Spawner gets blocked when trying to use libhector_gazebo_ros_sonar
Hi guys! To get to the point, I have an .xacro file where I am creating a simple 3-wheeled robot. I am trying to include a camera sensor that works fine and 3 sonar sensors using libhectorgazeboros_sonar. When I include the sonars the launching process stops at:
[INFO] [1495446798.750176, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1495446798.857894558, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
libGL error: failed to create drawable
If I don't kill the process it fills up my RAM and everything freezes
After I kill the process with CTRL+C i see this warning:
[WARN] [1495446813.634902, 0.032000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
Code for sonar:
<xacro:macro name="sonar_sensor" params="sid dx dy dz rot jr jh plink ray_count field_of_view min_range max_range">
<link name="sonar${sid}">
<visual>
<origin rpy="0 0 ${rot}" xyz="0 0 0"/>
<geometry>
<box size="${dx} ${dy} ${dz}"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="sonar${sid}_joint" type="fixed">
<parent link="${plink}"/>
<child link="sonar${sid}"/>
<origin rpy="0 0 0" xyz="${cos(rot)*jr} ${sin(rot)*jr} ${jh}"/>
</joint>
<gazebo reference="sonar${sid}">
<material>Gazebo/Red</material>
<sensor name="sonar_sensor${sid}" type="ray">
<always_on> true</always_on>
<update_rate>30.0</update_rate>
<ray>
<scan>
<horizontal>
<samples>${ray_count}</samples>
<resolution>1</resolution>
<min_angle>-${field_of_view/2}</min_angle>
<max_angle> ${field_of_view/2}</max_angle>
</horizontal>
<vertical>
<samples>${ray_count}</samples>
<resolution>1</resolution>
<min_angle>-${field_of_view/2}</min_angle>
<max_angle> ${field_of_view/2}</max_angle>
</vertical>
</scan>
<range>
<min>${min_range}</min>
<max>${max_range}</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="sonar${sid}_controller" filename="libhector_gazebo_ros_sonar.so">
<gaussianNoise>0.005</gaussianNoise>
<topicName>sonar</topicName>
<frameId>sonar_link</frameId>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
I include the sonar like this:
<xacro:sonar_sensor sid="1" dx="${l_sen}" dy="${L_sen}" dz="${L_sen}" rot="0" jr="${r_base-0.005}" jh="-0.2" plink="base_link" ray_count="640" field_of_view="${pi}" min_range="0.01" max_range="5"/>
No parsing error when parsing directly the .xacro file to .urdf or .sdf. There may be a problem with the way I try to use the library or the namespaces, but I am not configuring those, just / like so:
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
I include the spawner in the .launch file like so:
<node name="robot_controller_spawner" pkg="controller_manager" type="spawner" args="[joint controllers here]"/>
system: Ubuntu 16.04, ROS kinetic, Gazebo 7 llibraries: libhectorgazeboros_sonar and ros-kinetic-gazebo-ros-control installed with sudo apt-get No path problem for ROS. The Gazebo path returns nothing but I set that up and still does not work. Again, everything spawns without the sonars.
Not sure if this is the same problem.
Thank you in advance for any suggestions. I asked also on the Gazebo forum here.
Thank you in advance for any suggestions.
UPDATE 1 Managed to narrow it down to the ray tag. It spawns when I comment out the vertical caracteristics but still have the warning:
[WARN] [1495446813.634902, 0.032000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
and the odometry data is unavailable.
UPDATE 2 Actually completely removing the vertical tag resolves the issue. If somebody can explain, and how this will influence a robot feel free to. This would render the sonar to a radar, and I am trying to simulate the sonar so this is not a fix.
Asked by SorinV on 2017-05-22 04:47:59 UTC
Comments
this is at least suspicious. Are you running this in a VM, or a bare-metal installation? Do you have the appropriate video card drivers installed for your hardware? The OSS ones typically don't cut it.
Asked by gvdhoorn on 2017-06-17 04:00:15 UTC
For this part you are right. The drivers are just the standard ones. I run it on a laptop. But for now this is not such a big of a problem. The error appears but the rest works. For example there has been a while since I didn't get the ram filling problem but I don't know exactly what was the fix
Asked by SorinV on 2017-06-19 04:30:50 UTC
It is possible that Gazebo uses OpenGL to accelerate simulation of certain sensors. If the sensor you want to use is one of those, it could be that not having proper drivers installed could have an effect on Gazebo.
Asked by gvdhoorn on 2017-06-19 04:54:57 UTC
Hello SorinV, i had the same problem and fixed it with your suggestions! But it's not able to recognize obstacles. Did you have the same problem? Thank you
Asked by moshimojo on 2017-11-15 10:01:35 UTC
Hello moshimojo. I ended up using this plugin: libgazebo_ros_range.so
Asked by SorinV on 2017-11-17 05:51:23 UTC
ok, i'll try it thank you!
Asked by moshimojo on 2017-11-19 12:36:26 UTC