Unable to move robot inside gazebo.

asked 2019-06-25 06:14:18 -0500

BhanuKiran.Chaluvadi gravatar image

updated 2019-06-25 07:25:43 -0500

Hi Guys,

I am trying to move my robot inside gazebo. It spawns correctly inside the gazebo but unable to move. Here is the git link for both the description and gazebo packages .

Both controllers are loaded into controller manager correctly. Mobile base controller is simple differential drive controller.

Terminal output

[ERROR] [1561465362.421175467, 0.358000000]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set <legacyModeNS> to true.

[ INFO] [1561465362.421253403, 0.358000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1561465362.422102798, 0.358000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[urdf_spawner-6] process has finished cleanly
log file: /home/bc/.ros/log/eb7ed5d6-9743-11e9-9a17-88b111574e41/urdf_spawner-6*.log
[ INFO] [1561465362.728620342, 0.358000000]: Loaded gazebo_ros_control.
[INFO] [1561465362.735090, 0.365000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1561465362.738670, 0.367000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1561465362.742881, 0.372000]: Loading controller: joint_state_controller
[INFO] [1561465362.752081, 0.382000]: Loading controller: mobile_base_controller
[ INFO] [1561465362.768828296, 0.395000000]: Controller state will be published at 50Hz.
[ INFO] [1561465362.770831168, 0.398000000]: Wheel separation will be multiplied by 1.
[ INFO] [1561465362.771855405, 0.399000000]: Left wheel radius will be multiplied by 1.
[ INFO] [1561465362.771904427, 0.399000000]: Right wheel radius will be multiplied by 1.
[ INFO] [1561465362.772897331, 0.400000000]: Velocity rolling window size of 10.
[ INFO] [1561465362.775002238, 0.402000000]: Velocity commands will be considered old if they are older than 0.25s.
[ INFO] [1561465362.775677092, 0.403000000]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1561465362.777323200, 0.404000000]: Base frame_id set to base_frame
[ INFO] [1561465362.777984180, 0.405000000]: Odometry frame_id set to odom
[ INFO] [1561465362.779632655, 0.407000000]: Publishing to tf is enabled
[ INFO] [1561465362.811115317, 0.438000000]: Odometry params : wheel separation 1, left wheel radius 0.3, right wheel radius 0.3
[ INFO] [1561465362.816854626, 0.444000000]: Adding left wheel with joint name: front_left_wheel_joint and right wheel with joint name: front_right_wheel_joint
[ INFO] [1561465362.817066868, 0.445000000]: Adding left wheel with joint name: rear_left_wheel_joint and right wheel with joint name: rear_right_wheel_joint
[ WARN] [1561465362.836592511, 0.464000000]: updateConfig() called on a dynamic_reconfigure::Server that provides its own mutex. This can lead to deadlocks if updateConfig() is called during an update. Providing a mutex to the constructor is highly recommended in this case. Please forward this message to the node author.
[ INFO] [1561465362.842346266, 0.470000000]: Dynamic Reconfigure:
    Odometry parameters:
        left wheel radius: 1
        right wheel radius: 1
        wheel separation: 1
    Publication parameters:
        Publish executed velocity command: 0
        Publication rate: 50
        Publish frame odom on tf: 1
[INFO] [1561465362.848944, 0.477000]: Loading controller: joint1_velocity_controller
[INFO] [1561465362.863841, 0.492000]: Controller Spawner: Loaded controllers: joint_state_controller, mobile_base_controller, joint1_velocity_controller
[INFO] [1561465362.866591, 0.495000]: Started controllers: joint_state_controller, mobile_base_controller, joint1_velocity_controller

rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running ...
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I'm sorry, but your question does not follow the support guidelines. Specifically, you're posting screenshots of terminals, which is both unnecessary and unwanted.

If you edit your question to fix this, I'll re-open it.

Use the edit button/link below your question text to update it.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-25 06:19:39 -0500 )edit

Edited. I think having a screenshot will eliminate thinking of obvious errors.

BhanuKiran.Chaluvadi gravatar imageBhanuKiran.Chaluvadi ( 2019-06-25 06:25:27 -0500 )edit

My request is not to remove the screenshot, but to replace it with the text that is shown in the terminals.

Just copy-paste it. It's all text. There is no need for a screenshot.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-25 06:42:27 -0500 )edit

Can you open the question now ?

BhanuKiran.Chaluvadi gravatar imageBhanuKiran.Chaluvadi ( 2019-06-25 07:14:02 -0500 )edit

Where is the contents of the terminal windows?

Again: please copy-paste the contents of the terminal windows into your question. It's all text.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-25 07:18:14 -0500 )edit