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roslaunch pr2_gazebo pr2_empty_world.launch

asked 2018-06-15 12:45:58 -0600

kathrin@ros gravatar image

updated 2018-06-16 04:58:07 -0600

Hi,

I've problems to launch pr2_empty_world.launch.This is a snippet of my error warnings:

[INFO] [1529084062.494837, 0.000000]: Calling service /gazebo/spawn_urdf_model
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
[ WARN] [1529084063.932088202]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1529084063.932702196]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1529084063.932991245]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1529084063.933277749]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
[ WARN] [1529084063.942112226]: The input topic '/wide_stereo/left/image_raw' is not yet advertised
[ WARN] [1529084063.948461232]: The input topic '/wide_stereo/left/camera_info' is not yet advertised
[ WARN] [1529084063.948770323]: The input topic '/wide_stereo/right/image_raw' is not yet advertised
[ WARN] [1529084063.949038749]: The input topic '/wide_stereo/right/camera_info' is not yet advertised
[ WARN] [1529084063.971039008]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1529084063.971271917]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1529084063.971305390]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1529084063.971337695]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.

It seems to do something with the spawn_urdf_model and the following not recognized topics. Afterwards there comes Internal error messages... There's also this warning:

[ WARN] [1529084065.108074492]: The <focal_length>[320.000105] you have provided for camera_
[l_forearm_cam_sensor] is inconsistent with specified image_width [640] and HFOV [1.570800].   Please double check to see that focal_length = width_ / (2.0 * tan(HFOV/2.0)), the explected focal_lengtth value is [319.998825], please update your camera_ model description accordingly.

And a bit later:

Aborted (core dumped)
[WARN] [1529084065.931932, 0.000000]: Spawner couldn't reach pr2_controller_manager to take down controllers.
[gazebo-2] process has died [pid 7668, exit code 134, cmd /home/kathrinblank/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -u -e ode worlds/empty.world __name:=gazebo __log:=/home/kathrinblank/.ros/log/5273cc5a-70c2-11e8-845a-c85b76b6af9c/gazebo-2.log].
log file: /home/kathrinblank/.ros/log/5273cc5a-70c2-11e8-845a-c85b76b6af9c/gazebo-2.

Have someone an idea what it might be? I'm using ROS kinetic on ubuntu 16.04. I have the intel hd graphics 520 onboard graphic card... Thanks in advance.

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answered 2018-06-18 00:27:40 -0600

R. Tellez gravatar image

Hi Kathirn,

I think that your error is just that you missing some control packages in your system. The first two types of warnings that you are posting are not actual errors that make the simulation crash. However the third type, is the one that is indicating that something is wrong with the controllers. Since I believe you have not modified the PR2 simulation, and I know that the PR2 simulation for Kinetic works of the shelf, then the only thing that remains to check is if you have installed all the required ROS controller packages for PR2.

I have created a video showing step by step how to check all that. You can find it here

In any case, this is the list of packages that you should look for being installed in your system:

1st- Gazebo - ROS controllers

  • ros-kinetic-ros-control
  • ros-kinetic-ros-controllers

  • ros-kinetic-controller-interface

  • ros-kinetic-controller-manager
  • ros-kinetic-controller-manager-msgs

  • ros-kinetic-gazebo-ros

  • ros-kinetic-gazebo-ros-control

  • ros-kinetic-joint-state-controller

  • ros-kinetic-joint-trajectory-controller
  • ros-kinetic-effort-controllers
  • ros-kinetic-velocity-controllers

2nd- PR2 robot specific controllers

  • ros-kinetic-pr2-controller-manager
  • ros-kinetic-pr2-controllers
  • ros-kinetic-pr2-controller-interface
  • ros-kinetic-pr2-controller-configuration-gazebo

  • ros-kinetic-pr2-mechanism-controllers

  • ros-kinetic-pr2-mechanism
  • ros-kinetic-pr2-mechanism-diagnostics
  • ros-kinetic-pr2-mechanism-model
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Thanks a lot!

kathrin@ros gravatar imagekathrin@ros ( 2018-06-21 11:04:52 -0600 )edit

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Asked: 2018-06-15 12:45:58 -0600

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Last updated: Jun 18 '18