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Fail to launch "Quadrotor indoor SLAM demo" [closed]

asked 2012-06-28 17:12:02 -0500

fangzheng gravatar image

updated 2014-01-28 17:12:50 -0500

ngrennan gravatar image

Hello, I'm a newer to ROS. Now I want to launch a demo in the tutorial describes at "http://www.ros.org/wiki/hector_quadrotor/Tutorials/Quadrotor%20indoor%20SLAM%20demo". I have followed the instructions of the tutorial and build the packages successfully. However, when I launch:

roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch

I get following messages:

fangzheng@ubuntu:~$ roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch
... logging to /home/fangzheng/.ros/log/31f05b12-c194-11e1-b8b0-000c293af122/roslaunch-ubuntu-3605.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.

started roslaunch server http://ubuntu:57047/

SUMMARY
========

PARAMETERS
 * /use_sim_time
 * /hector_mapping/scan_topic
 * /hector_mapping/advertise_map_service
 * /hector_mapping/update_factor_free
 * /hector_mapping/use_tf_pose_start_estimate
 * /hector_trajectory_server/source_frame_name
 * /hector_mapping/laser_z_min_value
 * /hector_mapping/base_frame
 * /hector_geotiff_node/map_file_base_name
 * /hector_mapping/map_resolution
 * /hector_mapping/laser_z_max_value
 * /hector_mapping/scan_subscriber_queue_size
 * /hector_mapping/update_factor_occupied
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /hector_mapping/odom_frame
 * /robot_description
 * /hector_mapping/use_tf_scan_transformation
 * /hector_mapping/map_update_distance_thresh
 * /hector_trajectory_server/trajectory_update_rate
 * /rosversion
 * /hector_mapping/map_start_y
 * /hector_mapping/map_start_x
 * /ground_truth_to_tf/frame_id
 * /hector_mapping/tf_map_scanmatch_transform_frame_name
 * /hector_mapping/map_multi_res_levels
 * /hector_mapping/map_frame
 * /hector_mapping/map_size
 * /robot_state_publisher/publish_frequency
 * /hector_geotiff_node/draw_free_space_grid
 * /hector_geotiff_node/geotiff_save_period
 * /hector_mapping/pub_map_odom_transform
 * /hector_trajectory_server/trajectory_publish_rate
 * /hector_mapping/map_update_angle_thresh
 * /hector_geotiff_node/draw_background_checkerboard
 * /hector_geotiff_node/map_file_path
 * /ground_truth_to_tf/odometry_topic
 * /hector_trajectory_server/target_frame_name

NODES
  /
    gazebo (gazebo/gazebo)
    spawn_robot (gazebo/spawn_model)
    robot_state_publisher (robot_state_publisher/state_publisher)
    ground_truth_to_tf (odometry_to_tf/odometry_to_tf)
    hector_mapping (hector_mapping/hector_mapping)
    hector_trajectory_server (hector_trajectory_server/hector_trajectory_server)
    hector_geotiff_node (hector_geotiff/geotiff_node)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [3627]
process[spawn_robot-2]: started with pid [3628]
process[robot_state_publisher-3]: started with pid [3629]
process[ground_truth_to_tf-4]: started with pid [3630]
process[hector_mapping-5]: started with pid [3631]
process[hector_trajectory_server-6]: started with pid [3632]
process[hector_geotiff_node-7]: started with pid [3633]
process[rviz-8]: started with pid [3634]
Gazebo multi-robot simulator, version 0.10.0

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[ WARN] [1340938987.643699057]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
[ INFO] [1340938988.675249265]: HectorSM p_base_frame_: base_footprint
[ INFO] [1340938988.675705226]: HectorSM p_map_frame_: map
[ INFO] [1340938988.675883822]: HectorSM p_odom_frame_: nav
[ INFO] [1340938988.676049918]: HectorSM p_scan_topic_: scan
[ INFO] [1340938988.676197251]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1340938988.676343609]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1340938988.676540794]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1340938988.676716708]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1340938988.676876533]: HectorSM p_update_factor_free_: 0.400000
[ INFO] [1340938988.677023241]: HectorSM p_update_factor_occupied_: 0.900000
[ INFO] [1340938988.677169010]: HectorSM p_map_update_distance_threshold_: 0.400000 
[ INFO] [1340938988.691836584]: HectorSM p_map_update_angle_threshold_: 0.060000
[ INFO] [1340938988.692002727]: HectorSM p_laser_z_min_value_: -1.000000
[ INFO] [1340938988.692151082]: HectorSM p_laser_z_max_value_: 1.000000
[rviz-8] process has died [pid 3634, exit code -11].
log files: /home/fangzheng/.ros/log/31f05b12-c194-11e1-b8b0-000c293af122/rviz-8*.log
directory [/tmp/gazebo-fangzheng-0] already exists (previous crash?)
the owner gazebo server (pid=2266) is not running.
deleting the old information of the directory [/tmp/gazebo-fangzheng-0]
Param [quickStepPreconIters] is deprecated: [replace quickStepPreconIters with stepPreconIters]
Param [quickStep] is deprecated: [replace quickStep with ...
(more)
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-03-03 01:57:09.243179

Comments

Hi, I have similar error (not the same). Take a look to my post http://answers.ros.org/question/37222/hector_gazebo-stack-error-when-rosmake/.
It seem the stack is not ported at all to fuerte and gazebo 1.0. If you found a solution please tell me. I'm trying to port the controler code to gazebo

FrancoR gravatar imageFrancoR ( 2012-07-05 05:01:12 -0500 )edit

1 Answer

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answered 2014-04-29 21:53:12 -0500

hsoltani gravatar image

Hi,I want to launch a demo in the tutorial describes at "http://www.ros.org/wiki/hector_quadrotor/Tutorials/Quadrotor%20indoor%20SLAM%20demo". when I launch: roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch I get following messages: [spawn_robot-3] process has died [pid 21401, exit code 1, cmd /home/soltani/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -param robot_description -urdf -x 0.0 -y 0.0 -z 0.3 -model quadrotor __name:=spawn_robot __log:=/home/soltani/.ros/log/f0c6467e-d032-11e3-baed-29d2c26f039b/spawn_robot-3.log]. log file: /home/soltani/.ros/log/f0c6467e-d032-11e3-baed-29d2c26f039b/spawn_robot-3*.log Is there anybody who can help me? Thanks!

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Asked: 2012-06-28 17:12:02 -0500

Seen: 735 times

Last updated: Jul 01 '12