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Controller Manger under namespace can not launch for Gazebo World

asked 2020-06-10 05:40:29 -0500

Tahir M. gravatar image

updated 2020-06-10 05:56:18 -0500

I am trying to simulate multiple universal robots arm on a mobile robot.

To achieve this first I am trying to get the single arm under one namespace(center). I am to run the simulation and the robot in Gaebo(from URDF) is spawned correctly and the controller manager is also launched in its respective namespace. However arm_controller is not launched as the controller manager is not able to find arm_controller however it already is going in its namespace center/arm_controller.

Here are the changes I have made:

UR5e.launch: Modified UR5e.launch

ur5e_robot.urdf.xacro: Modified ur5e.urdf.xacro

Common.gazebo.xacro: Modified common.gazebo.xacro

Here is the logging info:

... logging to /home/student/.ros/log/d738a7f2-aaff-11ea-af39-913d8e648243/roslaunch-Student-W35xSS-370SS-32725.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.



inconsistent namespace redefinitions for xmlns:xacro:

 old: http://ros.org/wiki/xacro

 new: http://wiki.ros.org/xacro (/home/student/tud_ws/src/fmauch_universal_robot/ur_e_description
/urdf/ur.transmission.xacro)

started roslaunch server http://Student-W35xSS-370SS:36449/


SUMMARY

========



PARAMETERS

 * /center/arm_controller/action_monitor_rate: 10

 * /center/arm_controller/constraints/elbow_joint/goal: 0.1

 * /center/arm_controller/constraints/elbow_joint/trajectory: 0.1

 * /center/arm_controller/constraints/goal_time: 0.6

 * /center/arm_controller/constraints/shoulder_lift_joint/goal: 0.1

 * /center/arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1

 * /center/arm_controller/constraints/shoulder_pan_joint/goal: 0.1

 * /center/arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1

 * /center/arm_controller/constraints/stopped_velocity_tolerance: 0.05

 * /center/arm_controller/constraints/wrist_1_joint/goal: 0.1

 * /center/arm_controller/constraints/wrist_1_joint/trajectory: 0.1

 * /center/arm_controller/constraints/wrist_2_joint/goal: 0.1

 * /center/arm_controller/constraints/wrist_2_joint/trajectory: 0.1

 * /center/arm_controller/constraints/wrist_3_joint/goal: 0.1

 * /center/arm_controller/constraints/wrist_3_joint/trajectory: 0.1

 * /center/arm_controller/joints: ['shoulder_pan_jo...

 * /center/arm_controller/state_publish_rate: 25

 * /center/arm_controller/stop_trajectory_duration: 0.5

 * /center/arm_controller/type: position_controll...

 * /center/joint_group_position_controller/joints: ['shoulder_pan_jo...

 * /center/joint_group_position_controller/type: position_controll...

 * /center/joint_state_controller/publish_rate: 50

 * /center/joint_state_controller/type: joint_state_contr...

 * /center/robot_state_publisher/publish_frequency: 50.0

 * /center/robot_state_publisher/tf_prefix: 

 * /robot_description: <?xml version="1....

 * /rosdistro: kinetic

 * /rosversion: 1.12.14

 * /use_sim_time: True


NODES

  /center/

    arm_controller_spawner (controller_manager/controller_manager)

    fake_joint_calibration (rostopic/rostopic)

    joint_state_controller_spawner (controller_manager/controller_manager)

    robot_state_publisher (robot_state_publisher/robot_state_publisher)

    ros_control_controller_manager (controller_manager/controller_manager)

  /
    gazebo (gazebo_ros/gzserver)

    gazebo_gui (gazebo_ros/gzclient)

    spawn_gazebo_model (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [32745]

process[gazebo_gui-2]: started with pid [32750]

process[center/robot_state_publisher-3]: started with pid [32755]

process[center/fake_joint_calibration-4]: started with pid [32756]

process[center/joint_state_controller_spawner-5]: started with pid [32758]

process[center/arm_controller_spawner-6]: started with pid [309]

process[center/ros_control_controller_manager-7]: started with pid [318]


process[spawn_gazebo_model-8]: started with pid [332]

[ INFO] [1591783185.571660594]: Finished loading Gazebo ROS API Plugin.

[ INFO] [1591783185.574029289]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, 
waiting...

[ INFO] [1591783185.642075820]: Finished loading Gazebo ROS API Plugin.

[ INFO] [1591783185.642815770]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, 
waiting...

SpawnModel script started

[INFO] [1591783185.938174, 0.000000]: Loading model XML from ros parameter

[INFO] [1591783185.941604, 0.000000]: Waiting for service /gazebo/spawn_urdf_model

[ INFO] [1591783186.028815169, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now 
available.

[ INFO] [1591783186.084236189, 0.073000000 ...
(more)
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answered 2020-06-10 06:43:30 -0500

Tahir M. gravatar image

The above mentioned steps are OK below are the steps needed to get everything working.

I was able to solve the problem by changing the parameters of the arm_controller in the yaml file to the respective namespace.

In original file they are hardcoded:

arm_controller:
  type: position_controllers/JointTrajectoryController
  joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint
  constraints:
      goal_time: 0.6
      stopped_velocity_tolerance: 0.05
      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
      elbow_joint: {trajectory: 0.1, goal: 0.1}
      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10
joint_group_position_controller:
  type: position_controllers/JointGroupPositionController
  joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint

So I appended namespace with them:

arm_controller:
  type: position_controllers/JointTrajectoryController
  joints:
     - center/shoulder_pan_joint
     - center/shoulder_lift_joint
     - center/elbow_joint
     - center/wrist_1_joint
     - center/wrist_2_joint
     - center/wrist_3_joint
  constraints:
      goal_time: 0.6
      stopped_velocity_tolerance: 0.05
      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
      elbow_joint: {trajectory: 0.1, goal: 0.1}
      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10
joint_group_position_controller:
  type: position_controllers/JointGroupPositionController
  joints:
     - center/shoulder_pan_joint
     - center/shoulder_lift_joint
     - center/elbow_joint
     - center/wrist_1_joint
     - center/wrist_2_joint
     - center/wrist_3_joint

Also changed the tf_prefix to center

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Asked: 2020-06-10 05:40:29 -0500

Seen: 141 times

Last updated: Jun 10 '20