Invalid <param> tag (husky simulation)

asked 2018-07-15 06:25:52 -0600

Hypomania
120 ●20 ●24 ●29

updated 2018-07-15 13:26:52 -0600

Hi,

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 http://wiki.ros.org/xacro#Processing_Order
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/xacro.py '/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="$(find xacro)/xacro.py '$(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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Comments

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 ( 2018-07-15 06:29:30 -0600 )edit

@PeteBlackerThe3rd, done!

Hypomania ( 2018-07-15 06:40:15 -0600 )edit

Did you set the robot_description parameter?

jayess ( 2018-07-15 11:55:29 -0600 )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 ( 2018-07-15 12:03:37 -0600 )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 ( 2018-07-15 13:08:25 -0600 )edit

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

Daniel wan ( 2019-08-28 02:43:47 -0600 )edit

add a comment

<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) --inorder " />

Comments

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 ( 2018-07-15 13:07:21 -0600 )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 ( 2018-07-15 13:26:15 -0600 )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 ( 2018-07-15 13:40:36 -0600 )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 ( 2018-07-15 15:42:01 -0600 )edit

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