Hector Quadrotor Demo: Take Off Not Working.

asked 2018-09-10 21:56:05 -0500

jpde.lopes gravatar image

updated 2018-09-11 00:44:29 -0500

Hello, I am trying to use the hector_quadrotor_demo, but the UAV is not taking off.

I followed the wiki and did:

$ roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

After which, the link above says:

gazebo simulation as well as rviz visualization should start up now, and the quadrotor UAV should be on the ground ready for takeoff.

But when I do:

$ rosservice call /enable_motors true
$ rostopic pub -r 10 /cmd_vel geometry_msgs/Twist  '{linear:  {x: 0, y: 0.0, z: 1.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

The UAV does nothing; does not take off.

On the console, I have the following:

[INFO] [1536635465.572972, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
(...)
[WARN] [1536635495.736880, 0.001000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-6] process has finished cleanly
(...)
[ INFO] [1536633874.045966140, 1.021000000]: Waiting for position state to be available before starting /action/pose server
[ INFO] [1536633912.570868246, 2.021000000]: Waiting for position state to be available before starting /action/pose server

Which, I do not know if it's related to the UAV not moving.

Thank you in advance.

I'll also leave the whole output since I start the launch file, as there are some warning which I do not know if they are related.

process[rosout-1]: started with pid [15785]
started core service [/rosout]
process[gazebo-2]: started with pid [15801]
process[gazebo_gui-3]: started with pid [15814]
process[robot_state_publisher-4]: started with pid [15817]
process[ground_truth_to_tf-5]: started with pid [15820]
process[controller_spawner-6]: started with pid [15821]
[ WARN] [1536635464.538843876]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
process[estop_relay-7]: started with pid [15839]
process[pose_action-8]: started with pid [15847]
process[landing_action-9]: started with pid [15864]
process[takeoff_action-10]: started with pid [15870]
process[spawn_robot-11]: started with pid [15879]
process[rviz-12]: started with pid [15896]
[ INFO] [1536635464.891581683]: waitForService: Service [/enable_motors] has not been advertised, waiting...
[WARN] [1536635465.572509, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1536635465.572972, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1536635466.626203711]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1536635466.658819532]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1536635466.682518696]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1536635466.698010678]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1536635467.486189, 0.000000]: Loading model XML from ros parameter
[INFO] [1536635467.489836, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1536635474.428590, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1536635481.476748863, 0.001000000]: waitForService: Service [/enable_motors] has not been advertised, waiting...
[ INFO] [1536635481.481839312, 0.001000000]: waitForService: Service [/enable_motors] has not been advertised, waiting...
[WARN] [1536635495.736880, 0.001000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-6] process has finished cleanly
log file: (...)
[INFO] [1536635507.757311, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_robot-11] process has finished ...
(more)
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Comments

1

Same issue here.

aureliokta gravatar imageaureliokta ( 2018-10-09 12:09:35 -0500 )edit

Maybe you are trying to enable motors before this service is advertised. Wait some time for it, and then try to enable the service.

kosmastsk gravatar imagekosmastsk ( 2019-02-04 09:53:47 -0500 )edit

I have made so many changes on mine, that I actually don't know what changed made it work. But beyond enable motors service I had to change simulator configurations due to ROS kinect issues. See: https://answers.ros.org/question/2447...

aureliokta gravatar imageaureliokta ( 2019-02-04 10:15:49 -0500 )edit