Errors launching ur robots in gazebo
I am new to universal_robots and want to start doing simulations in gazebo with the ur5. After following the ur-gazebo installation instructions I tried
$ roslaunch ur_gazebo ur5.launch
However, I get many errors and do not know how and where to fix them.
Maybe I need to change/add something in a urdf/xacro file for the gazebo_ros_control plugin ( ??), but I don't know which file and what to do. Can someone help me?
I am using Ubuntu 16.04.6 LTS, ros kinetic ,and gazebo 7
This is the log info::
$roslaunch ur_gazebo ur3.launch ... logging to /home/philips/.ros/log/703f6ffa-6a81-11e9-9117-6038e0d93719/roslaunch-philips-HP-EliteDesk-800-G1-SFF-21350.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://philips-HP-EliteDesk-800-G1-SFF:46689/
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/joints: ['shoulder_pan_jo... * /arm_controller/state_publish_rate: 25 * /arm_controller/stop_trajectory_duration: 0.5 * /arm_controller/type: position_controll... * /joint_state_controller/publish_rate: 50 * /joint_state_controller/type: joint_state_contr... * /robot_description:
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 [21363]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 703f6ffa-6a81-11e9-9117-6038e0d93719
process[rosout-1]: started with pid [21376] started core service [/rosout]
process[gazebo-2]: started with pid [21394]
process[gazebo_gui-3]: started with pid [21405]
process[spawn_gazebo_model-4]: started with pid [21407]
process[robot_state_publisher-5]: started with pid [21411]
process[fake_joint_calibration-6]: started with pid [21413]
process[joint_state_controller_spawner-7]: started with pid [21419]
process[arm_controller_spawner-8]: started with pid [21422]
[ INFO] [1556543978.895013105]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1556543978.898086697]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1556543978.933172434]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1556543978.933412241]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... SpawnModel script started
[INFO] [1556543979.218704, 0.000000]: Loading model XML from ros parameter
[INFO] [1556543979.220555, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1556543979.437002215, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1556543979.470231108, 0.054000000]: Physics dynamic reconfigure ready.
[INFO] [1556543979.522646, 0.105000]: Calling service /gazebo/spawn_urdf_model
[ERROR] [1556543979.526850890, 0.109000000]: Exception thrown while processing service call: Time is out of dual 32-bit range Service call failed: service [/gazebo/spawn_urdf_model] responded with an error: Time is out of dual 32-bit range
[ INFO] [1556543979.717137582, 0.154000000]: Loading gazebo_ros_control plugin
[ERROR] [1556543979.717291090, 0.154000000]: GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true. This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the ...
Hey.
But are you able to visualize the robot?
Hey, Yes the robot is vizualized in the gazebo world.