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I am trying to simulate a Baxter bot in Gazebo2- Indigo. I am getting the following error and need help debugging it. Here is the first message that I am getting:

INFO] [WallTime: 1450912978.152709] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Error [Param.cc:181] Unable to set value [-nan -nan -nan 0 -0 0] for key[pose]
[ INFO] [1450912979.083195846, 2.069000000]: Block laser plugin missing <hokuyoMinIntensity>, defaults to 101
[ INFO] [1450912979.083362043, 2.069000000]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.

Then the following two errors are continuously sent to the terminal.

[ERROR] [1450913124.345122432, 3.380000000]: Ignoring transform for child_frame_id "l_gripper_l_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[ERROR] [1450913124.345166827, 3.380000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)

I need the URDF for my Gazebo simulation. I have the environment configured but I don't have the URDF file with the grippers attached. I have an experimental file but when I try to control the grippers with the keyboard controller, I get a message that says it "cannot be used with custom grippers."

I need a Baxter URDF with parallel electric grippers. Does anyone have one that works and can be controlled with the keyboard gripper controller?

Thanks that worked! Just for clarification, I went into my URDF file and adjusted all the joint names that started with: "right_..." or "left_..." to "r_..." and "l_..." respectively. Thanks for your help.

I need help figuring out these two errors. They are both related, so solving one should solve the other. I'm building custom grippers for Baxter in Ros-Indigo (ubuntu 1404.2). I've built a custom URDF file along with a custom launch file. This error is the last error I have to figure out.

 [baxter_sim_kinematics_left-6] process has died [pid 27862, exit code -11, cmd /home/veyorokon/ros/baxter_ws/devel/lib/baxter_sim_kinematics/kinematics left __name:=baxter_sim_kinematics_left __log:=/home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_left-6.log].
log file: /home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_left-6*.log
[baxter_sim_kinematics_right-7] process has died [pid 27921, exit code -11, cmd /home/veyorokon/ros/baxter_ws/devel/lib/baxter_sim_kinematics/kinematics right __name:=baxter_sim_kinematics_right __log:=/home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_right-7.log].
log file: /home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_right-7*.log

I'm trying to run gripper_keyboard.py with my custom Baxter URDF that includes the electric grippers. But i keep getting an error message saying that "custom grippers cannot be used".

Has anyone encountered this before?

Thanks

Ubuntu 14.04.2 LTE, ROS-indigo, Gazebo2

SOLVED: opencv3 was not installed through apt. I did install it from source though. After deleting/uninstalling all versions of opencv, I went to the following link and installed it from there:

http://www.samontab.com/web/2014/06/i...

FOLLOW ALL STEPS - Including system restart.

Then i went back into the base of my workspace (baxter_ws) and ran catkin_make then i ran catkin_make install. After launch gazebo, baxter was inside and all the error messages were cleared.

Ubuntu 14.04.2 LTE

I'm trying to setup a workspace to simulate Baxter in gazebo with Ros Indigo. When I run catkin_make in my workspace i get the following error:

[100%] Building CXX object baxter_simulator/baxter_sim_hardware/CMakeFiles/baxter_emulator.dir/src/baxter_emulator.cpp.o

...

...

[100%] Building CXX object baxter_simulator/baxter_sim_hardware/CMakeFiles/baxter_emulator.dir/src/baxter_emulator.cpp.o
Built target kinematics
/home/veyorokon/ros/baxter_ws/src/baxter_simulator/baxter_sim_hardware/src/baxter_emulator.cpp: In member function ‘void baxter_en::baxter_emulator::publish(const string&)’:
/home/veyorokon/ros/baxter_ws/src/baxter_simulator/baxter_sim_hardware/src/baxter_emulator.cpp:284:21: error: ‘imread’ is not a member of ‘cv’
     cv_ptr->image = cv::imread(img_path, CV_LOAD_IMAGE_UNCHANGED);
                     ^
make[2]: *** [baxter_simulator/baxter_sim_hardware/CMakeFiles/baxter_emulator.dir/src/baxter_emulator.cpp.o] Error 1
make[1]: *** [baxter_simulator/baxter_sim_hardware/CMakeFiles/baxter_emulator.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

This error has been haunting me for the past three days...

When I launch baxter_world I get the following errors in order. I'm struggling with fixing these.

[ INFO] [1448157761.777717835]: getting bounds for joint: [right_s0]
ERROR: cannot launch node of type [baxter_sim_hardware/baxter_emulator]: can't locate node [baxter_emulator] in package [baxter_sim_hardware]

[INFO] [WallTime: 1448157762.755704] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Segmentation fault (core dumped)

[gazebo_gui-3] process has died [pid 8359, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/veyorokon/.ros/log/1c64b260-90bd-11e5-b392-b8e85645ebf8/gazebo_gui-3.log].
log file: /home/veyorokon/.ros/log/1c64b260-90bd-11e5-b392-b8e85645ebf8/gazebo_gui-3*.log

[gazebo-2] process has died [pid 8353, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -e ode /home/veyorokon/ros/baxter_ws/src/baxter_simulator/baxter_gazebo/worlds/baxter.world __name:=gazebo __log:=/home/veyorokon/.ros/log/1c64b260-90bd-11e5-b392-b8e85645ebf8/gazebo-2.log].
log file: /home/veyorokon/.ros/log/1c64b260-90bd-11e5-b392-b8e85645ebf8/gazebo-2*.log