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rosjava & Gazebo: Problem with sim time?

asked 2012-05-20 01:12:36 -0500

andreasw gravatar image

Hi,

I've ran into a problem trying to connect a rosjava node to gazebo running turtlesim. If /use_sim_time is true, rosjava crashes while trying to instantiate the logger:

Loading node class: de.se.rosjava.Main
May 20, 2012 1:05:38 PM org.ros.internal.node.client.Registrar <init>
INFO: MasterXmlRpcEndpoint URI: http://localhost:11311
May 20, 2012 1:05:38 PM org.ros.internal.node.client.Registrar onPublisherAdded
INFO: Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</TurtleSimJava/Main, http://127.0.0.1:36053/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
May 20, 2012 1:05:39 PM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Registered [/TurtleSimJava/Main] as publisher of [/rosout], [http://ubuntu:45371/]>
May 20, 2012 1:05:39 PM org.ros.internal.node.topic.DefaultPublisher$1 onMasterRegistrationSuccess
INFO: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</TurtleSimJava/Main, http://127.0.0.1:36053/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
May 20, 2012 1:05:39 PM org.ros.internal.node.client.Registrar onSubscriberAdded
INFO: Registering subscriber: Subscriber<Topic<TopicIdentifier</clock>, TopicDescription<rosgraph_msgs/Clock, a9c97c1d230cfc112e270351a944ee47>>>
May 20, 2012 1:05:39 PM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Subscribed to [/clock], [http://ubuntu:52317/]>
May 20, 2012 1:05:39 PM org.ros.internal.node.topic.DefaultSubscriber$1 onMasterRegistrationSuccess
INFO: Subscriber registered: Subscriber<Topic<TopicIdentifier</clock>, TopicDescription<rosgraph_msgs/Clock, a9c97c1d230cfc112e270351a944ee47>>>
May 20, 2012 1:05:39 PM org.ros.internal.node.RosoutLogger info
INFO: 
>>> Starting...

INFO: Subscriber registered: Subscriber<Topic<TopicIdentifier</clock>, 
TopicDescription<rosgraph_msgs/Clock, a9c97c1d230cfc112e270351a944ee47>>> 
May 20, 2012 12:43:28 PM org.ros.internal.node.RosoutLogger info

Exception in thread "pool-1-thread-9" java.lang.NullPointerException at 
  com.google.common.base.Preconditions.checkNotNull(Preconditions.java:187) at 
  org.ros.time.ClockTopicTimeProvider.getCurrentTime(ClockTopicTimeProvider.java:58) at 
  org.ros.internal.node.DefaultNode.getCurrentTime(DefaultNode.java:377) at 
  org.ros.internal.node.RosoutLogger.publish(RosoutLogger.java:58) at
  org.ros.internal.node.RosoutLogger.info(RosoutLogger.java:134) at 
  de.se.rosjava.Main.onStart(Main.java:28) at 
  org.ros.internal.node.DefaultNode$5.run(DefaultNode.java:511) at 
  org.ros.internal.node.DefaultNode$5.run(DefaultNode.java:508) at 
  org.ros.concurrent.ListenerCollection$1.run(ListenerCollection.java:117) at 
  java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1110) at 
  java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:603) at 
  java.lang.Thread.run(Thread.java:679) ^C

If /use_sim_time is set to false, the node stops at ">>> Starting..." and seems to wait indefinitely (at least >= 10 min).

Did I miss something regarding rosjava and simulation / simulated time?

Thanks in advance!

Best regards, Andreas

P.S: The node causing this behaviour is

public class Main extends AbstractNodeMain {  
  Log log;  
  private Publisher<geometry_msgs.Twist> publisher;  

  @Override
  public void onStart(ConnectedNode connectedNode) {
    log = connectedNode.getLog();
    log.info("\n>>> Starting...\n");       

    publisher = connectedNode.newPublisher("cmd_vel", geometry_msgs.Twist._TYPE);        
    publisher.publish(createForwardTwist(1.0));
  }
  //...
}
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3 Answers

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answered 2012-05-21 05:59:42 -0500

damonkohler gravatar image

This is bug in the sim_time implementation. See http://code.google.com/p/rosjava/issues/detail?id=115

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answered 2012-06-15 01:10:10 -0500

andreasw gravatar image

Thank you for working on this, Damon!

Unfortunately, I'm still not able to connect rosjava nodes to gazebo

Jun 15, 2012 10:36:11 AM org.ros.internal.node.client.Registrar <init>
INFO: MasterXmlRpcEndpoint URI: http://localhost:11311
Jun 15, 2012 10:36:12 AM org.ros.internal.node.client.Registrar onPublisherAdded
INFO: Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</test/SimConnectNode, http://127.0.0.1:60384/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
Jun 15, 2012 10:36:12 AM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Registered [/test/SimConnectNode] as publisher of [/rosout], [http://ubuntu:42778/]>
Jun 15, 2012 10:36:12 AM org.ros.internal.node.topic.DefaultPublisher$1 onMasterRegistrationSuccess
INFO: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</test/SimConnectNode, http://127.0.0.1:60384/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>
Jun 15, 2012 10:36:12 AM org.ros.internal.node.client.Registrar onSubscriberAdded
INFO: Registering subscriber: Subscriber<Topic<TopicIdentifier</clock>, TopicDescription<rosgraph_msgs/Clock, a9c97c1d230cfc112e270351a944ee47>>>
Jun 15, 2012 10:36:12 AM org.ros.internal.node.client.Registrar callMaster
INFO: Response<Success, Subscribed to [/clock], [http://ubuntu:43511/]>
Jun 15, 2012 10:36:12 AM org.ros.internal.node.topic.DefaultSubscriber$1 onMasterRegistrationSuccess
INFO: Subscriber registered: Subscriber<Topic<TopicIdentifier</clock>, TopicDescription<rosgraph_msgs/Clock, a9c97c1d230cfc112e270351a944ee47>>>
Jun 15, 2012 10:36:12 AM org.ros.internal.node.RosoutLogger info
INFO: Node test/SimConnectNode has started.
Exception in thread "pool-1-thread-9" java.lang.NullPointerException
    at com.google.common.base.Preconditions.checkNotNull(Preconditions.java:187)
    at org.ros.time.ClockTopicTimeProvider.getCurrentTime(ClockTopicTimeProvider.java:58)
    at org.ros.internal.node.DefaultNode.getCurrentTime(DefaultNode.java:377)
    at org.ros.internal.node.RosoutLogger.publish(RosoutLogger.java:58)
    at org.ros.internal.node.RosoutLogger.info(RosoutLogger.java:134)
    at SimConnectNode.onStart(SimConnectNode.java:22)
    at org.ros.internal.node.DefaultNode$5.run(DefaultNode.java:511)
    at org.ros.internal.node.DefaultNode$5.run(DefaultNode.java:508)
    at org.ros.concurrent.ListenerCollection$1.run(ListenerCollection.java:117)
    at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1110)
    at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:603)
    at java.lang.Thread.run(Thread.java:679)

The node causing this behavior is

public class SimConnectNode implements org.ros.node.NodeMain, org.ros.message.MessageListener<geometry_msgs.Twist> {

protected Log log;
protected Subscriber<std_msgs.String> subscriber;

public SimConnectNode(URI rosMasterUri) {
    SimpleNodeExecutor.run(rosMasterUri, this);
}

public void onStart(ConnectedNode connectedNode) {
    log = connectedNode.getLog();
    log.info("Node " + this.getDefaultNodeName().toString() + " has started.");
}

public void onShutdown(Node node) { /* TODO Auto-generated method stub */ }  
public void onShutdownComplete(Node node) { /* TODO Auto-generated method stub */ }  
public void onError(Node node, Throwable throwable) { /* TODO Auto-generated method stub */ }

public GraphName getDefaultNodeName() {
    return new GraphName("test/SimConnectNode");
}

public void onNewMessage(Twist twist) {
    System.out.println("i got: " + twist.toString());
}

where SimpleNodeExecutor is as follows:

public class SimpleNodeExecutor {  
    public static void run(URI uri, NodeMain node) {
    NodeConfiguration n = NodeConfiguration.newPrivate(uri);
    DefaultNodeMainExecutor d = (DefaultNodeMainExecutor) DefaultNodeMainExecutor.newDefault();
    d.execute(node, n);
}

}

Could you please point out what I've done wrong or give ... (more)

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Comments

This was mistakenly marked as fixed awhile back. The new issue to follow is http://code.google.com/p/rosjava/issues/detail?id=119

damonkohler gravatar imagedamonkohler ( 2012-06-22 01:06:44 -0500 )edit

Thank you!

andreasw gravatar imageandreasw ( 2012-06-27 06:16:23 -0500 )edit
0

answered 2014-12-16 11:07:42 -0500

stark gravatar image

I am facing with the same issue from the last 2 days. Can anybody please help me if you have fixed the bug? I am not understanding the solution posted by "mate". So if you provide a piece of code to fix that bug, it will be very helpfull

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Asked: 2012-05-20 01:12:36 -0500

Seen: 727 times

Last updated: Dec 16 '14