Hi I have an error right now, please solve this error

asked 2021-08-03 21:35:54 -0600

yun gravatar image

updated 2021-12-03 09:50:10 -0600

Evgeny gravatar image

version ubuntu 18.04 ros melodic

Hello. I am trying to run Doosan Robot, but the same error keeps popping up. Is there any way to solve this? Below is the source code and pictures.


kim@kim:~$ roslaunch dsr_launcher single_robot_rviz.launch mode:=virtual model:=m0609

... logging to /home/kim/.ros/log/0d93ac3e-f4c9-11eb-9f98-40b076dd2030/roslaunch-kim-7274.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://kim:38303/

SUMMARY
========

PARAMETERS
 * /dsr01/dsr_joint1_position/joint: joint1
 * /dsr01/dsr_joint1_position/pid/d: 200.0
 * /dsr01/dsr_joint1_position/pid/i: 100.0
 * /dsr01/dsr_joint1_position/pid/i_clamp: 500
 * /dsr01/dsr_joint1_position/pid/p: 500.0
 * /dsr01/dsr_joint1_position/type: position_controll...
 * /dsr01/dsr_joint2_position/joint: joint2
 * /dsr01/dsr_joint2_position/pid/d: 250.0
 * /dsr01/dsr_joint2_position/pid/i: 100.0
 * /dsr01/dsr_joint2_position/pid/i_clamp: 500
 * /dsr01/dsr_joint2_position/pid/p: 500.0
 * /dsr01/dsr_joint2_position/type: position_controll...
 * /dsr01/dsr_joint3_position/joint: joint3
 * /dsr01/dsr_joint3_position/pid/d: 40.0
 * /dsr01/dsr_joint3_position/pid/i: 20.0
 * /dsr01/dsr_joint3_position/pid/i_clamp: 500
 * /dsr01/dsr_joint3_position/pid/p: 300.0
 * /dsr01/dsr_joint3_position/type: position_controll...
 * /dsr01/dsr_joint4_position/joint: joint4
 * /dsr01/dsr_joint4_position/pid/d: 40.0
 * /dsr01/dsr_joint4_position/pid/i: 0.0
 * /dsr01/dsr_joint4_position/pid/i_clamp: 500
 * /dsr01/dsr_joint4_position/pid/p: 100.0
 * /dsr01/dsr_joint4_position/type: position_controll...
 * /dsr01/dsr_joint5_position/joint: joint5
 * /dsr01/dsr_joint5_position/pid/d: 25.0
 * /dsr01/dsr_joint5_position/pid/i: 20.0
 * /dsr01/dsr_joint5_position/pid/i_clamp: 500
 * /dsr01/dsr_joint5_position/pid/p: 200.0
 * /dsr01/dsr_joint5_position/type: position_controll...
 * /dsr01/dsr_joint6_position/joint: joint6
 * /dsr01/dsr_joint6_position/pid/d: 25.0
 * /dsr01/dsr_joint6_position/pid/i: 20.0
 * /dsr01/dsr_joint6_position/pid/i_clamp: 500
 * /dsr01/dsr_joint6_position/pid/p: 300.0 error
 * /dsr01/dsr_joint6_position/type: position_controll...
 * /dsr01/dsr_joint_position_controller/joints: ['joint1', 'joint...
 * /dsr01/dsr_joint_position_controller/publish_rate: 20
 * /dsr01/dsr_joint_position_controller/type: position_controll...
 * /dsr01/dsr_joint_publisher/publish_rate: 150
 * /dsr01/dsr_joint_publisher/type: joint_state_contr...
 * /dsr01/dsr_joint_trajectory_controller/joints: ['joint1', 'joint...
 * /dsr01/dsr_joint_trajectory_controller/publish_rate: 20
 * /dsr01/dsr_joint_trajectory_controller/type: position_controll...
 * /dsr01/dsr_velocity_controller/angular/z/has_acceleration_limits: True
 * /dsr01/dsr_velocity_controller/angular/z/has_velocity_limits: True
 * /dsr01/dsr_velocity_controller/angular/z/max_acceleration: 6.0
 * /dsr01/dsr_velocity_controller/angular/z/max_velocity: 2.0
 * /dsr01/dsr_velocity_controller/base_frame_id: base_link
 * /dsr01/dsr_velocity_controller/cmd_vel_timeout: 0.25
 * /dsr01/dsr_velocity_controller/enable_odom_tf: False
 * /dsr01/dsr_velocity_controller/estimate_velocity_from_position: False
 * /dsr01/dsr_velocity_controller/left_wheel: ['front_left_whee...
 * /dsr01/dsr_velocity_controller/linear/x/has_acceleration_limits: True
 * /dsr01/dsr_velocity_controller/linear/x/has_velocity_limits: True
 * /dsr01/dsr_velocity_controller/linear/x/max_acceleration: 3.0
 * /dsr01/dsr_velocity_controller/linear/x/max_velocity: 1.0
 * /dsr01/dsr_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /dsr01/dsr_velocity_controller/publish_rate: 50
 * /dsr01/dsr_velocity_controller/right_wheel: ['front_right_whe...
 * /dsr01/dsr_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /dsr01/dsr_velocity_controller/type: diff_drive_contro...
 * /dsr01/dsr_velocity_controller/wheel_radius_multiplier: 1.0
 * /dsr01/dsr_velocity_controller/wheel_separation_multiplier: 1.875
 * /dsr01/robot_description: <?xml version="1....
 * /dsr01/robot_state_publisher/robot_description: /dsr01/robot_desc...
 * /dsr01/robot_state_publisher/tf_prefix: dsr01
 * /dsr01m0609/command: True
 * /dsr01m0609/dsr_joint1_position/joint: joint1
 * /dsr01m0609/dsr_joint1_position/pid/d: 200.0
 * /dsr01m0609/dsr_joint1_position/pid/i: 100.0
 * /dsr01m0609/dsr_joint1_position/pid/i_clamp: 500
 * /dsr01m0609/dsr_joint1_position/pid/p: 500.0
 * /dsr01m0609/dsr_joint1_position/type: position_controll...
 * /dsr01m0609/dsr_joint2_position/joint: joint2
 * /dsr01m0609/dsr_joint2_position/pid/d: 250.0
 * /dsr01m0609/dsr_joint2_position/pid/i: 100.0
 * /dsr01m0609/dsr_joint2_position/pid/i_clamp ...
(more)
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Comments

abhishek47 gravatar image abhishek47  ( 2021-08-04 03:59:40 -0600 )edit

Thank you! I solved

yun gravatar image yun  ( 2021-08-04 04:14:54 -0600 )edit
1

@yun You could consider improving the title of your question, so that it comes up in search when people google for this problem

abhishek47 gravatar image abhishek47  ( 2021-08-04 04:21:17 -0600 )edit

Thanks I changed title!

yun gravatar image yun  ( 2021-08-09 00:41:19 -0600 )edit