Hector quadrotor indoor tutorial simulation wont start

asked 2015-06-08 03:26:48 -0500

c123 gravatar image

I am trying to run the hector quad rotor indoor example from the tutorial ( http://wiki.ros.org/hector_quadrotor/... ). When I run it the rvis visualization and gazebo simulation open, but gazebo is blank and closes by itself. How can I fix it?

Below is the terminal output. There are two errors of which I don't know the meaning.

user@ubuntu:~$ roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch
... logging to /home/user/.ros/log/c8dd26ca-0db5-11e5-ae69-000c29af2ac1/roslaunch-ubuntu-3779.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://ubuntu:60372/

SUMMARY
========

PARAMETERS
 * /controller/imu_topic: 
 * /controller/motor/type: hector_quadrotor_...
 * /controller/pose/type: hector_quadrotor_...
 * /controller/pose/xy/k_d: 0.0
 * /controller/pose/xy/k_i: 0.0
 * /controller/pose/xy/k_p: 2.0
 * /controller/pose/xy/limit_output: 5.0
 * /controller/pose/yaw/k_d: 0.0
 * /controller/pose/yaw/k_i: 0.0
 * /controller/pose/yaw/k_p: 2.0
 * /controller/pose/yaw/limit_output: 1.0
 * /controller/pose/z/k_d: 0.0
 * /controller/pose/z/k_i: 0.0
 * /controller/pose/z/k_p: 2.0
 * /controller/pose/z/limit_output: 5.0
 * /controller/state_topic: 
 * /controller/twist/angular/xy/k_d: 5.0
 * /controller/twist/angular/xy/k_i: 5.0
 * /controller/twist/angular/xy/k_p: 10.0
 * /controller/twist/angular/xy/time_constant: 0.01
 * /controller/twist/angular/z/k_d: 0.0
 * /controller/twist/angular/z/k_i: 2.5
 * /controller/twist/angular/z/k_p: 5.0
 * /controller/twist/angular/z/limit_output: 3.0
 * /controller/twist/angular/z/time_constant: 0.1
 * /controller/twist/limits/force/z: 30.0
 * /controller/twist/limits/load_factor: 1.5
 * /controller/twist/limits/torque/xy: 10.0
 * /controller/twist/limits/torque/z: 1.0
 * /controller/twist/linear/xy/k_d: 0.0
 * /controller/twist/linear/xy/k_i: 1.0
 * /controller/twist/linear/xy/k_p: 5.0
 * /controller/twist/linear/xy/limit_output: 10.0
 * /controller/twist/linear/xy/time_constant: 0.05
 * /controller/twist/linear/z/k_d: 0.0
 * /controller/twist/linear/z/k_i: 1.0
 * /controller/twist/linear/z/k_p: 5.0
 * /controller/twist/linear/z/limit_output: 10.0
 * /controller/twist/linear/z/time_constant: 0.05
 * /controller/twist/type: hector_quadrotor_...
 * /ground_truth_to_tf/frame_id: /world
 * /ground_truth_to_tf/odometry_topic: ground_truth/state
 * /ground_truth_to_tf/tf_prefix: 
 * /hector_geotiff_node/draw_background_checkerboard: True
 * /hector_geotiff_node/draw_free_space_grid: True
 * /hector_geotiff_node/geotiff_save_period: 0.0
 * /hector_geotiff_node/map_file_base_name: hector_slam_map
 * /hector_geotiff_node/map_file_path: /opt/ros/indigo/s...
 * /hector_geotiff_node/plugins: hector_geotiff_pl...
 * /hector_mapping/advertise_map_service: True
 * /hector_mapping/base_frame: base_footprint
 * /hector_mapping/laser_z_max_value: 1.0
 * /hector_mapping/laser_z_min_value: -1.0
 * /hector_mapping/map_frame: map
 * /hector_mapping/map_multi_res_levels: 2
 * /hector_mapping/map_resolution: 0.05
 * /hector_mapping/map_size: 2048
 * /hector_mapping/map_start_x: 0.5
 * /hector_mapping/map_start_y: 0.5
 * /hector_mapping/map_update_angle_thresh: 0.06
 * /hector_mapping/map_update_distance_thresh: 0.4
 * /hector_mapping/odom_frame: world
 * /hector_mapping/pub_map_odom_transform: True
 * /hector_mapping/scan_subscriber_queue_size: 5
 * /hector_mapping/scan_topic: scan
 * /hector_mapping/tf_map_scanmatch_transform_frame_name: scanmatcher_frame
 * /hector_mapping/update_factor_free: 0.4
 * /hector_mapping/update_factor_occupied: 0.9
 * /hector_mapping/use_tf_pose_start_estimate: False
 * /hector_mapping/use_tf_scan_transformation: True
 * /hector_trajectory_server/source_frame_name: /base_link
 * /hector_trajectory_server/target_frame_name: /map
 * /hector_trajectory_server/trajectory_publish_rate: 4.0
 * /hector_trajectory_server/trajectory_update_rate: 4.0
 * /quadrotor_aerodynamics/C_mxy: 0.074156208
 * /quadrotor_aerodynamics/C_mz: 0.050643264
 * /quadrotor_aerodynamics/C_wxy: 0.12
 * /quadrotor_aerodynamics/C_wz: 0.1
 * /quadrotor_propulsion/CT0s: 1.53819048398e-05
 * /quadrotor_propulsion/CT1s: -0.00025224
 * /quadrotor_propulsion/CT2s: 0.0
 * /quadrotor_propulsion ...
(more)
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Comments

I am new to ros and ubuntu,,, I installed it on 8/6 ( building from source) and it didn't give any error. Sorry for lack of technical clarification but this worked for me.

creative_cimmons gravatar imagecreative_cimmons ( 2015-06-09 15:15:54 -0500 )edit