Ask Your Question
0

simulate a Stanley segway RMP210 in Gazebo

asked 2016-05-01 18:09:12 -0500

blueflame gravatar image

Hello,

I'm a new hand using ROS indigo. Now I'm trying to simulate a segway (Stanley RMP210) in Gazebo and control it moving on the screen. I've downloaded these packages: cd ~/segway_ws/src

git clone https://github.com/StanleyInnovation/segway_v3.git

git clone https://github.com/StanleyInnovation/segway_v3_robot.git

git clone https://github.com/StanleyInnovation/segway_v3_desktop.git

git clone https://github.com/StanleyInnovation/segway_v3_simulator.git

Then I try to follow other tutorials and run: roslaunch segway_gazebo segway_playpen.launch luckily, a segway in Gazebo shows up. However, some error occurs:

SUMMARY
========

CLEAR PARAMETERS
 * /ekf_local_localization/

PARAMETERS
 * /diff_vel_controller/angular/z/has_acceleration_limits: True
 * /diff_vel_controller/angular/z/has_velocity_limits: True
 * /diff_vel_controller/angular/z/max_acceleration: 28.8
 * /diff_vel_controller/angular/z/max_velocity: 3.0
 * /diff_vel_controller/base_frame_id: /segway/base_link
 * /diff_vel_controller/cmd_vel_timeout: 0.25
 * /diff_vel_controller/enable_odom_tf: False
 * /diff_vel_controller/estimate_velocity_from_position: False
 * /diff_vel_controller/left_wheel: left_wheel
 * /diff_vel_controller/linear/x/has_acceleration_limits: True
 * /diff_vel_controller/linear/x/has_velocity_limits: True
 * /diff_vel_controller/linear/x/max_acceleration: 4.903325
 * /diff_vel_controller/linear/x/max_velocity: 3.57632
 * /diff_vel_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /diff_vel_controller/publish_rate: 100
 * /diff_vel_controller/right_wheel: right_wheel
 * /diff_vel_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /diff_vel_controller/type: diff_drive_contro...
 * /diff_vel_controller/wheel_radius_multiplier: 1.0
 * /diff_vel_controller/wheel_separation_multiplier: 1.0
 * /ekf_local_localization/base_link_frame: segway/base_link
 * /ekf_local_localization/debug: False
 * /ekf_local_localization/debug_out_file: debug_ekf_localiz...
 * /ekf_local_localization/frequency: 30.0
 * /ekf_local_localization/imu0: /segway/feedback/...
 * /ekf_local_localization/imu0_config: [False, False, Fa...
 * /ekf_local_localization/imu0_differential: True
 * /ekf_local_localization/imu0_queue_size: 10
 * /ekf_local_localization/imu1: /segway/feedback/...
 * /ekf_local_localization/imu1_config: [False, False, Fa...
 * /ekf_local_localization/imu1_differential: True
 * /ekf_local_localization/imu1_queue_size: 10
 * /ekf_local_localization/imu2_differential: True
 * /ekf_local_localization/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
 * /ekf_local_localization/odom0: /segway/feedback/...
 * /ekf_local_localization/odom0_config: [True, True, Fals...
 * /ekf_local_localization/odom0_differential: True
 * /ekf_local_localization/odom0_queue_size: 10
 * /ekf_local_localization/odom1_differential: True
 * /ekf_local_localization/odom_frame: odom
 * /ekf_local_localization/print_diagnostics: False
 * /ekf_local_localization/process_noise_covariance: [0.05, 0.0, 0.0, ...
 * /ekf_local_localization/sensor_timeout: 0.1
 * /ekf_local_localization/two_d_mode: True
 * /ekf_local_localization/world_frame: odom
 * /front_caster_swivel_controller/joint: front_caster_swivel
 * /front_caster_swivel_controller/pid/d: 0.0
 * /front_caster_swivel_controller/pid/i: 0.001
 * /front_caster_swivel_controller/pid/p: 1.0
 * /front_caster_swivel_controller/type: effort_controller...
 * /front_caster_wheel_controller/joint: front_caster_wheel
 * /front_caster_wheel_controller/pid/d: 0.0
 * /front_caster_wheel_controller/pid/i: 0.001
 * /front_caster_wheel_controller/pid/p: 1.0
 * /front_caster_wheel_controller/type: effort_controller...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /joint_state_publisher/use_gui: False
 * /rear_caster_swivel_controller/joint: rear_caster_swivel
 * /rear_caster_swivel_controller/pid/d: 10.0
 * /rear_caster_swivel_controller/pid/i: 0.001
 * /rear_caster_swivel_controller/pid/p: 1.0
 * /rear_caster_swivel_controller/type: effort_controller...
 * /rear_caster_wheel_controller/joint: rear_caster_wheel
 * /rear_caster_wheel_controller/pid/d: 0.0
 * /rear_caster_wheel_controller/pid/i: 0.001
 * /rear_caster_wheel_controller/pid/p: 1.0
 * /rear_caster_wheel_controller/type: effort_controller...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 100.0
 * /robot_state_publisher/tf_prefix: /segway
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /segway/cmd_vel_mux/yaml_cfg_file: /home/boom/segway...
 * /segway/segway_marker_ctrl/robot_name: RMP_210
 * /segway/segway_marker_ctrl/sim: True
 * /segway/segway_teleop/controller_mapping/axis_range: [{'index': 1, 'in...
 * /segway/segway_teleop/controller_mapping/momentary: [[{'index': 4, 'i...
 * /segway/segway_teleop/sim: True
 * /use_sim_time: True

NODES
  /segway/
    cmd_vel_mux (nodelet/nodelet)
    nodelet_manager (nodelet/nodelet)
    segway_marker_ctrl (segway_ros/segway_marker_ctrl)
    segway_teleop (segway_ros/segway_teleop)
  /
    cmd_relay (topic_tools/relay)
    controller_spawner (controller_manager/spawner)
    ekf_local_localization (robot_localization/ekf_localization_node)
    feedback_relay (topic_tools/relay)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_segway_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [32220]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8c76d5ea-0fef-11e6-859a-34e6ad511314
process[rosout-1]: started with pid [32233]
started core service [/rosout]
process[gazebo-2]: started with ...
(more)
edit retag flag offensive close merge delete

Comments

1

Looks like you may be missing some dependencies. For example, one of the errors appears to fail to find something in the effort_controllers package. You can install dependencies using rosdep. Could you try running "rosdep install -i --from-path ." in your source directory?

jbinney gravatar imagejbinney ( 2016-05-10 17:39:55 -0500 )edit

Thanks! You are right, after I installed sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers It starts to work now!

blueflame gravatar imageblueflame ( 2016-05-10 18:47:59 -0500 )edit

Great! I'll add that as an answer so to this question so it is easier for people to see. Out of curiosity, what tutorial are you following to use the segway in simulation?

jbinney gravatar imagejbinney ( 2016-05-10 19:17:46 -0500 )edit

I had to re-open the question in order to add my comment as an answer, but you can close it again now.

jbinney gravatar imagejbinney ( 2016-05-10 19:25:08 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2016-05-10 19:18:49 -0500

jbinney gravatar image

Looks like you may be missing some dependencies. For example, one of the errors appears to fail to find something in the effort_controllers package. You can install dependencies using rosdep: rosdep install -i --from-path .

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2016-05-01 18:07:31 -0500

Seen: 190 times

Last updated: May 10 '16