Errors launching ur robots in gazebo

edit

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 ...