Gazebo (Fuerte on Ubuntu 12.04) returns "Invalid arguments"

edit

Dear all,

I tried to run the KUKA youbot simulation in Gazebo, with code that worked just fine under Electric on Ubuntu 11.04. But now I get this very meaningful error 'invalid arguments' without further indication where to look. Gazebo is not coming up. The mentioned log files are empty or don't exist. The output shows also an attribute error, which Gazebo gives also when launching the PR2 or an empty world (which didn't pose a problem for those simulations). If I delete the remap statements out of the launch file, I get a new error (see below), although the remap statement looks fine.

Anyone any idea? Did the syntax change?

Thanks in advance!

Nick

The launch script:

(if the launch script is not shown properly, you can find the full version here: https://github.com/youbot/youbot-ros-pkg/tree/master/youbot_common/youbot_description/launch/youbot_publisher.launch )

<code>
<launch>
        <param name="/use_sim_time" value="true" />
        <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen">
                <env name="GAZEBO_RESOURCE_PATH" value="$(find youbot_description):$(find gazebo_worlds):$(find gazebo)/gazebo/share/gazebo" />
                <remap from="base_controller/command" to="cmd_vel"/>
                <remap from="scan_front" to="base_scan"/>
                <remap from="/base_odometry/odom" to="/odom" />
        </node>

        <!-- send youbot urdf to param server -->
        <param name="robot_description" command="$(find xacro)/xacro.py '$(find youbot_description)/robots/youbot.urdf.xacro'"/>

        <!-- push robot_description to factory and spawn robot in gazebo -->
        <node name="youbot_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model youBot -x 0.0 -y 0.0 -z 0.1" respawn="false" output="screen" />

        <include file="$(find youbot_description)/launch/control/youbot_base_control.launch" />
        <include file="$(find youbot_description)/launch/control/youbot_arm_control.launch" />

</launch>
</code>

the output 
----------------
... logging to /home/u0065688/.ros/log/3df9c36e-cc1e-11e1-a6e5-0024e8dfc1df/roslaunch-pma-09-053-14267.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://localhost:54986/

SUMMARY


PARAMETERS
 * /arm_1/arm_controller/gains/arm_joint_1/d
 * /arm_1/arm_controller/gains/arm_joint_1/i
 * /arm_1/arm_controller/gains/arm_joint_1/p
 * /arm_1/arm_controller/gains/arm_joint_2/d
 * /arm_1/arm_controller/gains/arm_joint_2/i
 * /arm_1/arm_controller/gains/arm_joint_2/p
 * /arm_1/arm_controller/gains/arm_joint_3/d
 * /arm_1/arm_controller/gains/arm_joint_3/i
 * /arm_1/arm_controller/gains/arm_joint_3/p
 * /arm_1/arm_controller/gains/arm_joint_4/d
 * /arm_1/arm_controller/gains/arm_joint_4/i
 * /arm_1/arm_controller/gains/arm_joint_4/p
 * /arm_1/arm_controller/gains/arm_joint_5/d
 * /arm_1/arm_controller/gains/arm_joint_5/i
 * /arm_1/arm_controller/gains/arm_joint_5/p
 * /arm_1/arm_controller/joints
 * /arm_1/arm_controller/type
 * /base_controller/caster_joint_bl/position_controller/d
 * /base_controller/caster_joint_bl/position_controller/i
 * /base_controller/caster_joint_bl/position_controller/i_clamp
 * /base_controller/caster_joint_bl/position_controller/p
 * /base_controller/caster_joint_bl/velocity_controller/d
 * /base_controller/caster_joint_bl/velocity_controller/i
 * /base_controller/caster_joint_bl/velocity_controller/i_clamp
 * /base_controller/caster_joint_bl/velocity_controller/p
 * /base_controller/caster_joint_br/position_controller/d
 * /base_controller/caster_joint_br/position_controller/i
 * /base_controller/caster_joint_br/position_controller/i_clamp
 * /base_controller/caster_joint_br/position_controller/p
 * /base_controller/caster_joint_br/velocity_controller/d
 * /base_controller/caster_joint_br/velocity_controller/i
 * /base_controller/caster_joint_br/velocity_controller/i_clamp
 * /base_controller/caster_joint_br/velocity_controller/p
 * /base_controller/caster_joint_fl/position_controller/d
 * /base_controller/caster_joint_fl/position_controller/i
 * /base_controller/caster_joint_fl/position_controller/i_clamp
 * /base_controller/caster_joint_fl/position_controller/p
 * /base_controller/caster_joint_fl/velocity_controller/d
 * /base_controller/caster_joint_fl/velocity_controller/i
 * /base_controller/caster_joint_fl/velocity_controller/i_clamp
 * /base_controller/caster_joint_fl/velocity_controller/p
 * /base_controller/caster_joint_fr/position_controller/d
 * /base_controller ...