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Invalid <param> tag (husky simulation)

asked 2018-07-15 06:25:52 -0500

Hypomania gravatar image

updated 2018-07-15 13:26:52 -0500


I know this have been asked a few times but I have wasted 2 days trying to make this work and still no resolution. I think it's something to do with URDF which I am not very familiar with so any suggestions or help are greatly appreciated!

I am trying to install this package here: waypoint_nav, whilst following the tutorials here: tutorial

Whenever I launch roslaunch outdoor_waypoint_nav outdoor_waypoint_nav_sim.launchI get this:

roslaunch outdoor_waypoint_nav outdoor_waypoint_nav_sim.launch
... logging to /home/arthur/.ros/log/e5783a58-881f-11e8-ace3-08002758e07b/roslaunch-Doge-17757.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see
Undefined substitution argument urdf_extras None
when processing file: /opt/ros/kinetic/share/husky_description/urdf/husky.urdf.xacro
included from: /home/arthur/catkin_ws/src/waypoint_nav/husky_customization/husky_custom_description/urdf/custom_description.urdf.xacro
included from: /home/arthur/catkin_ws/src/waypoint_nav/husky_customization/husky_custom_gazebo/urdf/custom_description.gazebo.xacro
while processing /home/arthur/catkin_ws/src/waypoint_nav/outdoor_waypoint_nav/launch/include/gazebo.launch:
while processing /home/arthur/catkin_ws/src/waypoint_nav/husky_simulator/husky_gazebo/launch/husky_empty_world.launch:
while processing /home/arthur/catkin_ws/src/waypoint_nav/husky_simulator/husky_gazebo/launch/spawn_husky.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/ '/home/arthur/catkin_ws/src/waypoint_nav/husky_customization/husky_custom_gazebo/urdf/custom_description.gazebo.xacro'     laser_enabled:=true     ur5_enabled:=false     kinect_enabled:=false     ] returned with code [2]. 

Param xml is <param command="$(find xacro)/ '$(arg husky_gazebo_description)'     laser_enabled:=$(arg laser_enabled)     ur5_enabled:=$(arg ur5_enabled)     kinect_enabled:=$(arg kinect_enabled)     " name="robot_description"/>The traceback for the exception was written to the log file

I have looked into the launch and URDF files, I still can't find out what the problem is. Could anyone with more experience please try compiling this package and see how to launch it?

Any input is greatly appreciated!

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Can you replace the screen shot with a copy and paste of the actual text please. Images cannot be searched so are far less useful.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-07-15 06:29:30 -0500 )edit
Hypomania gravatar image Hypomania  ( 2018-07-15 06:40:15 -0500 )edit

Did you set the robot_description parameter?

jayess gravatar image jayess  ( 2018-07-15 11:55:29 -0500 )edit

@jayess, no, it's all pulled from github. What I don't understand is why they include husky packages in their github repo and then ask you to install all husky packages from apt-get?

Hypomania gravatar image Hypomania  ( 2018-07-15 12:03:37 -0500 )edit

@Hypomania I would suggest deleting the image, as you now have redundant info in the post, and I would suggest adding to the title to indicate it is specific to the husky simulation.

adamconkey gravatar image adamconkey  ( 2018-07-15 13:08:25 -0500 )edit

I am facing the same problem with you, can you tell me the solution? Thank you!

Daniel wan gravatar image Daniel wan  ( 2019-08-28 02:43:47 -0500 )edit

1 Answer

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answered 2018-07-15 12:46:31 -0500

I think there are two issues:

  1. Listen to the terminal warning and use the --inorder option for xacro. See number 12 here for what the option entails. You should therefore change the robot_description param loading in waypoint_nav/husky_simulator/husky_gazebo/launch/spawn_husky.launch to

    <param name="robot_description" 
           command="$(find xacro)/xacro '$(arg husky_gazebo_description)'
                    laser_enabled:=$(arg laser_enabled)
                    ur5_enabled:=$(arg ur5_enabled)
                    kinect_enabled:=$(arg kinect_enabled)
                    " />
  2. If you make change (1), you'll probably then get an error saying there is no xacro macro for husky_robot. The custom_description.urdf.xacro file, for some reason unknown to me, tries to use a macro for husky_robot from the husky_description package, even though there doesn't seem to be such a macro in that package (are they maybe using a non-standard husky description?). The husky.urdf.xacro file nonetheless includes everything needed to make the robot without the macro, so you just need to comment out line 34 <xacro:husky_robot /> in waypoint_nav/husky_customization/husky_custom_description/urdf/custom_description.urdf.xacro.
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Thank you a lot, I ran grep on the entire repo and the macro was only declared in two places with no further uses, no idea why it's used! Thank you :)

Hypomania gravatar image Hypomania  ( 2018-07-15 13:07:21 -0500 )edit

My Gazebo isn't starting without the macro, rviz gives an error to the robot model, have you had any success running it?

Hypomania gravatar image Hypomania  ( 2018-07-15 13:26:15 -0500 )edit

I don't see the robot displayed in Gazebo, but I don't think I have all dependencies installed to actually use that package. I do, however, see it successfully come up in rviz without error making only the changes I described.

adamconkey gravatar image adamconkey  ( 2018-07-15 13:40:36 -0500 )edit

My Gazebo doesn't even start, could be something to do with my VM, thank you however for your help and spotting the redundancy :)

Hypomania gravatar image Hypomania  ( 2018-07-15 15:42:01 -0500 )edit

Hello, I have encountered the same problem as you. Have you solved this problem? How do you solve it?

nofear123 gravatar image nofear123  ( 2019-01-19 06:42:34 -0500 )edit

@nofear123, this answer solved my problem :)

Hypomania gravatar image Hypomania  ( 2019-01-19 10:59:37 -0500 )edit

worked perfectly!

SA92 gravatar image SA92  ( 2019-07-02 11:23:59 -0500 )edit

@Hypomania, @SA92, could you please guide me how did you solve the problem?

hsaleem gravatar image hsaleem  ( 2021-12-02 06:49:44 -0500 )edit

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Asked: 2018-07-15 06:25:52 -0500

Seen: 2,538 times

Last updated: Jul 15 '18