Errors launching ur robots in gazebo
I am new to universal_robots and want to start doing simulations in gazebo with the ur5. After following the ur-gazebo installation instructions I tried
$ roslaunch ur_gazebo ur5.launch
However, I get many errors and do not know how and where to fix them.
Maybe I need to change/add something in a urdf/xacro file for the gazeboroscontrol plugin ( ??), but I don't know which file and what to do. Can someone help me?
I am using Ubuntu 16.04.6 LTS, ros kinetic ,and gazebo 7
This is the log info::
$roslaunch ur_gazebo ur3.launch ... logging to /home/philips/.ros/log/703f6ffa-6a81-11e9-9117-6038e0d93719/roslaunch-philips-HP-EliteDesk-800-G1-SFF-21350.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://philips-HP-EliteDesk-800-G1-SFF:46689/
SUMMARY
PARAMETERS * /arm_controller/action_monitor_rate: 10 * /arm_controller/constraints/elbow_joint/goal: 0.1 * /arm_controller/constraints/elbow_joint/trajectory: 0.1 * /arm_controller/constraints/goal_time: 0.6 * /arm_controller/constraints/shoulder_lift_joint/goal: 0.1 * /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /arm_controller/constraints/shoulder_pan_joint/goal: 0.1 * /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /arm_controller/constraints/stopped_velocity_tolerance: 0.05 * /arm_controller/constraints/wrist_1_joint/goal: 0.1 * /arm_controller/constraints/wrist_1_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_2_joint/goal: 0.1 * /arm_controller/constraints/wrist_2_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_3_joint/goal: 0.1 * /arm_controller/constraints/wrist_3_joint/trajectory: 0.1 * /arm_controller/joints: ['shoulder_pan_jo... * /arm_controller/state_publish_rate: 25 * /arm_controller/stop_trajectory_duration: 0.5 * /arm_controller/type: position_controll... * /joint_state_controller/publish_rate: 50 * /joint_state_controller/type: joint_state_contr... * /robot_description:
NODES / arm_controller_spawner (controller_manager/controller_manager) fake_joint_calibration (rostopic/rostopic) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_controller_spawner (controller_manager/controller_manager) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawn_gazebo_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [21363]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 703f6ffa-6a81-11e9-9117-6038e0d93719
process[rosout-1]: started with pid [21376] started core service [/rosout]
process[gazebo-2]: started with pid [21394]
process[gazebo_gui-3]: started with pid [21405]
process[spawn_gazebo_model-4]: started with pid [21407]
process[robot_state_publisher-5]: started with pid [21411]
process[fake_joint_calibration-6]: started with pid [21413]
process[joint_state_controller_spawner-7]: started with pid [21419]
process[arm_controller_spawner-8]: started with pid [21422]
[ INFO] [1556543978.895013105]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1556543978.898086697]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1556543978.933172434]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1556543978.933412241]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... SpawnModel script started
[INFO] [1556543979.218704, 0.000000]: Loading model XML from ros parameter
[INFO] [1556543979.220555, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1556543979.437002215, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1556543979.470231108, 0.054000000]: Physics dynamic reconfigure ready.
[INFO] [1556543979.522646, 0.105000]: Calling service /gazebo/spawn_urdf_model
[ERROR] [1556543979.526850890, 0.109000000]: Exception thrown while processing service call: Time is out of dual 32-bit range Service call failed: service [/gazebo/spawn_urdf_model] responded with an error: Time is out of dual 32-bit range
[ INFO] [1556543979.717137582, 0.154000000]: Loading gazebo_ros_control plugin
[ERROR] [1556543979.717291090, 0.154000000]: GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true. This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead. If you do not want to fix this issue in an old package just set to true.
[ INFO] [1556543979.717368307, 0.154000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1556543979.718906933, 0.154000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [spawn_gazebo_model-4] process has finished cleanly log file: /home/philips/.ros/log/703f6ffa-6a81-11e9-9117-6038e0d93719/spawn_gazebo_model-4*.log
[ERROR] [1556543979.832906808, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1556543979.834062148, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1556543979.834958857, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1556543979.835824515, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1556543979.836562435, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1556543979.837279388, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
[ INFO] [1556543979.845277811, 0.154000000]: Loaded gazebo_ros_control.
[ INFO] [1556543979.845422016, 0.154000000]: Loading gazebo_ros_control plugin
[ERROR] [1556543979.845447053, 0.154000000]: GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true. This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead. If you do not want to fix this issue in an old package just set to true.
[ INFO] [1556543979.845467390, 0.154000000]: Starting gazebo_ros_control plugin in namespace: /
[ERROR] [1556543979.949528345, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1556543979.951087464, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1556543979.952030648, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1556543979.952858252, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1556543979.953744563, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1556543979.955527450, 0.154000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
[ERROR] [1556543979.956597442, 0.154000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controllers]
[ERROR] [1556543979.956624504, 0.154000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controller_types]
[ERROR] [1556543979.956640496, 0.154000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/load_controller]
[ERROR] [1556543979.956654556, 0.154000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/unload_controller]
[ERROR] [1556543979.956669183, 0.154000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/switch_controller]
[ERROR] [1556543979.956683203, 0.154000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/reload_controller_libraries]
[ INFO] [1556543979.956746585, 0.154000000]: Loaded gazebo_ros_control.
[ WARN] [1556543979.957311290, 0.155000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1556543979.957327556, 0.155000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1556543979.957337287, 0.155000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1556543979.957347145, 0.155000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
[ INFO] [1556543979.978249810, 0.176000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. Loaded joint_state_controller Started ['joint_state_controller'] successfully
[ INFO] [1556543980.052420194, 0.244000000]: Physics dynamic reconfigure ready. Loaded arm_controller Started ['arm_controller'] successfully
[joint_state_controller_spawner-7] process has finished cleanly log file: /home/philips/.ros/log/703f6ffa-6a81-11e9-9117-6038e0d93719/joint_state_controller_spawner-7*.log
[arm_controller_spawner-8] process has finished cleanly log file: /home/philips/.ros/log/703f6ffa-6a81-11e9-9117-6038e0d93719/arm_controller_spawner-8*.log
[gazebo_gui-3] process has finished cleanly log file: /home/philips/.ros/log/703f6ffa-6a81-11e9-9117-6038e0d93719/gazebo_gui-3*.log
Asked by lr_k123 on 2019-04-29 08:45:06 UTC
Answers
Hey!
From the log you have posted, you can see that
[ WARN] [1556543979.957337287, 0.155000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1556543979.957347145, 0.155000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
You can check that github link to tackle the issue if you want all the errors to be gone.
But as an alternate, you can also look into this issue from github
This will solve your problems.
Asked by pmuthu2s on 2019-04-29 09:38:41 UTC
Comments
Hey, thank you for answering! I tried to clone the package from https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612. I try to launch the gazebo.launch file, but it shows the following:
philips@philips-HP-EliteDesk-800-G1-SFF:~/catkin_ws$ source devel/setup.bash
philips@philips-HP-EliteDesk-800-G1-SFF:~/catkin_ws$ ls -a
. .. build .catkin_workspace devel mimic_joint_gazebo_tutorial roboticsgroup_gazebo_plugins src
philips@philips-HP-EliteDesk-800-G1-SFF:~/catkin_ws$ ls mimic_joint_gazebo_tutorial/launch
gazebo.launch show_model_rviz.launch
philips@philips-HP-EliteDesk-800-G1-SFF:~/catkin_ws$ roslaunch mimic_joint_gazebo_tutorial gazebo.launch
[gazebo.launch] is neither a launch file in package [mimic_joint_gazebo_tutorial] nor is [mimic_joint_gazebo_tutorial] a launch file name
The traceback for the exception was written to the log file
Or would you advice to follow the alternative option(https://github.com/ros-industrial/universal)
Asked by lr_k123 on 2019-04-30 02:36:44 UTC
You can try the alternate link!
But as such you can just leave the bug "not noticed" and start working on your intended application. There won't be any problem.
Asked by pmuthu2s on 2019-04-30 02:55:32 UTC
Okay thank you!
Asked by lr_k123 on 2019-05-01 05:28:03 UTC
Comments
Hey.
But are you able to visualize the robot?
Asked by pmuthu2s on 2019-04-29 09:27:13 UTC
Hey, Yes the robot is vizualized in the gazebo world.
Asked by lr_k123 on 2019-04-29 09:31:15 UTC