Gazebo not running correctly after installation on ubuntu 14.04 on VM

baxter_gazebo

asked 2017-11-08 10:12:26 -0500

marshy933
11 ●1 ●1 ●3

updated 2017-11-08 14:24:40 -0500

Hi there, I have having trouble with running gazebo. I was originally hitting an error regarding name spaces but i found a fix which involved downloading the gazebo models and putting them in the gazebo directory. Now however I have a new error appearing when i try to run gazebo. This is running on ubuntu 14.04 on a virtual machine. The main error seems to be to do with inconsistent values but I may be wrong. I know this can work correctly on the virtual machine with ubuntu 14.04 as a fellow student has it running correctly, we just cant work out whats wrong with mine as he never had this problem.

I think it has something to do with this line: Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].

Below is the output im receiving:

[baxter - http://localhost:11311] cahan@ubuntu:~/ros_ws$ roslaunch baxter_gazebo baxter_world.launch
... logging to /home/cahan/.ros/log/d6b70266-c406-11e7-9fc9-000c29527df7/roslaunch-ubuntu-47470.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:36895/

SUMMARY
========

PARAMETERS
 * /baxter_emulator/left_gripper_type: ELECTRIC_GRIPPER
 * /baxter_emulator/right_gripper_type: ELECTRIC_GRIPPER
 * /grav_left_name: left_gripper
 * /grav_right_name: right_gripper
 * /left_tip_name: left_gripper
 * /rethink/software_version: 1.2.0
 * /right_tip_name: right_gripper
 * /robot/head_position_controller/joints/head_controller/joint: head_pan
 * /robot/head_position_controller/joints/head_controller/pid/d: 5.0
 * /robot/head_position_controller/joints/head_controller/pid/i: 0.01
 * /robot/head_position_controller/joints/head_controller/pid/p: 10.0
 * /robot/head_position_controller/topic: /robot/head/comma...
 * /robot/head_position_controller/type: baxter_sim_contro...
 * /robot/joint_state_controller/publish_rate: 50
 * /robot/joint_state_controller/type: joint_state_contr...
 * /robot/left_e0_position_controller/joint: left_e0
 * /robot/left_e0_position_controller/pid/d: 1
 * /robot/left_e0_position_controller/pid/i: 35
 * /robot/left_e0_position_controller/pid/p: 4500
 * /robot/left_e0_position_controller/type: effort_controller...
 * /robot/left_e1_position_controller/joint: left_e1
 * /robot/left_e1_position_controller/pid/d: 2
 * /robot/left_e1_position_controller/pid/i: 60
 * /robot/left_e1_position_controller/pid/p: 5500
 * /robot/left_e1_position_controller/type: effort_controller...
 * /robot/left_gripper_controller/joints/l_gripper_l_finger_controller/joint: l_gripper_l_finge...
 * /robot/left_gripper_controller/joints/l_gripper_l_finger_controller/pid/d: 0.01
 * /robot/left_gripper_controller/joints/l_gripper_l_finger_controller/pid/i: 0.1
 * /robot/left_gripper_controller/joints/l_gripper_l_finger_controller/pid/p: 1000
 * /robot/left_gripper_controller/joints/l_gripper_r_finger_controller/joint: l_gripper_r_finge...
 * /robot/left_gripper_controller/joints/l_gripper_r_finger_controller/pid/d: 0.01
 * /robot/left_gripper_controller/joints/l_gripper_r_finger_controller/pid/i: 0.1
 * /robot/left_gripper_controller/joints/l_gripper_r_finger_controller/pid/p: 1000
 * /robot/left_gripper_controller/properties: /robot/end_effect...
 * /robot/left_gripper_controller/topic: /robot/end_effect...
 * /robot/left_gripper_controller/type: baxter_sim_contro...
 * /robot/left_joint_effort_controller/joints/left_e0_controller/joint: left_e0
 * /robot/left_joint_effort_controller/joints/left_e1_controller/joint: left_e1
 * /robot/left_joint_effort_controller/joints/left_s0_controller/joint: left_s0
 * /robot/left_joint_effort_controller/joints/left_s1_controller/joint: left_s1
 * /robot/left_joint_effort_controller/joints/left_w0_controller/joint: left_w0
 * /robot/left_joint_effort_controller/joints/left_w1_controller/joint: left_w1
 * /robot/left_joint_effort_controller/joints/left_w2_controller/joint: left_w2
 * /robot/left_joint_effort_controller/topic: /robot/limb/left/...
 * /robot/left_joint_effort_controller/type: baxter_sim_contro...
 * /robot/left_joint_position_controller/joints/left_e0_controller/joint: left_e0
 * /robot/left_joint_position_controller/joints/left_e0_controller/pid/d: 1
 * /robot/left_joint_position_controller/joints/left_e0_controller/pid/i: 35
 * /robot/left_joint_position_controller/joints/left_e0_controller/pid/p: 4500
 * /robot/left_joint_position_controller/joints/left_e1_controller/joint: left_e1
 * /robot/left_joint_position_controller/joints/left_e1_controller/pid/d: 2
 * /robot/left_joint_position_controller/joints/left_e1_controller/pid/i: 60
 * /robot/left_joint_position_controller/joints/left_e1_controller/pid/p: 5500
 * /robot/left_joint_position_controller/joints/left_s0_controller/joint: left_s0
 * /robot/left_joint_position_controller/joints ...

(more)

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Comments

Two suggestions:

give your post a bit more of a descriptive title: there are many factors here (Baxter, gazebo2, etc) and none are mentioned in the title
copy-paste the error msgs you refer to to the top of your post. +1 for including the complete output, but it's too much like this.

gvdhoorn ( 2017-11-08 12:12:45 -0500 )edit

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answered 2017-11-08 13:10:47 -0500

bpinaya

700 ●4 ●13 ●19 https://www.bpinaya.com/

updated 2017-11-08 14:35:58 -0500

Do you have controller_manager installed? It seems like not, try running:

sudo apt-get install ros-indigo-controller-manager

I am assuming that you have ROS indigo installed, if you have kinetic then use:

sudo apt-get install ros-kinetic-controller-manager

EDIT: I think I found your issue, didn't saw that you were using VMware, while VMs tend to have issues with Gazbo, it depends on you local hardware, how much ram are you assigning to that VM? What is your graphics card? This answer in the gazebo forums seems to give some guidelines: http://answers.gazebosim.org/question... It is some graphics acceleration with your VM, try unchecking "Accelerate 3D Graphics" in your VMware settings.

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Hi there, yes i have the controller_manager installed

marshy933 ( 2017-11-08 14:16:11 -0500 )edit

Might also try looking if the gazebo plugin is in the robot model, it should look something like this:

<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotNamespace>/MYROBOT</robotNamespace>
  </plugin>
</gazebo>

bpinaya ( 2017-11-08 14:22:04 -0500 )edit

This is a relevant answer: https://answers.ros.org/question/2147...

bpinaya ( 2017-11-08 14:22:25 -0500 )edit

Hi there so the accelerate definitely helped when i unchecked it, its not crashing now. although still having the problems with it saying it
[WARN] [WallTime: 1510175651.323128] [1.318000] Controller Spawner couldn't find the expected controller_manager ROS interface.

marshy933 ( 2017-11-08 15:16:22 -0500 )edit

that point you made about the gazebo plugin, how do i check it? I checked that other answer you linked but cant see how to check the plugin is correctly being accessed

marshy933 ( 2017-11-08 15:17:10 -0500 )edit

Check the urdf file of the baxter robot, it should be there though, btw, mind the upvote? ;)

bpinaya ( 2017-11-09 06:41:32 -0500 )edit

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Gazebo not running correctly after installation on ubuntu 14.04 on VM

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