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Gazebo SImulation Problem #107

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full0134 opened this issue Dec 18, 2020 · 1 comment
Open

Gazebo SImulation Problem #107

full0134 opened this issue Dec 18, 2020 · 1 comment

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@full0134
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full0134 commented Dec 18, 2020 •
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Hello sirs,

I am trying to get the gazebo simulation working but it seems to run into an issue. The simulation loads but then does not work. I have attached the terminal outputs below. Sorry if this is an obvious problem, as I am quite new to using ROS/Gazebo.

Gazebo:

... logging to /home/robotis/.ros/log/50b22eaa-40ec-11eb-b989-645d86d0e2d3/roslaunch-robotis-op3-4927.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http:https://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http:https://10.42.0.1:42283/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /robotis_op3/head_pan_position/joint: head_pan
 * /robotis_op3/head_pan_position/pid/d: 0.0
 * /robotis_op3/head_pan_position/pid/i: 0.0
 * /robotis_op3/head_pan_position/pid/p: 5.0
 * /robotis_op3/head_pan_position/type: effort_controller...
 * /robotis_op3/head_tilt_position/joint: head_tilt
 * /robotis_op3/head_tilt_position/pid/d: 0.0
 * /robotis_op3/head_tilt_position/pid/i: 0.0
 * /robotis_op3/head_tilt_position/pid/p: 5.0
 * /robotis_op3/head_tilt_position/type: effort_controller...
 * /robotis_op3/joint_state_controller/publish_rate: 50
 * /robotis_op3/joint_state_controller/type: joint_state_contr...
 * /robotis_op3/l_ank_pitch_position/joint: l_ank_pitch
 * /robotis_op3/l_ank_pitch_position/pid/d: 0.0
 * /robotis_op3/l_ank_pitch_position/pid/i: 0.0
 * /robotis_op3/l_ank_pitch_position/pid/p: 50.0
 * /robotis_op3/l_ank_pitch_position/type: effort_controller...
 * /robotis_op3/l_ank_roll_position/joint: l_ank_roll
 * /robotis_op3/l_ank_roll_position/pid/d: 0.0
 * /robotis_op3/l_ank_roll_position/pid/i: 0.0
 * /robotis_op3/l_ank_roll_position/pid/p: 50.0
 * /robotis_op3/l_ank_roll_position/type: effort_controller...
 * /robotis_op3/l_el_position/joint: l_el
 * /robotis_op3/l_el_position/pid/d: 0.0
 * /robotis_op3/l_el_position/pid/i: 0.0
 * /robotis_op3/l_el_position/pid/p: 10.0
 * /robotis_op3/l_el_position/type: effort_controller...
 * /robotis_op3/l_hip_pitch_position/joint: l_hip_pitch
 * /robotis_op3/l_hip_pitch_position/pid/d: 0.0
 * /robotis_op3/l_hip_pitch_position/pid/i: 0.0
 * /robotis_op3/l_hip_pitch_position/pid/p: 50.0
 * /robotis_op3/l_hip_pitch_position/type: effort_controller...
 * /robotis_op3/l_hip_roll_position/joint: l_hip_roll
 * /robotis_op3/l_hip_roll_position/pid/d: 0.0
 * /robotis_op3/l_hip_roll_position/pid/i: 0.0
 * /robotis_op3/l_hip_roll_position/pid/p: 50.0
 * /robotis_op3/l_hip_roll_position/type: effort_controller...
 * /robotis_op3/l_hip_yaw_position/joint: l_hip_yaw
 * /robotis_op3/l_hip_yaw_position/pid/d: 0.0
 * /robotis_op3/l_hip_yaw_position/pid/i: 0.0
 * /robotis_op3/l_hip_yaw_position/pid/p: 50.0
 * /robotis_op3/l_hip_yaw_position/type: effort_controller...
 * /robotis_op3/l_knee_position/joint: l_knee
 * /robotis_op3/l_knee_position/pid/d: 0.0
 * /robotis_op3/l_knee_position/pid/i: 0.0
 * /robotis_op3/l_knee_position/pid/p: 50.0
 * /robotis_op3/l_knee_position/type: effort_controller...
 * /robotis_op3/l_sho_pitch_position/joint: l_sho_pitch
 * /robotis_op3/l_sho_pitch_position/pid/d: 0.0
 * /robotis_op3/l_sho_pitch_position/pid/i: 0.0
 * /robotis_op3/l_sho_pitch_position/pid/p: 10.0
 * /robotis_op3/l_sho_pitch_position/type: effort_controller...
 * /robotis_op3/l_sho_roll_position/joint: l_sho_roll
 * /robotis_op3/l_sho_roll_position/pid/d: 0.0
 * /robotis_op3/l_sho_roll_position/pid/i: 0.0
 * /robotis_op3/l_sho_roll_position/pid/p: 10.0
 * /robotis_op3/l_sho_roll_position/type: effort_controller...
 * /robotis_op3/r_ank_pitch_position/joint: r_ank_pitch
 * /robotis_op3/r_ank_pitch_position/pid/d: 0.0
 * /robotis_op3/r_ank_pitch_position/pid/i: 0.0
 * /robotis_op3/r_ank_pitch_position/pid/p: 50.0
 * /robotis_op3/r_ank_pitch_position/type: effort_controller...
 * /robotis_op3/r_ank_roll_position/joint: r_ank_roll
 * /robotis_op3/r_ank_roll_position/pid/d: 0.0
 * /robotis_op3/r_ank_roll_position/pid/i: 0.0
 * /robotis_op3/r_ank_roll_position/pid/p: 50.0
 * /robotis_op3/r_ank_roll_position/type: effort_controller...
 * /robotis_op3/r_el_position/joint: r_el
 * /robotis_op3/r_el_position/pid/d: 0.0
 * /robotis_op3/r_el_position/pid/i: 0.0
 * /robotis_op3/r_el_position/pid/p: 10.0
 * /robotis_op3/r_el_position/type: effort_controller...
 * /robotis_op3/r_hip_pitch_position/joint: r_hip_pitch
 * /robotis_op3/r_hip_pitch_position/pid/d: 0.0
 * /robotis_op3/r_hip_pitch_position/pid/i: 0.0
 * /robotis_op3/r_hip_pitch_position/pid/p: 50.0
 * /robotis_op3/r_hip_pitch_position/type: effort_controller...
 * /robotis_op3/r_hip_roll_position/joint: r_hip_roll
 * /robotis_op3/r_hip_roll_position/pid/d: 0.0
 * /robotis_op3/r_hip_roll_position/pid/i: 0.0
 * /robotis_op3/r_hip_roll_position/pid/p: 50.0
 * /robotis_op3/r_hip_roll_position/type: effort_controller...
 * /robotis_op3/r_hip_yaw_position/joint: r_hip_yaw
 * /robotis_op3/r_hip_yaw_position/pid/d: 0.0
 * /robotis_op3/r_hip_yaw_position/pid/i: 0.0
 * /robotis_op3/r_hip_yaw_position/pid/p: 50.0
 * /robotis_op3/r_hip_yaw_position/type: effort_controller...
 * /robotis_op3/r_knee_position/joint: r_knee
 * /robotis_op3/r_knee_position/pid/d: 0.0
 * /robotis_op3/r_knee_position/pid/i: 0.0
 * /robotis_op3/r_knee_position/pid/p: 50.0
 * /robotis_op3/r_knee_position/type: effort_controller...
 * /robotis_op3/r_sho_pitch_position/joint: r_sho_pitch
 * /robotis_op3/r_sho_pitch_position/pid/d: 0.0
 * /robotis_op3/r_sho_pitch_position/pid/i: 0.0
 * /robotis_op3/r_sho_pitch_position/pid/p: 10.0
 * /robotis_op3/r_sho_pitch_position/type: effort_controller...
 * /robotis_op3/r_sho_roll_position/joint: r_sho_roll
 * /robotis_op3/r_sho_roll_position/pid/d: 0.0
 * /robotis_op3/r_sho_roll_position/pid/i: 0.0
 * /robotis_op3/r_sho_roll_position/pid/p: 10.0
 * /robotis_op3/r_sho_roll_position/type: effort_controller...
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /robotis_op3/
    controller_spawner (controller_manager/spawner)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    urdf_spawner (gazebo_ros/spawn_model)

ROS_MASTER_URI=http:https://10.42.0.1:11311

process[gazebo-1]: started with pid [4966]
process[gazebo_gui-2]: started with pid [4971]
process[urdf_spawner-3]: started with pid [4975]
ERROR: cannot launch node of type [controller_manager/spawner]: controller_manager
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/robotis/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
[ INFO] [1608267429.074960294]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1608267429.077592434]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1608267429.415269459]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1608267429.419324586]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
shutdown request: new node registered with same name
[INFO] [1608267429.967050, 0.000000]: Loading model XML from ros parameter
[INFO] [1608267429.982124, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1608267429.984069, 0.000000]: Calling service /gazebo/spawn_urdf_model
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 313, in <module>
    sm.callSpawnService()
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 271, in callSpawnService
    initial_pose, self.reference_frame, self.gazebo_namespace)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py", line 28, in spawn_urdf_model_client
    rospy.wait_for_service(gazebo_namespace+'/spawn_urdf_model')
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service
    raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
[ INFO] [1608267430.359857990]: <robotNamespace> set to: //
[ INFO] [1608267430.359931330]: <topicName> set to: //robotis_op3/imu
[ INFO] [1608267430.359969095]: <frameName> set to: body_link
[ INFO] [1608267430.360012959]: <updateRateHZ> set to: 10
[ INFO] [1608267430.360041992]: <gaussianNoise> set to: 0
[ INFO] [1608267430.360073828]: <xyzOffset> set to: 0 0 0
[ INFO] [1608267430.360122969]: <rpyOffset> set to: 0 -0 0
[INFO] [1608267430.461895, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[urdf_spawner-3] process has finished cleanly
log file: /home/robotis/.ros/log/50b22eaa-40ec-11eb-b989-645d86d0e2d3/urdf_spawner-3*.log
[ INFO] [1608267431.050111649]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1608267431.071445666]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1608267556.775078705, 18.153000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1608267556.776317821, 18.153000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1608267557.158470679, 18.215000000]: Physics dynamic reconfigure ready.
[ INFO] [1608267557.161445120, 18.216000000]: Physics dynamic reconfigure ready.

Manager:

robotis@robotis-op3 ~ $ roslaunch op3_manager op3_manager.launch
... logging to /home/robotis/.ros/log/50b22eaa-40ec-11eb-b989-645d86d0e2d3/roslaunch-robotis-op3-5760.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:https://10.42.0.1:37035/

SUMMARY
========

PARAMETERS
 * /device_name: /dev/ttyUSB0
 * /gazebo: False
 * /gazebo_robot_name: robotis_op3
 * /init_file_path: /home/robotis/cat...
 * /offset_file_path: /home/robotis/cat...
 * /op3_manager/angle_unit: 30
 * /robot_file_path: /home/robotis/cat...
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    op3_localization (op3_localization/op3_localization)
    op3_manager (op3_manager/op3_manager)

ROS_MASTER_URI=http:https://10.42.0.1:11311

process[op3_manager-1]: started with pid [5777]
process[op3_localization-2]: started with pid [5778]
[ WARN] [1608267596.775736095, 19.994000000]: Shutdown request received.
[ WARN] [1608267596.776140845, 19.994000000]: Reason given for shutdown: [new node registered with same name]
[ INFO] [1608267596.877677373]: manager->init
[ INFO] [1608267597.151671749, 20.001000000]: Torque on DXLs!
/dev/ttyUSB0 added. (baudrate: 2000000)
(/dev/ttyUSB0) [ID:  1]         XM-430 added. 
(/dev/ttyUSB0) [ID:  2]         XM-430 added. 
(/dev/ttyUSB0) [ID:  3]         XM-430 added. 
(/dev/ttyUSB0) [ID:  4]         XM-430 added. 
(/dev/ttyUSB0) [ID:  5]         XM-430 added. 
(/dev/ttyUSB0) [ID:  6]         XM-430 added. 
(/dev/ttyUSB0) [ID:  7]         XM-430 added. 
(/dev/ttyUSB0) [ID:  8]         XM-430 added. 
(/dev/ttyUSB0) [ID:  9]         XM-430 added. 
(/dev/ttyUSB0) [ID: 10]         XM-430 added. 
(/dev/ttyUSB0) [ID: 11]         XM-430 added. 
(/dev/ttyUSB0) [ID: 12]         XM-430 added. 
(/dev/ttyUSB0) [ID: 13]         XM-430 added. 
(/dev/ttyUSB0) [ID: 14]         XM-430 added. 
(/dev/ttyUSB0) [ID: 15]         XM-430 added. 
(/dev/ttyUSB0) [ID: 16]         XM-430 added. 
(/dev/ttyUSB0) [ID: 17]         XM-430 added. 
(/dev/ttyUSB0) [ID: 18]         XM-430 added. 
(/dev/ttyUSB0) [ID: 19]         XM-430 added. 
(/dev/ttyUSB0) [ID: 20]         XM-430 added. 
(/dev/ttyUSB0) [ID:200]        OPEN-CR added. 
[ INFO] [1608267598.045100598, 20.028000000]: Load offsets...
[ WARN] [1608267598.397615243, 20.038000000]: Head control - angle unit : 30
[ INFO] [1608267598.699967199, 20.047000000]: parse pose for moving init pose
[ WARN] [1608267598.704118912, 20.047000000]: Get the init gain from Dxl init file
[ INFO] [1608267598.846664266, 20.050000000]: Go to init pose
[ INFO] [1608267598.865311984, 20.050000000]: Base Module is enabled
[ INFO] [1608267598.950302469, 20.051000000]: [start] send trajectory
[ INFO] [1608267602.956757226, 20.151000000]: [end] send trajectory
@ROBOTIS-Will
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Hi @full0134
I'm sorry about the delayed response, but I don't see a particular issue from your log.
If you see the image icon instead of Pause image icon at the bottom of Gazebo screen, Gazebo is not running, but waiting to be played.

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@ROBOTIS-Will @full0134