stage error in fuerte

edit

There are several issues when using Fuerte and Stage 4.1.1 regarding stage controllers.

Re: warn: Model roomba.ranger:1 not found

The stageros wrapper only expects one ranger per robot but the wander controller in Stage expects the laser to be the second ranger. The line in wander.cc that causes this warning is:

robot->laser = (ModelRanger*)mod->GetChild( "ranger:1" );

Re: Segmentation fault (core dumped)

This appears to be related to the use of the roomba model (when I inspected the stack trace the problem was in some drawing code) - pioneer or simple position models work OK (once wander.cc has been edited).

However, stageros will stop all robots that have not received a velocity command in the last 0.2 seconds which is a problem if using a stage controller to control that robot.

To address these issues, I forked the Stage repository and edited stage.hh and model.cc to store and expose a uses_controller attribute for each Model. I then edited stageros.cpp (in a local copy of the stage stack) to make use of it, so that robots that have stage controllers are not exposed to ROS. I also edited wander.cc to get the first ranger it finds for any robot (this will break the simple.world demo found in Stage/worlds - I've added a gsh-simple.world demo that will work)

My forked repo is available at git://github.com/grahamhorn/Stage.git

I've included my edited stageros.cpp file in a stageros directory.

These commands should get things working:

First create an overlay for stage in your $ROS_WORKSPACE

$ roslocate info turtlebot | rosws merge -
$ rosws update

and build it:

$ rosmake stage

Then clone my Stage repo and build it:

$ mkdir stage4
$ cd stage4
$ git clone git://github.com/grahamhorn/Stage.git
$ cmake -DCMAKE_INSTALL_PREFIX=$ROS_WORKSPACE/stage Stage
$ make install

Test:

In one terminal:

$ roscore

In a second terminal:

$ rosrun stage stageros <your path>/stage4/Stage/worlds/gsh-simple.world

You should see one moving robot (controlled by the wander controller) and one static robot (exposed to ROS and waiting for commands).

Fuerte has stage 4.1.1 (Electric had 3.2.2).

Stage version 4 no longer supports the laser model, it has been replaced by a more generic ranger interface.

Though it is implied in previous responses, this also means changing:

define floorplan model ( 
  ...  
  laser_return 1 
)

to

define floorplan model
(
  ...
  ranger_return 1
)

Hi everyone,

This is more of a NOTE -- I am not expecting to be voted up or down here.

As Graham has pointed out that there may be an issue with the roomba model, I am putting this note.

The roomba model which works in ROS Electric (Stage 3.2.2) and fails in ROS Fuerte and ROS Groovy (Stage 4.1.1) is due to the part of the code in the world file;

define roomba position
(
  size [0.33 0.33 0.1]

  # this block approximates the circular shape of a Roomba
  block( 
    points 16
    point[0] [ 0.225 0.000 ]
    point[1] [ 0.208 0.086 ]
    point[2] [ 0.159 0.159 ]
    point[3] [ 0.086 0.208 ]
    point[4] [ 0.000 0.225 ]
    point[5] [ -0.086 0.208 ]
    point[6] [ -0.159 0.159 ]
    point[7] [ -0.208 0.086 ]
    point[8] [ -0.225 0.000 ]
    point[9] [ -0.208 -0.086 ]
    point[10] [ -0.159 -0.159 ]
    point[11] [ -0.086 -0.208 ]
    point[12] [ -0.000 -0.225 ]
    point[13] [ 0.086 -0.208 ]
    point[14] [ 0.159 -0.159 ]
    point[15] [ 0.208 -0.086 ]
  )
  color "gray50"
)

In Stage 4.1.1 each point is defined by 4 (x,y,z,theta) variables and not 3 and 2. A pioneer robot model (https://github.com/rtv/Stage/blob/master/worlds/pioneer.inc) works fine since each point for constructing the robot is made of 4 variables -- not 3 !

Not only did I modify all the laser calls to ranger, I also copied the sick.inc file from a working stage 4 installation, and included that in the roomba tutorial world. No joy.

Now the errors are

 [Loading /home/erupter/Apps/ROS/stage_controllers/world/myroomba.world][Include sick.inc][Image "bitmaps/roomba-stage.png"]warn: lookup of model name roomba.ranger:1: no matching name (/tmp/buildd/ros-fuerte-stage-1.6.6/debian/ros-fuerte-stage/opt/ros/fuerte/stacks/stage/build/stage/libstage/world.cc GetModel)
warn: Model roomba.ranger:1 not found (/tmp/buildd/ros-fuerte-stage-1.6.6/debian/ros-fuerte-stage/opt/ros/fuerte/stacks/stage/build/stage/libstage/model.cc GetChild)
Segmentation fault (core dumped)

Safe to say the word "ranger" is nowhere to be found in my modified roomba world, and yet it seems something calls for a ranger.. I suppose tutorials need updating. I wander what the problem with stage is, anybody solved that?

I used the standard notation and file coming from the standalone Stage 4 installation (sick.inc). The error is the same as if the model ranger wasn't found.

I also tried following the stage tutorial at http://www.ros.org/wiki/stage/Tutorials/SimulatingOneRobot

But encountered two errors:

• checking out teleop_base is a no go, requires user and pass (no anonym?)

• manually downloading files and running rosmake results in error

  [rospack] Error: package/stack teleop_base depends on non-existent package joy

  CMake Error at /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:129 (message):

  Failed to invoke rospack to get compile flags for package
  

  'teleop_base'. Look above for errors from rospack itself. Aborting. Please fix the broken dependency!

  Call Stack (most recent call first): /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack) CMakeLists.txt:3 (rosbuild_init)

Hi!

I installed ROS 2 days ago too, and I have got exactly the same problem. I've tried some other world files, but couldn't get it to work. I would really appreciate a rockie friendly solution.

Thx a lot!