Can't spawn robot model in gazebo with no error messages in terminal

asked 2022-11-24 03:36:11 -0500

Edvard
95 ●18 ●39 ●46

Hi. Sorry for all mistakes, English is not my native language. I managed to load world in gazebo and as far as I can tell from messages in terminal robot description is also loaded without any issue and robot name with all joints, plugin and links is listed in world tab, but no model to be seen in gazebo window.

[INFO] [launch]: All log files can be found below /home/mikita/.ros/log/2022-11-24-12-21-46-325682-ubuntu-30424
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [30426]
[INFO] [spawner.py-2]: process started with pid [30428]
[INFO] [gzserver-3]: process started with pid [30430]
[INFO] [gzclient-4]: process started with pid [30432]
[INFO] [spawn_entity.py-5]: process started with pid [30434]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link board had 2 children
[robot_state_publisher-1] Link depth_camera had 1 children
[robot_state_publisher-1] Link depth_camera_link_optical had 0 children
[robot_state_publisher-1] Link rplidar_a2_frame had 0 children
[robot_state_publisher-1] Link front_left_steering had 1 children
[robot_state_publisher-1] Link front_left_wheel had 0 children
[robot_state_publisher-1] Link front_right_steering had 1 children
[robot_state_publisher-1] Link front_right_wheel had 0 children
[robot_state_publisher-1] Link rear_left_steering had 1 children
[robot_state_publisher-1] Link rear_left_wheel had 0 children
[robot_state_publisher-1] Link rear_right_steering had 1 children
[robot_state_publisher-1] Link rear_right_wheel had 0 children
[robot_state_publisher-1] Link stm_back had 3 children
[robot_state_publisher-1] Link ir_sensor_ground_back_0 had 0 children
[robot_state_publisher-1] Link ir_sensor_ground_back_1 had 0 children
[robot_state_publisher-1] Link ir_sensor_pack_back had 5 children
[robot_state_publisher-1] Link ir_sensor_back_0 had 0 children
[robot_state_publisher-1] Link ir_sensor_back_1 had 0 children
[robot_state_publisher-1] Link ir_sensor_back_2 had 0 children
[robot_state_publisher-1] Link ir_sensor_back_3 had 0 children
[robot_state_publisher-1] Link ir_sensor_back_4 had 0 children
[robot_state_publisher-1] Link stm_front had 3 children
[robot_state_publisher-1] Link ir_sensor_ground_front_0 had 0 children
[robot_state_publisher-1] Link ir_sensor_ground_front_1 had 0 children
[robot_state_publisher-1] Link ir_sensor_pack_front had 5 children
[robot_state_publisher-1] Link ir_sensor_front_0 had 0 children
[robot_state_publisher-1] Link ir_sensor_front_1 had 0 children
[robot_state_publisher-1] Link ir_sensor_front_2 had 0 children
[robot_state_publisher-1] Link ir_sensor_front_3 had 0 children
[robot_state_publisher-1] Link ir_sensor_front_4 had 0 children
[robot_state_publisher-1] [INFO] [1669321306.678753978] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1669321306.678913614] [robot_state_publisher]: got segment board
[robot_state_publisher-1] [INFO] [1669321306.678929934] [robot_state_publisher]: got segment depth_camera
[robot_state_publisher-1] [INFO] [1669321306.678938199] [robot_state_publisher]: got segment depth_camera_link_optical
[robot_state_publisher-1] [INFO] [1669321306.678945528] [robot_state_publisher]: got segment front_left_steering
[robot_state_publisher-1] [INFO] [1669321306.678952716] [robot_state_publisher]: got segment front_left_wheel
[robot_state_publisher-1] [INFO] [1669321306.678959930] [robot_state_publisher]: got segment front_right_steering
[robot_state_publisher-1] [INFO] [1669321306.678967088] [robot_state_publisher]: got segment front_right_wheel
[robot_state_publisher-1] [INFO] [1669321306.678974402] [robot_state_publisher]: got segment ir_sensor_back_0
[robot_state_publisher-1] [INFO] [1669321306.678981308] [robot_state_publisher]: got segment ir_sensor_back_1
[robot_state_publisher-1] [INFO] [1669321306.678988170] [robot_state_publisher]: got segment ir_sensor_back_2
[robot_state_publisher-1] [INFO] [1669321306.678995042] [robot_state_publisher]: got segment ir_sensor_back_3
[robot_state_publisher-1] [INFO] [1669321306.679001910] [robot_state_publisher]: got segment ir_sensor_back_4
[robot_state_publisher-1] [INFO] [1669321306.679008919] [robot_state_publisher]: got segment ir_sensor_front_0
[robot_state_publisher-1] [INFO] [1669321306.679015705] [robot_state_publisher]: got segment ir_sensor_front_1
[robot_state_publisher-1] [INFO] [1669321306.679022495] [robot_state_publisher]: got segment ir_sensor_front_2
[robot_state_publisher-1] [INFO] [1669321306.679029833] [robot_state_publisher]: got segment ir_sensor_front_3
[robot_state_publisher-1] [INFO] [1669321306.679036640] [robot_state_publisher]: got segment ir_sensor_front_4
[robot_state_publisher-1] [INFO] [1669321306.679043418] [robot_state_publisher]: got segment ir_sensor_ground_back_0
[robot_state_publisher-1] [INFO] [1669321306.679050338] [robot_state_publisher]: got segment ir_sensor_ground_back_1
[robot_state_publisher-1] [INFO] [1669321306.679057817] [robot_state_publisher]: got segment ir_sensor_ground_front_0
[robot_state_publisher-1] [INFO] [1669321306.679064665] [robot_state_publisher]: got segment ir_sensor_ground_front_1
[robot_state_publisher-1] [INFO] [1669321306.679071480] [robot_state_publisher]: got segment ir_sensor_pack_back
[robot_state_publisher-1] [INFO] [1669321306.679078453 ...

(more)

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answered 2022-11-24 05:54:13 -0500

Ranjit Kathiriya
1624 ●18 ●148 ●46

Hello,

I gazebo with ros, you have to read all message logs into the terminal you will get the error messages.

In your case,

[gzserver-3] [ERROR] [1669321310.420717058] [gazebo_ros2_control]: Error parsing URDF in gazebo_ros2_control plugin, plugin not active : no attribute name in ros2_control tag
[spawner.py-2] [INFO] [1669321311.033782844] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-2] [INFO] [1669321313.050987270] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-2] [INFO] [1669321315.067009109] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-2] [ERROR] [1669321317.086227286] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner.py-2]: process has died [pid 30428, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_state_broadcaster -c /controller_manager --ros-args'].
[INFO] [spawner.py-6]: process started with pid [30593]
[spawner.py-6] [INFO] [1669321317.558955885] [spawner_minicar_controller]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1669321319.576272847] [spawner_minicar_controller]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1669321321.593130100] [spawner_minicar_controller]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1669321323.608227359] [spawner_minicar_controller]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1669321325.625707465] [spawner_minicar_controller]: Waiting for /controller_manager services
[spawner.py-6] [ERROR] [1669321327.644283473] [spawner_minicar_controller]: Controller manager not available
[ERROR] [spawner.py-6]: process has died [pid 30593, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py minicar_controller -c /controller_manager --ros-args'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1669321412.145160525] [rclcpp]: signal_handler(signal_value=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 30426]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[INFO] [gzclient-4]: process has finished cleanly [pid 30432]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ERROR] [gzserver-3]: process has died [pid 30430, exit code -11, cmd 'gzserver -s libgazebo_ros_factory.so /home/mikita/ros2_ws/install/minicar_simulator/share/minicar_simulator/worlds/test_walls.world'].

This are your error messages.

I think you need to have a look into your URDF file and in your plugin code you are missing the argument name ros2_control.

<plugin filename="file_name.so" name="gazebo_ros2_control">
      # You need to add tag over here. 
</plugin>

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Sorry, I didn't notice that. Thank you very much for your help. Everything is loading now.

Edvard ( 2022-11-24 07:58:10 -0500 )edit

That's great.

Ranjit Kathiriya ( 2022-11-24 07:59:58 -0500 )edit

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Can't spawn robot model in gazebo with no error messages in terminal

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