ROS Control and Gazebo Error ( Replacing previously registered handle )

asked 2019-01-21 13:27:56 -0500

Kinetic Ubuntu 16.04 Gazebo 7.0

I'm trying to spawn a gazebo model (Bioloid) using xacro files and ROS Control. Using RViz everything it's okay, but, on Gazebo there is an error that doesn't allow the hands and shoulders to be controlled, and because of this, the robot falls down.

[ INFO] [1548097880.835093404]: Loading gazebo_ros_control plugin
[ INFO] [1548097880.835329415]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1548097880.836417651]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ WARN] [1548097880.952873221]: Replacing previously registered handle 'right_elbow_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1548097880.952909213]: Replacing previously registered handle 'right_elbow_joint' in 'hardware_interface::EffortJointInterface'.
[ WARN] [1548097880.953329004]: Replacing previously registered handle 'right_elbow_joint' in 'joint_limits_interface::EffortJointSaturationInterface'.
[ WARN] [1548097880.953355158]: Replacing previously registered handle 'left_elbow_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1548097880.953376499]: Replacing previously registered handle 'left_elbow_joint' in 'hardware_interface::EffortJointInterface'.
[ WARN] [1548097880.953866322]: Replacing previously registered handle 'left_elbow_joint' in 'joint_limits_interface::EffortJointSaturationInterface'.
[ WARN] [1548097880.958981811]: Replacing previously registered handle 'right_ankle_lateral_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1548097880.959009863]: Replacing previously registered handle 'right_ankle_lateral_joint' in 'hardware_interface::EffortJointInterface'.
[ WARN] [1548097880.959431458]: Replacing previously registered handle 'right_ankle_lateral_joint' in 'joint_limits_interface::EffortJointSaturationInterface'.
[ WARN] [1548097880.959456278]: Replacing previously registered handle 'left_ankle_lateral_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1548097880.959476619]: Replacing previously registered handle 'left_ankle_lateral_joint' in 'hardware_interface::EffortJointInterface'.
[ WARN] [1548097880.959888434]: Replacing previously registered handle 'left_ankle_lateral_joint' in 'joint_limits_interface::EffortJointSaturationInterface'.
[ INFO] [1548097880.964500773]: Loaded gazebo_ros_control.

I look for how to solve this problem, but couldn't find, and I have no idea how to do.

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Comments

i meet this problem too. i have no idea what to do.

ql125671817 gravatar image ql125671817  ( 2019-05-06 08:24:44 -0500 )edit
1

This happened a few months ago, but if I remember right, what is going on is that more than one element inside the urdf/xacro file with the same name, like a joint or a link. So, try re-read the file and check the names. Good luck.

Teo Cardoso gravatar image Teo Cardoso  ( 2019-05-06 12:04:45 -0500 )edit

Thanks a lot I will try it.

ql125671817 gravatar image ql125671817  ( 2019-05-06 20:50:07 -0500 )edit