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2022-05-25 14:15:38 -0500	marked best answer	Problem with launching ur_gazebo I am checking out this tutorial on ur_gazebo. I have all the requirements installed. However, when I try `roslaunch ur_gazebo ur5.launch`, it gives me some errors and says (Full output attached at the end) `[spawn_gazebo_model-4] process has finished cleanly [joint_state_controller_spawner-7] process has finished cleanly [arm_controller_spawner-8] process has finished cleanly` Still I can see `gazebo` working as expected (I think). I can run the `moveit config`, plan a path using rviz and execute and in gazebo it seems to be working fine. What am I missing here? I have no prior experience in this so an explanation on this is much appreciated. `roslaunch ur_gazebo ur5.launch` output: ... logging to /home/XXXX/.ros/log/fe8e0ec2-d9f5-11e9-a221-8c04ba099a14/roslaunch-tehan-l-l-13884.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://tehan-l-l:42425/ SUMMARY ======== PARAMETERS * /arm_controller/action_monitor_rate: 10 * /arm_controller/constraints/elbow_joint/goal: 0.1 * /arm_controller/constraints/elbow_joint/trajectory: 0.1 * /arm_controller/constraints/goal_time: 0.6 * /arm_controller/constraints/shoulder_lift_joint/goal: 0.1 * /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /arm_controller/constraints/shoulder_pan_joint/goal: 0.1 * /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /arm_controller/constraints/stopped_velocity_tolerance: 0.05 * /arm_controller/constraints/wrist_1_joint/goal: 0.1 * /arm_controller/constraints/wrist_1_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_2_joint/goal: 0.1 * /arm_controller/constraints/wrist_2_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_3_joint/goal: 0.1 * /arm_controller/constraints/wrist_3_joint/trajectory: 0.1 * /arm_controller/joints: ['shoulder_pan_jo... * /arm_controller/state_publish_rate: 25 * /arm_controller/stop_trajectory_duration: 0.5 * /arm_controller/type: position_controll... * /joint_state_controller/publish_rate: 50 * /joint_state_controller/type: joint_state_contr... * /robot_description: <?xml version="1.... * /robot_state_publisher/publish_frequency: 50.0 * /robot_state_publisher/tf_prefix: * /rosdistro: kinetic * /rosversion: 1.12.14 * /use_sim_time: True NODES / arm_controller_spawner (controller_manager/controller_manager) fake_joint_calibration (rostopic/rostopic) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_controller_spawner (controller_manager/controller_manager) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawn_gazebo_model (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [13899] ROS_MASTER_URI=http://localhost:11311 setting /run_id to fe8e0ec2-d9f5-11e9-a221-8c04ba099a14 process[rosout-1]: started with pid [13912] started core service [/rosout] process[gazebo-2]: started with pid [13922] process[gazebo_gui-3]: started with pid [13940] process[spawn_gazebo_model-4]: started with pid [13946] process[robot_state_publisher-5]: started with pid [13947] process[fake_joint_calibration-6]: started with pid [13948] process[joint_state_controller_spawner-7]: started with pid [13949] process[arm_controller_spawner-8]: started with pid [13952] [ INFO] [1568798618.512260316]: Finished loading Gazebo ROS API Plugin. [ INFO] [1568798618.512910501]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1568798618.515966508]: Finished loading Gazebo ROS API Plugin. [ INFO] [1568798618.516420817]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... SpawnModel script started [INFO] [1568798618.830303, 0.000000]: Loading model XML from ros parameter [INFO] [1568798618.832155, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ INFO] [1568798619.032186013, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1568798619.062803814, 0.052000000]: Physics dynamic reconfigure ready. [INFO] [1568798619.138086, 0.121000]: Calling service /gazebo/spawn_urdf_model [INFO] [1568798619.275586, 0.157000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1568798619.341170165, 0.157000000]: Loading gazebo_ros_control plugin [ERROR] [1568798619.341286713, 0.157000000]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true. This setting assumes you have an old package with an ... (more)
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2021-07-21 13:03:52 -0500	marked best answer	run_id on parameter server does not match declared run_id I have set up several `roslaunch` files to be launched at system startup using `systemd`. However at the startup they show the above error and fail. When I set the `systemd` services to be restarted on failure, launch files are relaunched when failed and work fine. What might I be doing wrong here? Declared `run_id` for each `roslaunch` seems to be different from each other at the first launch. The error is in the following format `run_id on parameter server does not match declared run_id: 686cb5dc-01cf-11e9-ab7c-b10995016401 vs 68b27f9a-01cf-11e9-ab7c-b10995016401` Here's a sample script that runs a launch file `#!/bin/bash sleep 1 source /opt/ros/kinetic/setup.bash source /my/workspace/path/devel/setup.bash roslaunch /launch/file/path/myfile.launch` Here's the format of the systemd services I use `[Unit] Description=Unit description Wants=roscore.service BindsTo=roscore.service [Service] User=username ExecStart=/script/that/runs/the/launch/file.sh Restart=on-failure RestartSec=1 [Install] WantedBy=multi-user.target` `roscore.service` starts a roscore. I am using `kinetic` on `Ubuntu 16.04`.
2021-07-21 06:33:25 -0500	received badge	● Good Answer (source)
2021-07-10 10:21:10 -0500	asked a question	rtabmap deviating path rtabmap deviating path I am trying to get rtabmap working on an outdoor environment where there is not a lot of features
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2021-04-05 03:35:59 -0500	commented question	ROS noetic installation unmet dependencies This is a clean installation. But as I remember, I installed nvidia docker before ROS. Nothing major other than that was
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2021-02-27 13:28:18 -0500	commented question	Using multiple launch files There is no gurantee on the order. But this might help you implement a workaround for your problem
2021-02-27 10:37:18 -0500	asked a question	ROS noetic installation unmet dependencies ROS noetic installation unmet dependencies I am trying to install ROS noetic on a Ubuntu 20.04 x64 i7 laptop. I have add
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2020-08-10 06:01:51 -0500	marked best answer	Using SDF instead of URDF with Robot State Publisher With URDF models, you can use `robot_state_publisher` to have the joints published in `tf`. Since this needs the `<robot>` tag, it does not work with SDF models. If you try to `roslaunch` for a SDF it would say `Could not find the 'robot' element in the xml file` Everything else works fine in gazebo but the state publisher dies Is there any way I can use robot state publisher with SDF? Maybe include URDF into the SDF? Or specify the `<robot>` tag in it somehow? TL;DR: I have found many other questions related to this question but none had a positive answer and most of them are more than 5 years old. However, This answer suggests that you can do anything with SDF that is possible in URDF. This question has an answer suggesting an alternative by having both URDF and SDF but it's an ugly solution There's this old unanswered question as well I want to created a 6 wheeled robot model with two wheels having shock absorbers (prismatic joints with damping and spring actions). To my understanding, this cannot be done using URDF
2020-07-29 10:57:01 -0500	commented question	Cross compile my ROS package for Nvidia jetson TX2 @gvdhoom just came across that a few hours ago and it works pretty well. No hassle. I don't know how I missed that. Than
2020-07-29 10:56:41 -0500	edited answer	Cross compile my ROS package for Nvidia jetson TX2 Until a good answer comes up, check the thread I started in nvidia developer forum if someone is stuck with a similar pr
2020-07-29 10:55:36 -0500	commented question	Cross compile my ROS package for Nvidia jetson TX2 @gvdhoom just came across that a few hours ago and it works pretty well. No hassle.
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2020-07-29 07:41:20 -0500	marked best answer	Cross compile my ROS package for Nvidia jetson TX2 I have some ROS packages developed for a robot which I want to deploy on a jetson TX2(ARM® Cortex®-A57 MPCore) with ROS melodic (the robot has a TX2 for its computer). I want the packages to be compiled on a PC (running Ubuntu 18 presumably) and deploy them on the TX2 to be run on it. Basically I want the output of `catkin_make install` for TX2, in my PC so that I can put the `install/` directory into the robot from the build machine I only need to cross compile my own packages. ROS and other dependencies will be pre installed on the TX2 I am an absolute noob to this cross compilation. The most straightforward guide I have found so far is this article for raspberry pi. This other article cross compiles ROS for PX2 but it is not very clear to me. Many other resources are outdated. Can someone please show me the path I should follow for this? Where do I begin? Which toolchains do I use? What options do I set (catkinm CMake...)? Any insight related to this is much appreciated What I have found so far (Are these what I need? I have no idea) GCC toolchain for 64bit BSP L4T Sources for GCC Tool Chain for 64 bit BSP TX2 is aarch64
2020-07-29 07:41:11 -0500	answered a question	Cross compile my ROS package for Nvidia jetson TX2 Until a good answer comes up, check the thread I started in nvidia developer forum if someone is stuck with a similar pr
2020-07-29 07:32:04 -0500	asked a question	Cross compiled ROS can't find pthread Cross compiled ROS can't find pthread I have managed to successfully cross compile ROS melodic for aarch64 using my x86_
2020-07-26 14:37:08 -0500	asked a question	CMake variables for cross compiling a ROS package CMake variables for cross compiling a ROS package I am trying to cross compile a ROS package for an aarch64 system (a je
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2020-07-21 06:36:29 -0500	commented question	cross-compile ROS for ARM64 This reply is late but this article has a solution for a somewhat similar problem with pthread
2020-07-21 05:44:43 -0500	edited question	Cross compile my ROS package for Nvidia jetson TX2 Cross compile my ROS package for Nvidia jetson TX2 I have some ROS packages developed for a robot which I want to deploy
2020-07-21 05:41:26 -0500	edited question	Cross compile my ROS package for Nvidia jetson TX2 Cross compile my ROS package for Nvidia jetson TX2 I have some ROS packages developed for a robot which I want to deploy
2020-07-21 05:35:44 -0500	asked a question	Cross compile my ROS package for Nvidia jetson TX2 Cross compile my ROS package for Nvidia jetson TX2 I have some ROS packages developed for a robot which I want to deploy
2020-07-20 21:08:45 -0500	marked best answer	Cannot teleop turtlebot3 in gazebo with melodic I am trying to control a `turtlebot3` in gazebo using ROS. I can do this without a problem in `Ubuntu 16` `ros kinetic` (gazebo 7). But I cannot do the same thing with same commands in `Ubuntu 18` `ros melodic` (gazebo 9) Here's the log shown from `roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch` in `ros melodic` xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://xxxxxx:45893/ SUMMARY ======== PARAMETERS * /gazebo/enable_ros_network: True * /robot_description: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.5 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) spawn_urdf (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [3042] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 331250c0-acb1-11ea-af42-0c5b8f279a64 process[rosout-1]: started with pid [3053] started core service [/rosout] process[gazebo-2]: started with pid [3056] process[gazebo_gui-3]: started with pid [3064] process[spawn_urdf-4]: started with pid [3070] [ INFO] [1591968766.435037191]: Finished loading Gazebo ROS API Plugin. [ INFO] [1591968766.435766509]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1591968766.484922295]: Finished loading Gazebo ROS API Plugin. [ INFO] [1591968766.485743143]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1591968766.762218392, 0.003000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1591968767.093444620, 0.168000000]: Physics dynamic reconfigure ready. [spawn_urdf-4] process has finished cleanly log file: /home/XXXXX/.ros/log/331250c0-acb1-11ea-af42-0c5b8f279a64/spawn_urdf-4.log ROS topic list after launching this is as follows `/clock /gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/set_link_state /gazebo/set_model_state /rosout /rosout_agg` Here's the log from the same roslaunch in `ros kinetic` in which this works fine started roslaunch server http://xxxxxx-l-l:41851/ SUMMARY ======== PARAMETERS /robot_description: <?xml version="1.... * /rosdistro: kinetic * /rosversion: 1.12.14 * /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) spawn_urdf (gazebo_ros/spawn_model) auto-starting new master process[master]: started with pid [8166] ROS_MASTER_URI=http://localhost:11311 setting /run_id to a1193f98-acb1-11ea-8274-8c04ba099a14 process[rosout-1]: started with pid [8179] started core service [/rosout] process[gazebo-2]: started with pid [8187] process[gazebo_gui-3]: started with pid [8207] process[spawn_urdf-4]: started with pid [8213] [ INFO] [1591968950.965463454]: Finished loading Gazebo ROS API Plugin. [ INFO] [1591968950.965900805]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1591968950.978686441]: Finished loading Gazebo ROS API Plugin. [ INFO] [1591968950.979178680]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1591968951.385803403, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1591968951.738905171, 0.163000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1591968951.738957452, 0.163000000]: Starting Laser Plugin (ns = /) [ INFO] [1591968951.740414014, 0.163000000]: Physics dynamic reconfigure ready. [ INFO] [1591968951.740771321, 0.163000000]: Laser Plugin (ns = /) <tf_prefix_>, set to "" [ INFO] [1591968951.833262130, 0.163000000]: Starting plugin DiffDrive(ns = //) [ INFO] [1591968951.833336896, 0.163000000]: DiffDrive(ns = //): <rosDebugLevel> = na [ INFO] [1591968951.834254336, 0.163000000]: DiffDrive(ns = //): <tf_prefix> = [ INFO] [1591968951.836164861, 0.163000000]: DiffDrive(ns = //): Advertise joint_states [ INFO] [1591968951.836952897, 0.163000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel [ INFO] [1591968951.840035635, 0.163000000]: DiffDrive(ns = //): Subscribe to cmd_vel [ INFO] [1591968951.840746578, 0.163000000]: DiffDrive(ns = //): Advertise odom ... (more)
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