cannot launch node of type...

asked 2018-09-09 01:34:35 -0500

tk gravatar image

updated 2018-09-09 03:37:26 -0500

gvdhoorn gravatar image

I'm using Linux 16.04 LTS and ROS Kinetic, and confused about a problem.
If you have some knowledge about my case, please gift me. (I'm a Japanese, and my English may be strange somehow. Sorry.) I will maintain my case later.

First, I introduce my error message:

ERROR MESSAGE

user@computer:~/catkin_ws/src/dynamixel_driver/launch$ roslaunch  torque_control.launch
... logging to /home/user/.ros/log/cda36db0-b3f0-11e8-a44e-448a5b87c976/roslaunch-computer-18740.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://computer:45125/

SUMMARY
========

PARAMETERS
 * /baud_rate: 1000000
 * /d_gain: 2e-05
 * /device_name: /dev/ttyUSB0
 * /p_gain: 0.003
 * /pan_id: 1
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /tilt_id: 2

NODES
  /
    torque_control (dynamixel_driver/torque_control)

auto-starting new master
process[master]: started with pid [18750]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cda36db0-b3f0-11e8-a44e-448a5b87c976
process[rosout-1]: started with pid [18763]
started core service [/rosout]
ERROR: cannot launch node of type [dynamixel_driver/torque_control]: can't locate node [torque_control] in package  [dynamixel_driver]


I will maintain my case later.
First, I introduce my error message:

this is all about the error message. I tried to use Dynamixel XM430-W350-R servo motors with Dynamixel-workbench package. Dynamixel-workbench includes multiple packages:

  • dynamixel_workbench
  • dynamixel_controllers
  • dynamixel_operators
  • dynamixel_workbench_single_manager
  • dynamixel_workbench_single_magager_gui
  • dynamixel_workbench_toolbox

I used a package dynamixel_controllers to manipulate my dynamixel motors. Without any change, I successed in manipulating them.

Then, because I need to change codes I copied dynamixel_controllers/src/torque_control.cpp and dynamixel_controllers/launch/torque_control.launch to another package I made. Of course, I changed both CMakeLists.txt and package.xml. I can't find any defect in these, but getting error means there may be some defect. So I want you to check it out.

the code is like this:

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)                                                                              
project(dynamixel_driver)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  sensor_msgs
  geometry_msgs
  dynamixel_workbench_msgs
  dynamixel_workbench_toolbox
)

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS roscpp sensor_msgs geometry_msgs dynamixel_workbench_msgs dynamixel_workbench_toolbox
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_executable(torque_control src/torque_control.cpp)
add_dependencies(torque_control ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(torque_control ${catkin_LIBRARIES})

install(TARGETS torque_control
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

package.xml

<?xml version="1.0"?>  
<package format="2">
  <name>dynamixel_driver</name>
  <version>0.0.0</version>
  <description>The dynamixel_driver package</description>
  <maintainer email="user@todo.todo">user</maintainer>
  <license>TODO</license>
  <buildtool_depend>catkin</buildtool_depend>
  <depend>roscpp</depend>
  <depend>sensor_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>dynamixel_workbench_msgs</depend>
  <depend>dynamixel_workbench_toolbox</depend>
  <export></export>
</package>

I referred some questions here and most of them pointed out "it happened because your workspace are not referred and you should source /catkin_ws/devel/setup.bash." I tried it but nothing changes.

Does anyone give me knowledge about this error and pick me up from a swamp!

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Comments

1

One thing to check: before source /catkin_ws/devel/setup.bash, did you catkin_make your workspace?

gvdhoorn gravatar imagegvdhoorn ( 2018-09-09 03:37:59 -0500 )edit

i am not sure of this but you can try including the dependency on other packages as the packages in workbench are interconnected.

tomarRobin gravatar imagetomarRobin ( 2019-06-17 21:13:17 -0500 )edit