issue with roslaunch ur_gazebo ur5.launch

asked 2019-01-17 00:02:02 -0600

huongdovan gravatar image

Dear all,
I'm having a problem with "roslaunch ur_gazebo ur5.launch" for UR5. It's always appear the error for: No p gain specified for pid. The detail issue as below:
huong@huong:/catkin_ws$ source devel/setup.bash
huong@huong:/catkin_ws$ roslaunch ur_gazebo ur5.launch
... logging to /home/huong/.ros/log/1fbc3f3e-18bc-11e9-8bfd-bc5ff4c9bc1b/roslaunch-huong-13148.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://huong:44767/ SUMMARY

PARAMETERS

/arm_controller/action_monitor_rate: 10
/arm_controller/constraints/elbow_joint/goal: 0.1
/arm_controller/constraints/elbow_joint/trajectory: 0.1
/arm_controller/constraints/goal_time: 0.6
/arm_controller/constraints/shoulder_lift_joint/goal: 0.1
/arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
/arm_controller/constraints/shoulder_pan_joint/goal: 0.1
/arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
/arm_controller/constraints/stopped_velocity_tolerance: 0.05
/arm_controller/constraints/wrist_1_joint/goal: 0.1
/arm_controller/constraints/wrist_1_joint/trajectory: 0.1
/arm_controller/constraints/wrist_2_joint/goal: 0.1
/arm_controller/constraints/wrist_2_joint/trajectory: 0.1
/arm_controller/constraints/wrist_3_joint/goal: 0.1
/arm_controller/constraints/wrist_3_joint/trajectory: 0.1
/arm_controller/gains/elbow_joint/d: 0.1
/arm_controller/gains/elbow_joint/i: 0.0
/arm_controller/gains/elbow_joint/i_clamp: 1
/arm_controller/gains/elbow_joint/p: 100.0
/arm_controller/gains/shoulder_lift_joint/d: 0.1
/arm_controller/gains/shoulder_lift_joint/i: 0.0
/arm_controller/gains/shoulder_lift_joint/i_clamp: 1
/arm_controller/gains/shoulder_lift_joint/p: 100.0
/arm_controller/gains/shoulder_pan_joint/d: 0.1
/arm_controller/gains/shoulder_pan_joint/i: 0.0
/arm_controller/gains/shoulder_pan_joint/i_clamp: 1
/arm_controller/gains/shoulder_pan_joint/p: 100.0
/arm_controller/gains/wrist_1_joint/d: 0.1
/arm_controller/gains/wrist_1_joint/i: 0.0
/arm_controller/gains/wrist_1_joint/i_clamp: 1
/arm_controller/gains/wrist_1_joint/p: 100.0
/arm_controller/gains/wrist_2_joint/d: 0.1
/arm_controller/gains/wrist_2_joint/i: 0.0
/arm_controller/gains/wrist_2_joint/i_clamp: 1
/arm_controller/gains/wrist_2_joint/p: 100.0
/arm_controller/gains/wrist_3_joint/d: 0.1
/arm_controller/gains/wrist_3_joint/i: 0.0
/arm_controller/gains/wrist_3_joint/i_clamp: 1
/arm_controller/gains/wrist_3_joint/p: 100.0
/arm_controller/joints: ['shoulder_pan_jo...
/arm_controller/state_publish_rate: 25
/arm_controller/stop_trajectory_duration: 0.5
/arm_controller/type: velocity_controll...
/joint_state_controller_ur_gazebo/publish_rate: 50
/joint_state_controller_ur_gazebo/type: joint_state_contr...
/robot_description: <?xml version="1....
/robot_state_publisher/publish_frequency: 50.0
/robot_state_publisher/tf_prefix:
/rosdistro: kinetic
/rosversion: 1.12.14
/use_sim_time: True

NODES / arm_controller_spawner (controller_manager/controller_manager) fake_joint_calibration (rostopic/rostopic) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_controller_spawner (controller_manager/controller_manager) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [13163] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1fbc3f3e-18bc-11e9-8bfd-bc5ff4c9bc1b process[rosout-1]: started with pid [13177] started core service [/rosout] process[gazebo-2]: started with pid [13201] process[gazebo_gui-3]: started with pid [13206] process[spawn_gazebo_model-4]: started with pid [13211] process[robot_state_publisher-5]: started with pid [13212] process[fake_joint_calibration-6]: started with pid [13213] process[joint_state_controller_spawner-7]: started with pid [13214] process[arm_controller_spawner-8]: started with pid [13223] [ INFO] [1547553188.745573927]: Finished loading Gazebo ROS API Plugin. [ INFO] [1547553188.745766763]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1547553188.761690892]: Finished loading Gazebo ROS API Plugin. [ INFO] [1547553188.761994532]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... SpawnModel script started [INFO] [1547553189.074498, 0.000000]: Loading model XML from ros parameter [INFO] [1547553189.076750, 0.000000]: Waiting for ... (more)

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