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hector_quadrotor_demo process dies

asked 2018-03-28 08:28:18 -0600

cazimirpro gravatar image

updated 2018-03-28 12:39:48 -0600

Hi, so I'll make this as specific as possible, beginning with how created my workspace in kinetic.

I tried several methods, because i was asked to preferably use "catkin build" instead of catkin_make: i created a folder in ~/kinetic_ws:

  1. catkin init

    Catkin workspace /home/carsten is already initialized. No action taken. WARNING: Source space /home/carsten/src does not yet exist.

  2. wstool init Didn't work aswell, so I used

  3. catkin_make which resulted in echo $ROS_PACKAGE_PATH /home/carsten/kinetic_ws/src:/opt/ros/kinetic/share

I then

  • rm build devel -rf

so that I could compile using the catkin build command.

So now that i have my workspace "properly" set up, I downloaded the following (meta?)packages into my /src folder:

I had to download several tools:

  • sudo apt-get install ros-kinetic-hector-gazebo
  • sudo apt-get install ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros-control
  • sudo apt-get install ros-kinetic-hector-models

I couldn't build the package, I googled and found a solution using

  • rm -rf ~/.catkin_tools

Afterwards, i was able to compile:

catkin build hector_quadrotor
-------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/kinetic
Workspace:                   /home/carsten/kinetic_ws
-------------------------------------------------------------
Source Space:       [exists] /home/carsten/kinetic_ws/src
Log Space:         [missing] /home/carsten/kinetic_ws/logs
Build Space:        [exists] /home/carsten/kinetic_ws/build
Devel Space:        [exists] /home/carsten/kinetic_ws/devel
Install Space:      [unused] /home/carsten/kinetic_ws/install
DESTDIR:            [unused] None
-------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-------------------------------------------------------------
[build] Found '17' packages in 0.0 seconds.                                   
[build] Updating package table.                                               
Starting  >>> catkin_tools_prebuild                                           
Finished  <<< catkin_tools_prebuild                       [ 2.0 seconds ]     
Starting  >>> hector_quadrotor_description                                    
Starting  >>> hector_uav_msgs                                                 
Finished  <<< hector_quadrotor_description                [ 1.8 seconds ]     
Finished  <<< hector_uav_msgs                             [ 8.6 seconds ]     
Starting  >>> hector_quadrotor_interface                                      
Starting  >>> hector_quadrotor_model                                          
Finished  <<< hector_quadrotor_interface                  [ 5.1 seconds ]     
Starting  >>> hector_quadrotor_controllers                                    
Starting  >>> hector_quadrotor_teleop                                         
Finished  <<< hector_quadrotor_model                      [ 5.5 seconds ]     
Finished  <<< hector_quadrotor_controllers                [ 15.2 seconds ]    
Finished  <<< hector_quadrotor_teleop                     [ 17.4 seconds ]    
Starting  >>> hector_quadrotor                                                
Finished  <<< hector_quadrotor                            [ 2.1 seconds ]     
[build] Summary: All 8 packages succeeded!                                    
[build]   Ignored:   10 packages were skipped or are blacklisted.             
[build]   Warnings:  None.                                                    
[build]   Abandoned: None.                                                    
[build]   Failed:    None.                                                    
[build] Runtime: 35.6 seconds total.                                          
[build] Note: Workspace packages have changed, please re-source setup files to use them.

But I was wondering why 10 packages were skipped. I then compiled the other package:

catkin build hector_localization
-------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/kinetic
Workspace:                   /home/carsten/kinetic_ws
-------------------------------------------------------------
Source Space:       [exists] /home/carsten/kinetic_ws/src
Log Space:          [exists] /home/carsten/kinetic_ws/logs
Build Space:        [exists] /home/carsten/kinetic_ws/build
Devel Space:        [exists] /home/carsten/kinetic_ws/devel
Install Space:      [unused] /home/carsten/kinetic_ws/install
DESTDIR:            [unused] None
-------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------------
[build] Found '17' packages in 0.0 seconds ...
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1 Answer

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answered 2018-03-28 10:23:14 -0600

Just tried myself, this is the short version of how I reproduced the setup.

Make sure all dependencies are there:

sudo apt-get install ros-kinetic-hector-gazebo ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros-control ros-kinetic-hector-models ros-kinetic-geographic-msgs ros-kinetic-joy

Make sure there is no workspace setup sourced from your .bashrc file or so (e.g. env | grep ROS should give a empty response when executed in the terminal where you run the commands below). Then run:

cd~
mkdir hector_quad
cd hector_quad
source /opt/ros/kinetic/setup.bash
catkin init
mkdir src
cd src
git clone https://github.com/tu-darmstadt-ros-pkg/hector_localization.git
git clone https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release
source devel/setup.bash
roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

This makes the outdoor demo run for me. The fact that the gazebo ui crashes suggests that we are probably looking at a graphics card related issue.

To test if the issue is related to gazebo itself, you can run it standalone (note you need to do source devel/setup.bash for every terminal if you haven't added it the .bashrc file):

roslaunch gazebo_ros empty_world.launch

If that also crashes, this is an issue between your computer (most likely graphics driver) and gazebo. If it works, you can spawn a quadrotor into the world:

roslaunch hector_quadrotor_gazebo spawn_quadrotor.launch

Note you can edit your original question or post comments to this answer, please do not post an answer in reply to this one yourself.

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Asked: 2018-03-28 08:28:18 -0600

Seen: 259 times

Last updated: Mar 28 '18