J_Schaefer's profile - activity

Hello,

I installed winros on Win7 using VisualStudio 2013 (Version 12). I also installed Python and CMake. I can start ROSCore normally and even the examples, but when i try to run winros_make it fails.

In order to run ROS with overlay I created a workspace and added the Universal-Robot-package (link:universal-robot) to the src folder using wstool (link:win_ros/hydro/Msvc Overlays ).

When i run winros_make it fails displaying following message:

CMake Error at C:/opt/ros-vc12/hydro/x86/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
    Could not find a package configuration file provided by "dynamic_reconfigure" with any of the following names:

    dynamic_reconfigureConfig.cmake
    dynamic_reconfiguration-config.cmake

  Add the installation prefix of "dynamic_reconfigure" to CMAKE_PREFIX_PATH of set "dynamic_reconfiguration_DIR" to a directory containing one of the above files. If "dynamic_reconfiguration" provides a seperate development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
universal_robot/ur_driver/CMakeLists.txt:7 (find_package)

-- Configuring incomplete, errors occured!
See also "C:ws/ws/overlay/build/CMakeFiles/CMakeOutput.log".

Executing nmake in the root build directory

Microsoft (R) Program Meintenance Utility Version 12.00.21005.1
Copyright (C) Microsoft Corporation. All rights reserved.

NMAKE: fatal error U1064: MAKEFILE not found and no target specified
Stop.

This is the CMakeOutput.log-file:

The system is: Windows - 6.1.7601 - AMD64
Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
Compiler: C:/Program Files (x86)/Microsoft Visual Studio 12.0/VC/bin/cl.exe 
Build flags: 
Id flags: 

The output was:
0
Microsoft (R) C/C++ Optimizing Compiler Version 18.00.31101 for x86
Copyright (C) Microsoft Corporation.  All rights reserved.

CMakeCCompilerId.c
Microsoft (R) Incremental Linker Version 12.00.31101.0
Copyright (C) Microsoft Corporation.  All rights reserved.

/out:CMakeCCompilerId.exe 
CMakeCCompilerId.obj 


Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "CMakeCCompilerId.exe"

Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "CMakeCCompilerId.obj"

The C compiler identification is MSVC, found in "C:/ws/overlay/build/CMakeFiles/3.6.0-rc3/CompilerIdC/CMakeCCompilerId.exe"

Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
Compiler: C:/Program Files (x86)/Microsoft Visual Studio 12.0/VC/bin/cl.exe 
Build flags: 
Id flags: 

The output was:
0
Microsoft (R) C/C++ Optimizing Compiler Version 18.00.31101 for x86
Copyright (C) Microsoft Corporation.  All rights reserved.

CMakeCXXCompilerId.cpp
Microsoft (R) Incremental Linker Version 12.00.31101.0
Copyright (C) Microsoft Corporation.  All rights reserved.

/out:CMakeCXXCompilerId.exe 
CMakeCXXCompilerId.obj 


Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced     "CMakeCXXCompilerId.exe"

Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced     "CMakeCXXCompilerId.obj"

The CXX compiler identification is MSVC, found in "C:/ws/overlay/build/CMakeFiles/3.6.0-rc3/CompilerIdCXX/CMakeCXXCompilerId.exe"

Determining if the C compiler works passed with the following output:
Change Dir: C:/ws/overlay/build/CMakeFiles/CMakeTmp

Run Build Command:"nmake" "/NOLOGO" "cmTC_219c1\fast"
    "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\BIN\nmake.exe" -f CMakeFiles\cmTC_219c1.dir\build.make /nologo -L                  CMakeFiles\cmTC_219c1 ...

Hi there,

I'm trying to create a simulation with an UR5, the Robotiq FT150 Sensor and the Robotiq 85 Gripper. Github/universal_robot, Github/robotiq

I integrated the gripper by referencing it in the ur5_robot.urdf:

  <!-- 85 -->
  <xacro:include filename="$(find robotiq_85_description)/urdf/robotiq_85_gripper.xacro" />
  [...]
  <joint name="Gripper_Adapter_Fix" type="fixed">
   <parent link="fts_toolside" />
   <child link="robotiq_85_root" />
   <origin xyz="0.0 0.0 0.1" rpy="0.0 ${- pi / 2} 0.0" />
  </joint>

The model of the gripper (Github/StanleyInnovations) is not suitable for Gazebo at the moment, so I tried to fix it using transmissions:

 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:macro name="robotiq_85_gripper_transmission" params="prefix">

   <transmission name="${prefix}robotiq_85_left_knuckle_trans">
     <type>transmission_interface/SimpleTransmission</type>
     <joint name="${prefix}robotiq_85_left_knuckle_joint">
       <hardwareInterface>PositionJointInterface</hardwareInterface>
     </joint>
     <actuator name="${prefix}robotiq_85_left_knuckle_motor">
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>

 </xacro:macro>
 </robot>

But now this appears, while launching the model:

[...]
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.110.200
[INFO] [WallTime: 1448960579.834783] [0.765000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1448960579.992465659, 0.765000000]: Loading gazebo_ros_control plugin
[ INFO] [1448960579.992562338, 0.765000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1448960579.993397424, 0.765000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/spawn_gazebo_model-3*.log
[ WARN] [1448960580.154895328, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.154951108, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.155454039, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.155989982, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.156066422, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.156464493, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.156852348, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.156876036, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.157257797, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.157631933, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.157655654, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.158047017, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.158442487, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.158467058, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.158913378, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.159315827, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.159340518, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.159694419, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ INFO] [1448960580.178391688, 0.765000000]: Loaded gazebo_ros_control.
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
Loaded ...

I now face a similar kind of problem as you did, @gpldecha. I'm trying to create a simulation for an UR5 with Robotiq_85_C2_Gripper.

First I tried to reference the Gripper inside the xacro-File of the UR5. It partly worked, but the Gripper didn't spawn fully.

Now I want to create a new xacro-File in which I combine both xacro's of the robot and gripper and call this file with a launch-file.

My code is (ur5_robotiq.xacro):

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ur5_robotiq_model">
<property name="pi" value="3.1415"/>
<xacro:include filename="$(find ur_description)/urdf/ur5_robot.urdf.xacro"/>
<xacro:include filename="$(find robotiq_c2_model_visualization)/urdf/robotiq_c2_model.xacro"/>

<link name="world" />

<joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link = "base_foot" />
    <origin xyz="0.0 0.0 0.026" rpy="0.0 0.0 0.0" />
</joint>

<joint name="Gripper_Adapter_Fix" type="fixed">
    <parent link="fts_toolside" />
    <child link="robotiq_85_adapter_link" />
    <origin xyz="0.0 0.0 -0.0125" rpy="0.0 ${- pi / 2} 0.0" />
</joint>

</robot>

This file is loaded by (ur5_robotiq.launch):

<?xml version="1.0"?>
<launch>
<arg name="limited" default="false"/>

<param name="robot_description" command="$(find xacro)/xacro.py '$(find myrobot_description)/urdf/ur5_robotiq.xacro'" />

</launch>

The highest launch-file is:

<?xml version="1.0"?>
<launch>

<arg name="limited" default="false"/>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>



<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find myrobot_gazebo)/worlds/myworld.world"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="gui" value="$(arg gui)"/>
</include>

      <!-- UR5 & Robotiq Gripper -->
      <!-- load ur5 into sim -->
     <!-- send robot urdf to param server -->

     <include file="$(find myrobot_description)/launch/ur5_robotiq.launch">
        <arg name="limited" value="$(arg limited)"/>
     </include>

     <!-- push robot_description to factory and spawn robot in gazebo -->
     <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
         args="-urdf -param robot_description
         -model robot
         -z 0.0"
         respawn="false" output="screen" />

</launch>

I'm new to ROS and Gazebo. First I just want to spawn both Models in my world. The controllers are less important at the moment. When I launch the highest launch file with roslaunch, then Gazebo starts with myworld but without the models:

...
[INFO] [WallTime: 1448618278.209298] [0.245000] Calling service /gazebo/spawn_urdf_model                                                      
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]                                                         
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]                                                                          
Error:   Failed to build tree: parent link [fts_toolside] of joint [Gripper_Adapter_Fix] not found.  This is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint [Gripper_Adapter_Fix] from your urdf file, or add "<link name="fts_toolside" />" to your urdf file.                                 
     at line 226 in /build/buildd/urdfdom-0.2.10+dfsg/urdf_parser/src/model.cpp                                                           
Error [parser_urdf.cc:2608] Unable to call parseURDF on robot model                                                                           
Error [parser.cc:299] parse as old deprecated model file failed.                                                                              
Error [World.cc:1527] Unable ...