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ROS Indigo Turtlebot Gazebo Simulation

asked 2014-06-21 19:55:28 -0600

Charlie Murphy gravatar image

updated 2014-06-23 14:31:23 -0600

On Ubuntu 14.04 Trusty I recently installed Ros Indigo using apt-get and the turtlebot packages from source following the instructions on turtlebot/indigo/instillation tutorial (but using rosdep install --from-paths src -i -y -r for the turtlebot modules). When I try to launch the turtlebot simulator using

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

the turtlebot does not show in the gazebo window nor does the majority of the expected topics get posted (ie any of the /camera/* topics or /odom topic).

I'm using Gazebo 2.2.2, Ubuntu 14.04 and ROS Indigo I've sourced my the indigo setup.bash as well as the ones for the rocon, kobuki, and turtlebot modules from the instilation tutorial above. After starting the program the gazebo window will open and you can pan/zoom but none of the models will show on the screen, including any that I add after the program starts.

Below is the output of running roslaunch turtlebot_gazebo turtlebot_empty_world.launch

... logging to /home/charlie/.ros/log/6fa28384-f9a2-11e3-b032-54271e5d091b/roslaunch-charlie-FANG-2014-28176.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:// charlie-FANG-2014:60719/

SUMMARY
========

PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /home/charlie/tur...
 * /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
 * /depthimage_to_laserscan/range_min: 0.45
 * /depthimage_to_laserscan/scan_height: 10
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: <...>
 * /rosversion: <...>
 * /use_sim_time: True

NODES
  /
    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    depthimage_to_laserscan (nodelet/nodelet)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    laserscan_nodelet_manager (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_turtlebot_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [28191]
ROS_MASTER_URI=http:// localhost:11311

setting /run_id to 6fa28384-f9a2-11e3-b032-54271e5d091b
process[rosout-1]: started with pid [28204]
started core service [/rosout]
process[gazebo-2]: started with pid [28228]
/opt/ros/indigo/lib/gazebo_ros/gzserver: 5: [: Linux: unexpected operator
process[gazebo_gui-3]: started with pid [28234]
/opt/ros/indigo/lib/gazebo_ros/gzclient: 5: [: Linux: unexpected operator
process[spawn_turtlebot_model-4]: started with pid [28242]
Gazebo multi-robot simulator, version 2.2.2
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http:// gazebosim.org

Gazebo multi-robot simulator, version 2.2.2
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http:// gazebosim.org

Msg Waiting for master
Msg Connected to gazebo master @ http:// 127.0.0.1:11345
Msg Publicized address: 192.168.2.3
[ INFO] [1403396186.795938010]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1403396186.799826284]: 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: 192.168.2.3
process[mobile_base_nodelet_manager-5]: started with pid [28281]
[ INFO] [1403396187.766250320, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
process[cmd_vel_mux-6]: started with pid [28415]
process[bumper2pointcloud-7]: started with pid [28495]
process[robot_state_publisher-8]: started with pid [28542]
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 28228, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver ...
(more)
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Comments

TurtleBot packages haven't been released or tested on indigo yet. You're getting a segfault which suggests a memory issue. If you can run it in gdb to get a backtrace we could try to help you remotely. Otherwise you'll probably need to wait for it to be tested and released. PS if you can also provide the steps to reproduce someone might have a moment to test your problem specificcally.

tfoote gravatar imagetfoote ( 2014-06-22 22:39:51 -0600 )edit

Thank you, I'm actually unsure how to run roslaunch turtlebot_gazebo turtlebot_empty_world.launch command in gdb.

Charlie Murphy gravatar imageCharlie Murphy ( 2014-06-23 14:36:04 -0600 )edit

same issue here. @charlie, it might also help to report this as an issue on the github of for example turtlebot_simulator (which contains turtlebot_gazebo).

koenlek gravatar imagekoenlek ( 2014-06-25 15:16:32 -0600 )edit

3 Answers

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answered 2014-07-10 19:31:00 -0600

Charlie Murphy gravatar image

I've figured out how to get this to work as a sort of semi-fix until the official debians are finalized and released. As fergs mentioned the problem is indeed with incompatabilities with ROS Indigo Gazebo and URDF. The temporary fix is to install Gazebo from source. This then lets gazebo use the urdf library that comes packaged with trusty.

Here are the steps I took from a fresh Ubuntu 14.04 install:

Install gazebo 2.2 from source. (I did the optional stage/player libraries as well) Install ros-indigo-desktop-full using apt-get Install ros turtlebot packages from source (only available option currently).

Use instructions found at: http://gazebosim.org/wiki/2.2/install http://wiki.ros.org/indigo/Installati... http://wiki.ros.org/turtlebot/Tutoria...

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answered 2014-06-25 16:28:33 -0600

fergs gravatar image

There are still some issues with Gazebo and Indigo when using a URDF, see https://github.com/ros/rosdistro/issu... for the details.

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Hi thanks for the answer. I just came across this as well after posting an issue on the turtlebot_gazebo github.

Charlie Murphy gravatar imageCharlie Murphy ( 2014-06-25 17:05:45 -0600 )edit
0

answered 2014-11-21 00:48:56 -0600

ahendrix gravatar image

I gave this a try today. I had an old install of ROS Indigo, and after upgrading and removing the ros-indigo-urdfdom package, I'm able to run the turtlebot simulator using the precompiled version of gazebo.

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Asked: 2014-06-21 19:55:28 -0600

Seen: 5,455 times

Last updated: Nov 21 '14