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Problem with launching ur_gazebo

asked 2019-09-18 04:45:54 -0600

teshansj gravatar image

I am checking out this tutorial on ur_gazebo. I have all the requirements installed. However, when I try roslaunch ur_gazebo ur5.launch, it gives me some errors and says (Full output attached at the end)

[spawn_gazebo_model-4] process has finished cleanly
[joint_state_controller_spawner-7] process has finished cleanly
[arm_controller_spawner-8] process has finished cleanly

Still I can see gazebo working as expected (I think). I can run the moveit config, plan a path using rviz and execute and in gazebo it seems to be working fine. What am I missing here? I have no prior experience in this so an explanation on this is much appreciated.

roslaunch ur_gazebo ur5.launch output:

... logging to /home/XXXX/.ros/log/fe8e0ec2-d9f5-11e9-a221-8c04ba099a14/roslaunch-tehan-l-l-13884.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://tehan-l-l:42425/

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: <?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 [13899]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fe8e0ec2-d9f5-11e9-a221-8c04ba099a14
process[rosout-1]: started with pid [13912]
started core service [/rosout]
process[gazebo-2]: started with pid [13922]
process[gazebo_gui-3]: started with pid [13940]
process[spawn_gazebo_model-4]: started with pid [13946]
process[robot_state_publisher-5]: started with pid [13947]
process[fake_joint_calibration-6]: started with pid [13948]
process[joint_state_controller_spawner-7]: started with pid [13949]
process[arm_controller_spawner-8]: started with pid [13952]
[ INFO] [1568798618.512260316]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1568798618.512910501]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1568798618.515966508]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1568798618.516420817]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1568798618.830303, 0.000000]: Loading model XML from ros parameter
[INFO] [1568798618.832155, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1568798619.032186013, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1568798619.062803814, 0.052000000]: Physics dynamic reconfigure ready.
[INFO] [1568798619.138086, 0.121000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1568798619.275586, 0.157000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1568798619.341170165, 0.157000000]: Loading gazebo_ros_control plugin
[ERROR] [1568798619.341286713, 0.157000000]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an ...
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answered 2019-09-18 06:19:59 -0600

gvdhoorn gravatar image

updated 2019-09-18 06:29:02 -0600

it gives me some errors and says

[spawn_gazebo_model-4] process has finished cleanly
[joint_state_controller_spawner-7] process has finished cleanly
[arm_controller_spawner-8] process has finished cleanly

these are not errors, but merely informative messages telling you that those nodes have cleanly exited.

Everything seems to be working as it should.

[spawn_gazebo_model-4] process has finished cleanly

this node is only responsible for spawning (adding) the robot in the Gazebo world. As soon as it's done, it's no longer needed.

[joint_state_controller_spawner-7] process has finished cleanly

As the name implies (_spawner), this one also only is needed to load a controller. Once the controller is loaded, it's job is done.

[arm_controller_spawner-8] process has finished cleanly

And the same for this one.

Nodes can shut down and not be in error. That's perfectly OK.


Edit:

The thing is they exit without me killing them with ctrl+c

they are supposed to.

You can see there are a few errors in the roslaunch output

If you are referring to the "no p gain specified for pid." then those are also not fatal and things will still work.

The Gazebo plugin has changed, but has remained bw-compatible. Refer to ros-industrial/universal_robot#443 for some more context.

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Comments

Yes these are not errors. The thing is they exit without me killing them with ctrl+c You can see there are a few errors in the roslaunch output

Edit:

Thank you for the elaboration. I thought I was doing something the wrong way.

teshansj gravatar imageteshansj ( 2019-09-18 06:23:30 -0600 )edit

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Asked: 2019-09-18 04:45:54 -0600

Seen: 37 times

Last updated: Sep 18