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gazebo controller recognition problem

asked 2023-03-14 02:51:53 -0500

jaeeunkim gravatar image

Hello, there is a problem with the controller input while uploading the robot from gazebo. I'd appreciate your help.

error message

$ roslaunch {package} launch

... logging to /home/kimjaen/.ros/log/1d958cb2-c239-11ed-9b62-fd77b2be295e/roslaunch-kimjaen-2174.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.

started roslaunch server http://localhost:33523/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /rosdistro: noetic
 * /rosversion: 1.15.15
 * /car/joint_03_position_controller/joint: joint_03
 * /car/joint_03_position_controller/pid/d: 10.0
 * /car/joint_03_position_controller/pid/i: 0.01
 * /car/joint_03_position_controller/pid/p: 100.0
 * /car/joint_03_position_controller/type: effort_controller...
 * /car/joint_04_position_controller/joint: joint_04
 * /car/joint_04_position_controller/pid/d: 10.0
 * /car/joint_04_position_controller/pid/i: 0.01
 * /car/joint_04_position_controller/pid/p: 100.0
 * /car/joint_04_position_controller/type: effort_controller...
 * /car/joint_05_position_controller/joint: joint_05
 * /car/joint_05_position_controller/pid/d: 10.0
 * /car/joint_05_position_controller/pid/i: 0.01
 * /car/joint_05_position_controller/pid/p: 100.0
 * /car/joint_05_position_controller/type: effort_controller...
 * /car/joint_state_controller/publish_rate: 50
 * /car/joint_state_controller/type: joint_state_contr...
 * /car/left_slider_position_controller/joint: left_slider
 * /car/left_slider_position_controller/pid/d: 10.0
 * /car/left_slider_position_controller/pid/i: 0.01
 * /car/left_slider_position_controller/pid/p: 100.0
 * /car/left_slider_position_controller/type: effort_controller...
 * /car/right_slider_position_controller/joint: right_slider
 * /car/right_slider_position_controller/pid/d: 10.0
 * /car/right_slider_position_controller/pid/i: 0.01
 * /car/right_slider_position_controller/pid/p: 100.0
 * /car/right_slider_position_controller/type: effort_controller...
 * /car/robot_description: <?xml version="1....
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
  /car/
    controller_spawner (controller_manager/spawner)
    mybot_spawn (gazebo_ros/spawn_model)
    rqt_publisher (rqt_publisher/rqt_publisher)
    rqt_reconfigure (rqt_reconfigure/rqt_reconfigure)

auto-starting new master
process[master]: started with pid [2186]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1d958cb2-c239-11ed-9b62-fd77b2be295e
process[rosout-1]: started with pid [2196]
started core service [/rosout]
process[gazebo-2]: started with pid [2199]
process[gazebo_gui-3]: started with pid [2205]
process[car/mybot_spawn-4]: started with pid [2211]
process[car/controller_spawner-5]: started with pid [2214]
process[car/rqt_reconfigure-6]: started with pid [2215]
process[car/rqt_publisher-7]: started with pid [2216]
[INFO] [1678778609.565001, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1678778609.569759, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1678778609.572303, 0.000000]: Waiting for /clock to be available...
[ INFO] [1678778609.830229877]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1678778609.831096434]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1678778609.937331903]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1678778609.938207370]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1678778610.163657896]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1678778610.173782, 0.007000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1678778610.493265, 0.156000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1678778610.499239229, 0.156000000]: Physics dynamic reconfigure ready.
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[ INFO] [1678778610.545539505, 0.156000000]: Loading gazebo_ros_control plugin
[ INFO] [1678778610.545732534, 0.156000000]: Starting gazebo_ros_control plugin in namespace: /car/
[ INFO] [1678778610.546101339, 0.156000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/car/robot_description] on the ROS param server.
[ INFO] [1678778610.672966102, 0.156000000]: Loaded gazebo_ros_control.
[INFO] [1678778610.717540, 0.201000]: /clock is ...
(more)
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answered 2023-03-15 02:28:17 -0500

jaeeunkim gravatar image

This problem was solved by modifying the package xml and Cmake file by adding rospy!

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Asked: 2023-03-14 02:51:53 -0500

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Last updated: Mar 15 '23