error running hector_quadrotor tutorial [closed]
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 hector_quadrotor_demo outdoor_flight_gazebo.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
Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin
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/spawn_urdf_model
Warning [parser.cc:377] SDF has no <sdf> element in file[data-string]
Dbg extension [<sensor name="sonar" type="ray"><always_on>true</always_on><update_rate>10</update_rate><pose>0 0 0 0 0 0</pose><visualize>false</visualize><ray><scan><horizontal><samples>3</samples><resolution>1</resolution><min_angle>-0.349065850399</min_angle><max_angle>0.349065850399</max_angle></horizontal><vertical><samples>3</samples><resolution>1</resolution><min_angle>-0.349065850399</min_angle><max_angle>0.349065850399</max_angle></vertical></scan><range><min>0.03</min><max>3.0</max><resolution>0.01</resolution></range></ray><plugin filename="libhector_gazebo_ros_sonar.so" name="gazebo_ros_sonar_controller"><gaussiannoise>0.005</gaussiannoise><topicname>sonar_height</topicname><frameid>sonar_link</frameid></plugin></sensor>] not converted. Dbg extension [<sensor name="laser0" type="ray"><always_on>true</always_on><update_rate>40</update_rate><pose>0 0 0 0 0 0</pose><visualize>false</visualize><ray><scan><horizontal><samples>1081</samples><resolution>1</resolution><min_angle>135</min_angle><max_angle>-135</max_angle></horizontal></scan><range><min>0.08</min><max>30.0</max><resolution>0.01</resolution></range></ray><plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_laser0_controller"><gaussiannoise>0.005</gaussiannoise><alwayson>true</alwayson><updaterate>40</updaterate><topicname>scan</topicname><framename>laser0_frame</framename></plugin></sensor>] not converted. Dbg extension [<sensor name="front_cam_camera_sensor" type="camera"><update_rate>10</update_rate><camera><horizontal_fov>1.57079632679</horizontal_fov><image><format>R8G8B8</format><width>320</width><height>240</height></image><clip><near>0.01</near><far>100</far></clip></camera><plugin filename="libgazebo_ros_camera.so" name="front_cam_camera_controller"><cameraname>front_cam</cameraname><alwayson>true</alwayson><updaterate>10</updaterate><imagetopicname>camera/image</imagetopicname><camerainfotopicname>camera/camera_info</camerainfotopicname><framename>front_cam_optical_frame</framename></plugin></sensor>] not converted.
Dbg [base_link] has no parent joint
Warning [parser_urdf.cc:1286] urdf2gazebo: link[front_cam_optical_frame] has no inertia, parent joint [front_cam_optical_joint] ignored
.Warning [parser_urdf.cc:1291] urdf2gazebo: link[front_cam_optical_frame] has no inertia, not modeled in gazebo
Warning [parser.cc:314] parse from urdf.
Error [SDF.cc:760] Missing element description for [CxPrime]
spawn status: SpawnModel: successfully spawned model
[spawn_robot-4] process has finished cleanly log file: /home/jpcallus/.ros/log/fad70168-e26b-11e2-aec9-000c29033514/spawn_robot-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 ...
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?
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 <CxPrime defaults to 0>
@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!
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.
@agonzamart The camera frame_id can be configured by setting the <frameName>...</frameName> parameter in the plugin's description (at least for libgazebo_ros_camera.so). In hector_sensors_description it is hardcoded to
${name}_optical_framewhere${name}is given in in the name= macro argument.@jpcallus Could you please add the full console output of the roslaunch command? The camera image should be published as
/front_cam/camera/imageif you are using the outdoor_flight_gazebo.launch launch file.