error running hector_quadrotor tutorial

Hi all,

I'm trying to run the hector_quadrotor tutorials. After building all the packages required I ran the following code:

root@ubuntu:/opt/ros/groovy/share# roslaunch hectorquadrotordemo outdoorflightgazebo.launch

When the program tries to run I get the following errors:

Msg Publicized address: 192.168.127.128

Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin

loading model xml from ros parameter

[INFO] [WallTime: 1372696419.943976] [0.000000] waiting for service /gazebo/spawnurdfmodel

Warning [parser.cc:377] SDF has no element in file[data-string]

Dbg extension [true100 0 0 0 0 0false31-0.3490658503990.34906585039931-0.3490658503990.3490658503990.033.00.010.005sonarheightsonarlink] not converted. Dbg extension [true400 0 0 0 0 0false10811135-1350.0830.00.010.005true40scanlaser0frame] not converted. Dbg extension [<sensor name="frontcamcamerasensor" type="camera">101.57079632679R8G8B83202400.01100frontcamtrue10camera/imagecamera/camerainfofrontcamoptical_frame] not converted.

Dbg [base_link] has no parent joint

Warning [parserurdf.cc:1286] urdf2gazebo: link[frontcamopticalframe] has no inertia, parent joint [frontcamoptical_joint] ignored

.Warning [parserurdf.cc:1291] urdf2gazebo: link[frontcamopticalframe] has no inertia, not modeled in gazebo

Warning [parser.cc:314] parse from urdf.

Error [SDF.cc:760] Missing element description for [CxPrime]

[ INFO] [1372696421.326422383, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.326535513, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.326573457, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.326608880, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.326646670, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.326697060, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.326731139, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.326760341, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.326788712, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.326814018, 0.001000000]: Camera plugin missing , defaults to 0

[ INFO] [1372696421.402363978, 0.001000000]: Reconfigure request for the gazebo ros camera: frontcam. New rate: 2.00

[ INFO] [1372696421.658844966, 0.001000000]: Laser plugin missing , defaults to 101

[ INFO] [1372696421.659046227, 0.001000000]: INFO: gazeboroslaser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters. spawn status: SpawnModel: successfully spawned model

[ INFO] [1372696421.700098175, 0.022000000]: waitForService: Service [/gazebo/setphysicsproperties] is now available.

[ INFO] [1372696421.768495146, 0.073000000]: Starting to spin physics dynamic reconfigure node...

[spawnrobot-4] process has finished cleanly log file: /home/jpcallus/.ros/log/fad70168-e26b-11e2-aec9-000c29033514/spawnrobot-4*.log

From what I can understand the error is due to some code which needs to be changed in the events.hh file, but I have no idea where to find said file, could someone kindly help? Also gazebo actually runs and the quadrotor appears but it stays on the ground and rviz does not show the camera feed. Could someone kindly help out?

Cheers,

Asked by jpcallus on 2013-07-01 06:50:44 UTC

Comments

The warnings and error messages you posted look normal to me (some could be removed by us, others are built-in in Gazebo). They should not affect the simulation results. The quadrotor has been spawned successfully in your example. Did you have any other problems beside these messages?

Asked by Johannes Meyer on 2013-07-02 02:33:24 UTC

Cheers for your reply. The problem is that the camera feed is not appearing in rviz...could it be related to this error? Error [SDF.cc:760] Missing element description for [CxPrime] That is now being followed by various lines which state that the Camera plugin is missing

Asked by jpcallus on 2013-07-03 03:13:43 UTC

@Johannes Meyer What you commented means that getting those errors about the missing element description are normal? That means that it is not possible to tell gazebo what topic to publish the information. You can not tell Gazebo to change the frame name for a camera for example?Thx!

Asked by agonzamart on 2013-07-10 02:10:59 UTC

Gazebo plugins are configured using XML parameters in the enclosing plugin tag. The "Missing element description" is generated by a faulty check in the GazeboRosCameraUtils class in package gazebo_plugins, which has been fixed in later versions.

Asked by Johannes Meyer on 2013-07-10 09:36:10 UTC

@agonzamart The camera frame_id can be configured by setting the ... parameter in the plugin's description (at least for libgazebo_ros_camera.so). In hector_sensors_description it is hardcoded to ${name}_optical_frame where ${name} is given in in the name= macro argument.

Asked by Johannes Meyer on 2013-07-10 09:40:06 UTC

@jpcallus Could you please add the full console output of the roslaunch command? The camera image should be published as /front_cam/camera/image if you are using the outdoor_flight_gazebo.launch launch file.

Asked by Johannes Meyer on 2013-07-10 09:49:09 UTC

Answers

Hallo Johannes wie geht's? :)

I have the same problem, I'm spawning with kinect because I need the RGBD, the only errors I get in the entire code are like these ones. Nothing appears on rviz :(. Do you have any ideia about the problem?

Thanks!!! Best Regards!

Asked by melkart on 2013-11-26 08:47:51 UTC