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Baxter simulation with controllers doesn't work

asked 2017-04-29 18:23:57 -0500

majedz gravatar image

updated 2017-05-03 10:06:22 -0500

Hello there,

I haven't been able to run the Baxter simulation with controllers by following the instructions in Baxter simulation installation page (here). The only point at which I deviate from the instructions is that I did the installation from the kinetic-devel branch instead of the master branch to support ROS Kinetic as per the suggestions in here. I use Ubuntu 16.04 LTS with ROS Kinetic. After I was done with the installation and the configuration of the Baxter.sh to include my baxter hostname and my ip, I run the following command:

./baxter.sh sim

followed by the following command to run the simulator with controllers:

roslaunch baxter_gazebo baxter_world.launch

Then I Get a long output trace, the notable of which are the following segments:

<initialization output omitted>
    [FATAL] [1493505890.694257829, 0.165000000]: No matching hardware interface found for 'hardware_interface/EffortJointInterface' while loading interfaces for right_s0
    [FATAL] [1493505890.697592002, 0.165000000]: Could not initialize robot simulation interface
<initialization output continues ...>
    Warning [parser.cc:437] Converting a deprecated SDF source[data-string].
    [ WARN] [1493505891.721203206]: GazeboRosVideo plugin missing <robotNamespace>, defaults to "".
    [ WARN] [1493505891.721283972]: GazeboRosVideo Plugin (ns = ) missing <topicName>, defaults to "image_raw".
    [ WARN] [1493505891.721298001]: GazeboRosVideo Plugin (ns = ) missing <height>, defaults to 240.
    [ WARN] [1493505891.721319684]: GazeboRosVideo Plugin (ns = ) missing <width>, defaults to 320
    [ INFO] [1493505891.767155891]: GazeboRosVideo (gzclient, ns = ) has started!
    Warning [parser.cc:437] Converting a deprecated SDF source[data-string].
    [ WARN] [1493505892.192849445, 1.312000000]: GazeboRosVideo plugin missing <robotNamespace>, defaults to "".
    [ WARN] [1493505892.192999780, 1.312000000]: GazeboRosVideo Plugin (ns = ) missing <topicName>, defaults to "image_raw".
    [ WARN] [1493505892.193054191, 1.312000000]: GazeboRosVideo Plugin (ns = ) missing <height>, defaults to 240.
    [ WARN] [1493505892.193111982, 1.312000000]: GazeboRosVideo Plugin (ns = ) missing <width>, defaults to 320
    [ INFO] [1493505892.208347135, 1.314000000]: GazeboRosVideo (gzserver, ns = ) has started!
    [ WARN] [1493505902.209672755, 10.303000000]: Topic '/robot/xdisplay' unable to connect to 2 subscribers within 10 sec. It is possible initially published visual messages will be lost.
    [ INFO] [1493505902.351562348, 10.392000000]: Simulator is loaded and started successfully
    gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:648: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = controller_manager::ControllerManager; typename boost::detail::sp_member_access<T>::type = controller_manager::ControllerManager*]: Assertion `px != 0' failed.
    Aborted (core dumped)
    [gazebo-1] process has died [pid 7989, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/majed/catkin_ws/src/baxter_simulator/baxter_gazebo/worlds/baxter.world __name:=gazebo __log:=/home/majed/.ros/log/db5978ae-2ca7-11e7-b226-080027ef320b/gazebo-1.log].
    log file: /home/majed/.ros/log/db5978ae-2ca7-11e7-b226-080027ef320b/gazebo-1*.lo

Please let me know if more information is needed.

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answered 2017-04-30 06:36:39 -0500

imcmahon gravatar image

Did you follow the ROS Kinetic tabs for the Prerequisites and Baxter Simulator Installation sections? The default tab is Indigo, which will not work in your case.

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@imcmahon Thanks for your help so far. When I followed the instructions for Kinetic, I was able to download all per-requisite packages except for ros-kinetic-driver-common. I get the error E: Unable to locate package ros-kinetic-driver-common. Any hint on what's the problem here please?

majedz gravatar imagemajedz ( 2017-05-01 03:38:47 -0500 )edit

@imcmahon please note that my sources list file lists the following deb http://packages.ros.org/ros/ubuntu xenial main

majedz gravatar imagemajedz ( 2017-05-01 03:53:51 -0500 )edit
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answered 2018-11-23 15:48:43 -0500

I too faced a similar issue. The problem was with Gazebo. Refer this. It worked for me.

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answered 2017-05-02 19:45:23 -0500

majedz gravatar image

It seems that the issue I had were due to 2 reasons:

  • I didn't follow the Kinetic-specific installation instructions as pointed out by @imcmahon
  • As part of the installation per-requisites, the installation requires the package ros-kinetic-driver-common, which seems to not exist for ros Kinetic. Instead, I installed the package ros-kinetic-dr-base

    These two solutions had the Baxter Simulator installed successfully.

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I don't believe the driver package is required. I just updated the wiki accordingly.

imcmahon gravatar imageimcmahon ( 2017-05-03 07:10:13 -0500 )edit

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Asked: 2017-04-29 18:23:57 -0500

Seen: 473 times

Last updated: May 03 '17