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husky melodic does not launch

asked 2020-04-29 17:24:17 -0600

staycoolish gravatar image

Hello, I am a bit new to the ROS, but followed some turtlebot3 tutorials. I am using melodic, and want to use Husky robot. I installed all required packages one by one (following the errors, then I made necessary git clone & catkin_make operations; don't know any easier ways), but I still cannot make Husky work. I am following (actually cannot) the steps in that page:

http://wiki.ros.org/husky_gazebo/Tuto...

After I write $ roslaunch husky_gazebo husky_empty_world.launch , that's what I get:

(Errors are through the end , [ERROR] [1588197605.276042609]: Failed to build tree: child link [base_laser_mount] of joint [laser_mount_joint] not found, Error [parser_urdf.cc:3170] Unable to call parseURDF on robot model, Error [parser.cc:406] parse as old deprecated model file failed. [ERROR] [1588197616.434866, 10.049000]: Spawn service failed. Exiting.)

... logging to /home/herewego/.ros/log/c7b848b6-8a64-11ea-bcde-ac2b6e3c7e2c/roslaunch-hereWeGo-1795.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://hereWeGo:45533/

SUMMARY
========

PARAMETERS
 * /ekf_localization/base_link_frame: base_link
 * /ekf_localization/frequency: 50
 * /ekf_localization/imu0: imu/data
 * /ekf_localization/imu0_config: [False, False, Fa...
 * /ekf_localization/imu0_differential: True
 * /ekf_localization/imu0_queue_size: 10
 * /ekf_localization/imu0_remove_gravitational_acceleration: True
 * /ekf_localization/odom0: husky_velocity_co...
 * /ekf_localization/odom0_config: [False, False, Fa...
 * /ekf_localization/odom0_differential: False
 * /ekf_localization/odom0_queue_size: 10
 * /ekf_localization/odom_frame: odom
 * /ekf_localization/two_d_mode: True
 * /ekf_localization/world_frame: odom
 * /gazebo/enable_ros_network: True
 * /husky_joint_publisher/publish_rate: 50
 * /husky_joint_publisher/type: joint_state_contr...
 * /husky_velocity_controller/angular/z/has_acceleration_limits: True
 * /husky_velocity_controller/angular/z/has_velocity_limits: True
 * /husky_velocity_controller/angular/z/max_acceleration: 6.0
 * /husky_velocity_controller/angular/z/max_velocity: 2.0
 * /husky_velocity_controller/base_frame_id: base_link
 * /husky_velocity_controller/cmd_vel_timeout: 0.25
 * /husky_velocity_controller/enable_odom_tf: False
 * /husky_velocity_controller/estimate_velocity_from_position: False
 * /husky_velocity_controller/left_wheel: ['front_left_whee...
 * /husky_velocity_controller/linear/x/has_acceleration_limits: True
 * /husky_velocity_controller/linear/x/has_velocity_limits: True
 * /husky_velocity_controller/linear/x/max_acceleration: 3.0
 * /husky_velocity_controller/linear/x/max_velocity: 1.0
 * /husky_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/publish_rate: 50
 * /husky_velocity_controller/right_wheel: ['front_right_whe...
 * /husky_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/type: diff_drive_contro...
 * /husky_velocity_controller/velocity_rolling_window_size: 2
 * /husky_velocity_controller/wheel_radius_multiplier: 1.0
 * /husky_velocity_controller/wheel_separation_multiplier: 1.875
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /twist_mux/locks: [{'topic': 'e_sto...
 * /twist_mux/topics: [{'topic': 'joy_t...
 * /use_sim_time: True

NODES
  /
    base_controller_spawner (controller_manager/spawner)
    ekf_localization (robot_localization/ekf_localization_node)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_husky_model (gazebo_ros/spawn_model)
    twist_marker_server (interactive_marker_twist_server/marker_server)
    twist_mux (twist_mux/twist_mux)

auto-starting new master
process[master]: started with pid [1809]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c7b848b6-8a64-11ea-bcde-ac2b6e3c7e2c
process[rosout-1]: started with pid [1820]
started core service [/rosout]
process[gazebo-2]: started with pid [1827]
process[gazebo_gui-3]: started with pid [1832]
process[base_controller_spawner-4]: started with pid [1837]
process[ekf_localization-5]: started with pid [1838]
process[twist_marker_server-6]: started with pid [1839]
process[robot_state_publisher-7]: started with pid [1844]
process[twist_mux-8]: started with pid [1850]
process[spawn_husky_model-9]: started with pid [1853]
[ INFO] [1588197605.269713731]: [twist_marker_server] Initialized.
[ERROR] [1588197605.276042609]: Failed to build tree: child link [base_laser_mount] of joint [laser_mount_joint] not found
[robot_state_publisher-7] process has died [pid 1844, exit code 1, cmd /opt/ros/melodic/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log ...
(more)
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answered 2020-04-30 08:29:00 -0600

staycoolish gravatar image

So here's what I've done:

I followed the installation steps again: http://wiki.ros.org/Installation/Ubuntu

Afterwards, I was able to install husky via apt-get:

$ sudo apt-get install ros-melodic-husky-simulator

Then, there was no problem. By the way, instead of sourcing my workspace, I directly used command line to launch Husky, in other words, I wrote

$ roslaunch husky_gazebo husky_empty_world.launch to the command line. I later removed my workspace, it was messed up.

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Asked: 2020-04-29 17:08:54 -0600

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Last updated: Apr 29 '20