Ask Your Question
0

Gazebo first load slow to load in container (controller spawner fails)?

asked 2020-11-15 20:40:43 -0600

jdekarske gravatar image

Hi everyone. I'm trying to spin up a few containers that will launch a simulation of a UR5e in Gazebo. When I run the container and launch my launch file, the controller spawner complains and ultimately fails to find the Gazebo interface. The odd thing is if I kill the roslaunch command and do it again, everything runs fine. I hypothesize that gazebo needs to initialize or something and takes longer the first time it comes up. I tried a bash script that runs the roslaunch, then kills it x seconds later and runs again, but it doesn't feel right.

Is my hypothesis correct? Is there a way to wait for gazebo to be ready in a launch file?

Log file is here, but this is the first relevant error, I think:

0.000000000 WARN /controller_spawner [spawner:138(main)] [topics: /clock, /rosout] Controller Spawner couldn't find the expected controller_manager ROS interface.

I'm using the image here: osrf/ros:melodic-desktop-full which includes Gazebo 9

To reproduce, have docker installed on a host and run:

docker run -it jdekarske/homestri-remote-experiment:latest

Then, in the container run:

roslaunch experiment_world main_experiment.launch rviz_gui:=false gazebo_gui:=false

Github Repo

Thank you for any help :)

edit retag flag offensive close merge delete

Comments

Can't attach with low points. Logs here: https://pastebin.com/9DNXhUeM

jdekarske gravatar image jdekarske  ( 2020-11-15 20:41:04 -0600 )edit

bump, please help

jdekarske gravatar image jdekarske  ( 2020-12-08 00:14:03 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2021-01-26 20:44:31 -0600

jdekarske gravatar image

updated 2021-01-26 20:46:02 -0600

Figured it out. It seems that Gazebo 9.0.0 which is packaged with the osrf/ros:melodic-desktop-full docker image has some bugs. If you use this image, update Gazebo. (This and other performance issues were fixed as of Gazebo 9.16)

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2020-11-15 20:07:42 -0600

Seen: 289 times

Last updated: Jan 26 '21