Verify that data is being published on the /scan_filtered topic.
[ WARN] [1477589375.087841805, 29.696000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589380.132100474, 34.732000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589385.183140865, 39.772000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1477589385.275841157, 39.864000000]: No laser scan received (and thus no pose updates have been published) for 39.864000 seconds.  Verify that data is being published on the /scan_filtered topic.
[ WARN] [1477589390.231475400, 44.812000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1477589395.276557064, 49.850000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1477589400.298716834, 54.864000000]: No laser scan received (and thus no pose updates have been published) for 54.864000 seconds.  Verify that data is being published on the /scan_filtered topic.
[ WARN] [1477589400.328388364, 54.893000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1477589405.371570178, 59.925000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1477589410.416952335, 64.961000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1477589415.328551497, 69.864000000]: No laser scan received (and thus no pose updates have been published) for 69.864000 seconds.  Verify that data is being published on the /scan_filtered topic.

The last WARN is constantly repeated. Rviz GUI opens and loads a map but when I try to move the robot using 2D Nav Goals nothing happens. I have also tried using the robotniktestrobot package from https://github.com/RobotnikAutomation/robotnik_test_robot , particularly the test_square test, but if I run

roslaunch rbcar_gazebo rbcar.launch 
rosrun robotnik_test_robot_test_square test_square 

I just get

[ INFO] [1477588744.896274122, 369.092000000]: Waiting for the move_base action server to come up

I'm working on ROS Indigo in Xubuntu 14.04 with Gazebo 2.2.6. The output after running roslaunch rbcar_gazebo rbcar.launch is

... logging to /home/ccorti/.ros/log/936e035e-9c68-11e6-bf11-28b2bd1f4b18/roslaunch-ccorti-ThinkPad-W540-2948.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://ccorti-ThinkPad-W540:34140/

SUMMARY
========

PARAMETERS
 * /rbcar/joint_read_state_controller/publish_rate: 100.0
 * /rbcar/joint_read_state_controller/type: joint_state_contr...
 * /rbcar/left_front_axle_controller/joint: left_front_axle
 * /rbcar/left_front_axle_controller/pid/d: 750.0
 * /rbcar/left_front_axle_controller/pid/i: 100.0
 * /rbcar/left_front_axle_controller/pid/p: 1500.0
 * /rbcar/left_front_axle_controller/type: velocity_controll...
 * /rbcar/left_front_shock_controller/joint: left_front_shock
 * /rbcar/left_front_shock_controller/pid/d: 100.0
 * /rbcar/left_front_shock_controller/pid/i: 10.0
 * /rbcar/left_front_shock_controller/pid/p: 500.0
 * /rbcar/left_front_shock_controller/type: effort_controller...
 * /rbcar/left_rear_axle_controller/joint: left_rear_axle
 * /rbcar/left_rear_axle_controller/pid/d: 750.0
 * /rbcar/left_rear_axle_controller/pid/i: 100.0
 * /rbcar/left_rear_axle_controller/pid/p: 1500.0
 * /rbcar/left_rear_axle_controller/type: velocity_controll...
 * /rbcar/left_rear_shock_controller/joint: left_rear_shock
 * /rbcar/left_rear_shock_controller/pid/d: 100.0
 * /rbcar/left_rear_shock_controller/pid/i: 10.0
 * /rbcar/left_rear_shock_controller/pid/p: 500.0
 * /rbcar/left_rear_shock_controller/type: effort_controller...
 * /rbcar/left_steering_joint_controller/joint: left_steering_joint
 * /rbcar/left_steering_joint_controller/pid/d: 100.0
 * /rbcar/left_steering_joint_controller/pid/i: 10.0
 * /rbcar/left_steering_joint_controller/pid/p: 500.0
 * /rbcar/left_steering_joint_controller/type: effort_controller...
 * /rbcar/right_front_axle_controller/joint: right_front_axle
 * /rbcar/right_front_axle_controller/pid/d: 750.0
 * /rbcar/right_front_axle_controller/pid/i: 100.0
 * /rbcar/right_front_axle_controller/pid/p: 1500.0
 * /rbcar/right_front_axle_controller/type: velocity_controll...
 * /rbcar/right_front_shock_controller/joint: right_front_shock
 * /rbcar/right_front_shock_controller/pid/d: 500.0
 * /rbcar/right_front_shock_controller/pid/i: 10.0
 * /rbcar/right_front_shock_controller/pid/p: 500.0
 * /rbcar/right_front_shock_controller/type: effort_controller...
 * /rbcar/right_rear_axle_controller/joint: right_rear_axle
 * /rbcar/right_rear_axle_controller/pid/d: 750.0
 * /rbcar/right_rear_axle_controller/pid/i: 100.0
 * /rbcar/right_rear_axle_controller/pid/p: 1500.0
 * /rbcar/right_rear_axle_controller/type: velocity_controll...
 * /rbcar/right_rear_shock_controller/joint: right_rear_shock
 * /rbcar/right_rear_shock_controller/pid/d: 100.0
 * /rbcar/right_rear_shock_controller/pid/i: 10.0
 * /rbcar/right_rear_shock_controller/pid/p: 500.0
 * /rbcar/right_rear_shock_controller/type: effort_controller...
 * /rbcar/right_steering_joint_controller/joint: right_steering_joint
 * /rbcar/right_steering_joint_controller/pid/d: 100.0
 * /rbcar/right_steering_joint_controller/pid/i: 10.0
 * /rbcar/right_steering_joint_controller/pid/p: 500.0
 * /rbcar/right_steering_joint_controller/type: effort_controller...
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /twist_mux/locks: [{'topic': 'e_sto...
 * /twist_mux/topics: [{'topic': 'pad_t...
 * /use_sim_time: True

NODES
  /rbcar/
    controller_spawner (controller_manager/spawner)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_urdf (gazebo_ros/spawn_model)
    twist_mux (twist_mux/twist_mux)

auto-starting new master
process[master]: started with pid [2963]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 936e035e-9c68-11e6-bf11-28b2bd1f4b18
process[rosout-1]: started with pid [2976]
started core service [/rosout]
process[rbcar/controller_spawner-2]: started with pid [3004]
process[robot_state_publisher-3]: started with pid [3005]
process[twist_mux-4]: started with pid [3006]
process[gazebo-5]: started with pid [3007]
process[gazebo_gui-6]: started with pid [3017]
process[spawn_urdf-7]: started with pid [3035]
/home/ccorti/cyn_catkin_ws/devel/lib/robot_state_publisher/robot_state_publisher
Gazebo multi-robot simulator, version 2.2.6
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.6
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.[ INFO] [1477588366.040163880]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master[ INFO] [1477588366.040591572]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.112
[INFO] [WallTime: 1477588366.280808] [0.000000] Controller Spawner: Waiting for service /rbcar/controller_manager/load_controller
[ INFO] [1477588366.551570753, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.112
[ INFO] [1477588367.174807133, 0.160000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1477588367.174856492, 0.160000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1477588367.176574044, 0.160000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
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]
[ INFO] [1477588374.185384540, 0.160000000]: Block laser plugin missing <gaussianNoise>, defaults to 0.0
[ INFO] [1477588374.185427091, 0.160000000]: Block laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1477588374.185444361, 0.160000000]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
[ INFO] [1477588374.185458216, 0.160000000]: Block laser plugin missing <updateRate>, defaults to 0
[ INFO] [1477588374.897664118, 0.160000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1477588374.897804858, 0.160000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1477588374.898917831, 0.160000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1477588374.913353292, 0.160000000]: Physics dynamic reconfigure ready.
Unhandled exception in thread started by 
sys.excepthook is missing
lost sys.stderr
[ INFO] [1477588375.048551749, 0.160000000]: Loading gazebo_ros_control plugin
[ INFO] [1477588375.048702211, 0.160000000]: Starting gazebo_ros_control plugin in namespace: /rbcar
[ INFO] [1477588375.049511692, 0.160000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[spawn_urdf-7] process has finished cleanly
log file: /home/ccorti/.ros/log/936e035e-9c68-11e6-bf11-28b2bd1f4b18/spawn_urdf-7*.log
[ INFO] [1477588375.214805325, 0.160000000]: Loaded gazebo_ros_control.
[INFO] [WallTime: 1477588375.321397] [0.202000] Controller Spawner: Waiting for service /rbcar/controller_manager/switch_controller
[INFO] [WallTime: 1477588375.322630] [0.203000] Controller Spawner: Waiting for service /rbcar/controller_manager/unload_controller
[INFO] [WallTime: 1477588375.323750] [0.204000] Loading controller: left_front_shock_controller
[INFO] [WallTime: 1477588375.375247] [0.246000] Loading controller: left_steering_joint_controller
[INFO] [WallTime: 1477588375.402927] [0.274000] Loading controller: left_front_axle_controller
[INFO] [WallTime: 1477588375.452634] [0.314000] Loading controller: right_front_shock_controller
[INFO] [WallTime: 1477588375.458429] [0.320000] Loading controller: right_steering_joint_controller
[INFO] [WallTime: 1477588375.484925] [0.346000] Loading controller: right_front_axle_controller
[INFO] [WallTime: 1477588375.490851] [0.352000] Loading controller: left_rear_shock_controller
[INFO] [WallTime: 1477588375.496908] [0.358000] Loading controller: left_rear_axle_controller
[INFO] [WallTime: 1477588375.501747] [0.363000] Loading controller: right_rear_shock_controller
[INFO] [WallTime: 1477588375.506747] [0.368000] Loading controller: right_rear_axle_controller
[INFO] [WallTime: 1477588375.511885] [0.373000] Loading controller: joint_read_state_controller
[INFO] [WallTime: 1477588375.561591] [0.413000] Controller Spawner: Loaded controllers: left_front_shock_controller, left_steering_joint_controller, left_front_axle_controller, right_front_shock_controller, right_steering_joint_controller, right_front_axle_controller, left_rear_shock_controller, left_rear_axle_controller, right_rear_shock_controller, right_rear_axle_controller, joint_read_state_controller
[INFO] [WallTime: 1477588375.564644] [0.416000] Started controllers: left_front_shock_controller, left_steering_joint_controller, left_front_axle_controller, right_front_shock_controller, right_steering_joint_controller, right_front_axle_controller, left_rear_shock_controller, left_rear_axle_controller, right_rear_shock_controller, right_rear_axle_controller, joint_read_state_controller

Any ideas on how I can get any of these options to work? Or how to publish a topic with rostopic that will get the robot to move in the simulation? Thank you very much for your help!

Asked by cclina on 2016-10-27 12:35:02 UTC

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