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Errors when following Husky UR5 Mobile Manipulation Demo (Simulation) tutorial for ROS indigo

asked 2019-12-02 22:49:36 -0500

stevensu1838 gravatar image

updated 2023-06-18 09:40:10 -0500

lucasw gravatar image

Hi, Ubuntu 14.04 ROS indigo It is in Simulation I am following your great tutorial on Husky UR5 Mobile Manipulation Demo (Simulation)

sudo apt-get install ros-indigo-husky-simulator && sudo apt-get install ros-indigo-husky-ur5-moveit-config
mkdir -p devel_ws/src && cd devel_ws/src && catkin_init_workspace
git clone && cd ..
catkin_make install
source ~/devel_ws/devel/setup.bash

However, when I was trying to Bring up Gazebo And The Husky with the following command:

Running the launch file which will bring up Gazebo with the Husky + UR5.

6.roslaunch husky_gazebo husky_playpen.launch ur5_enabled:=true

It throws errors as below. Can you please help?

ted@vra1:~/devel_ws$ roslaunch husky_gazebo husky_playpen.launch ur5_enabled:=true
... logging to /home/ted/.ros/log/52c54970-156e-11ea-b2c3-4c72b923f66b/roslaunch-vra1-13491.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.

Traceback (most recent call last):
  File "/opt/ros/indigo/share/xacro/", line 62, in <module>
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 696, in main
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 626, in eval_self_contained
    eval_all(doc.documentElement, macros, symbols)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 553, in eval_all
    eval_all(body, macros, scoped)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 553, in eval_all
    eval_all(body, macros, scoped)
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 497, in eval_all
    result = eval_text(at[1], symbols)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 483, in eval_text
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 470, in handle_expr
    return eval_expr(lex, symbols)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 444, in eval_expr
    result = eval_term(lex, symbols)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 418, in eval_term
    result = eval_factor(lex, symbols)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 398, in eval_factor
    return neg * eval_lit(lex, symbols)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/", line 369, in eval_lit

    raise XacroException("Property wasn't defined: %s" % str(ex))
xacro.XacroException: Property wasn't defined: u'pi'
while processing /opt/ros/indigo/share/husky_gazebo/launch/husky_empty_world.launch:
while processing /opt/ros/indigo/share/husky_gazebo/launch/spawn_husky.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/ '/opt/ros/indigo/share/husky_gazebo/urdf/description.gazebo.xacro'     laser_enabled:=true     ur5_enabled:=true     kinect_enabled:=false     ] returned with code [1]. 

Param xml is <param command="$(find xacro)/ '$(arg husky_gazebo_description)'     laser_enabled:=$(arg laser_enabled)     ur5_enabled:=$(arg ur5_enabled)     kinect_enabled:=$(arg kinect_enabled)     " name="robot_description"/>
The traceback for the exception was written to the log file
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1 Answer

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answered 2019-12-03 02:14:55 -0500

gvdhoorn gravatar image

updated 2019-12-03 02:17:16 -0500

Edit: I just noticed that link to the Husky Dual Arm manipulation demo, not the general Husky + UR5 page.

The dual arm manipulation demo page asks you to git clone, not the upstream repository.

Original answer:

Seeing as you're using Indigo (which is EOL btw) and you do this:

git clone && cd ..

it's likely you're trying to use the Kinetic version of the universal_robot packages on Indigo.

That won't work in this case.

You could try to switch to the indigo-devel branch:

cd $HOME/devel_ws/src/universal_robot
git checkout indigo-devel

Then rebuild your workspace and try again.

Note (again): ROS Indigo (and Ubuntu Trusty) are end-of-life and no longer supported. Neither are the packages in indigo-devel of universal_robot. It may work, or it may not. There are no guarantees.

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Hi all, It was my bad that I linked the wrong husky manipulation tutorial, and it's been revised to the general Husky + UR5 page. I could run the dual arm manipulation demo page with no problem. It only throw errors when I run general Husky + UR5 page. Thanks a lot

stevensu1838 gravatar image stevensu1838  ( 2019-12-03 03:14:42 -0500 )edit

My answer would be the same: make sure you're using the correct branch.

gvdhoorn gravatar image gvdhoorn  ( 2019-12-03 03:15:55 -0500 )edit

Hi, your solution works for the general Husky + UR5 page. Now I can run the launch file which will bring up Gazebo with the Husky + UR5 by the following line: roslaunch husky_gazebo husky_playpen.launch ur5_enabled:=true

However, the thing is the husky robot is upside down swinging on the ground. And the robotic hand on UR5 is missing. Any chance you know why? Thanks a million.

stevensu1838 gravatar image stevensu1838  ( 2019-12-03 03:34:47 -0500 )edit

No sorry, I wouldn't know.

gvdhoorn gravatar image gvdhoorn  ( 2019-12-03 04:43:19 -0500 )edit

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Asked: 2019-12-02 22:49:36 -0500

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Last updated: Dec 03 '19