cannot launch node of type...
I'm using Linux 16.04 LTS and ROS Kinetic, and confused about a problem.
If you have some knowledge about my case, please gift me.
(I'm a Japanese, and my English may be strange somehow. Sorry.)
I will maintain my case later.
First, I introduce my error message:
ERROR MESSAGE
user@computer:~/catkin_ws/src/dynamixel_driver/launch$ roslaunch torque_control.launch
... logging to /home/user/.ros/log/cda36db0-b3f0-11e8-a44e-448a5b87c976/roslaunch-computer-18740.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://computer:45125/
SUMMARY
========
PARAMETERS
* /baud_rate: 1000000
* /d_gain: 2e-05
* /device_name: /dev/ttyUSB0
* /p_gain: 0.003
* /pan_id: 1
* /rosdistro: kinetic
* /rosversion: 1.12.13
* /tilt_id: 2
NODES
/
torque_control (dynamixel_driver/torque_control)
auto-starting new master
process[master]: started with pid [18750]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to cda36db0-b3f0-11e8-a44e-448a5b87c976
process[rosout-1]: started with pid [18763]
started core service [/rosout]
ERROR: cannot launch node of type [dynamixel_driver/torque_control]: can't locate node [torque_control] in package [dynamixel_driver]
I will maintain my case later.
First, I introduce my error message:
this is all about the error message. I tried to use Dynamixel XM430-W350-R servo motors with Dynamixel-workbench package. Dynamixel-workbench includes multiple packages:
- dynamixel_workbench
- dynamixel_controllers
- dynamixel_operators
- dynamixelworkbenchsingle_manager
- dynamixelworkbenchsinglemagagergui
- dynamixelworkbenchtoolbox
I used a package dynamixel_controllers to manipulate my dynamixel motors. Without any change, I successed in manipulating them.
Then, because I need to change codes I copied dynamixelcontrollers/src/torquecontrol.cpp and dynamixelcontrollers/launch/torquecontrol.launch to another package I made. Of course, I changed both CMakeLists.txt and package.xml. I can't find any defect in these, but getting error means there may be some defect. So I want you to check it out.
the code is like this:
CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(dynamixel_driver)
find_package(catkin REQUIRED COMPONENTS
roscpp
sensor_msgs
geometry_msgs
dynamixel_workbench_msgs
dynamixel_workbench_toolbox
)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp sensor_msgs geometry_msgs dynamixel_workbench_msgs dynamixel_workbench_toolbox
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(torque_control src/torque_control.cpp)
add_dependencies(torque_control ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(torque_control ${catkin_LIBRARIES})
install(TARGETS torque_control
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
package.xml
<?xml version="1.0"?>
<package format="2">
<name>dynamixel_driver</name>
<version>0.0.0</version>
<description>The dynamixel_driver package</description>
<maintainer email="user@todo.todo">user</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>sensor_msgs</depend>
<depend>geometry_msgs</depend>
<depend>dynamixel_workbench_msgs</depend>
<depend>dynamixel_workbench_toolbox</depend>
<export></export>
</package>
I referred some questions here and most of them pointed out "it happened because your workspace are not referred and you should source /catkin_ws/devel/setup.bash." I tried it but nothing changes.
Does anyone give me knowledge about this error and pick me up from a swamp!
Asked by tk on 2018-09-09 01:34:35 UTC
Comments
One thing to check: before
source /catkin_ws/devel/setup.bash
, did youcatkin_make
your workspace?Asked by gvdhoorn on 2018-09-09 03:37:59 UTC
i am not sure of this but you can try including the dependency on other packages as the packages in workbench are interconnected.
Asked by tomarRobin on 2019-06-17 21:13:17 UTC