Skip to content
This repository has been archived by the owner on Oct 20, 2021. It is now read-only.

Gazebo Launch Error #9

Open
Zhuojie-Ji opened this issue Jul 12, 2018 · 3 comments
Open

Gazebo Launch Error #9

Zhuojie-Ji opened this issue Jul 12, 2018 · 3 comments

Comments

@Zhuojie-Ji
Copy link

Bug

A launch error occurs when I try to launch ros_ship

Expected Behavior

The model launches in Gazebo.

Actual Behavior

The model launches in Rviz only. Gazebo hangs, and the following outputs including error messages show on the terminal:

$ roslaunch ros_ship_description ros_ship.launch
... logging to /home/wowbagger/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/roslaunch-Nutrimatic-Drink-Dispenser-17687.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.

inconsistent namespace redefinitions for xmlns:xacro:
 old: http://ros.org/wiki/xacro
 new: http://www.ros.org/wiki/xacro (/opt/ros/kinetic/share/velodyne_description/urdf/VLP-16.urdf.xacro)
started roslaunch server http://Nutrimatic-Drink-Dispenser:46171/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /ros_ship/joint_state_controller/publish_rate: 50
 * /ros_ship/joint_state_controller/type: joint_state_contr...
 * /ros_ship/left_motor_controller/joint: propeller_l_joint
 * /ros_ship/left_motor_controller/pid/d: 10.0
 * /ros_ship/left_motor_controller/pid/i: 0.01
 * /ros_ship/left_motor_controller/pid/p: 100.0
 * /ros_ship/left_motor_controller/type: velocity_controll...
 * /ros_ship/right_motor_controller/joint: propeller_r_joint
 * /ros_ship/right_motor_controller/pid/d: 10.0
 * /ros_ship/right_motor_controller/pid/i: 0.01
 * /ros_ship/right_motor_controller/pid/p: 100.0
 * /ros_ship/right_motor_controller/type: velocity_controll...
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /use_sim_time: True
 * /water_surface_height: 0.0

NODES
  /red_buoy_01/
    buoy_spawner (gazebo_ros/spawn_model)
  /green_buoy_01/
    buoy_spawner (gazebo_ros/spawn_model)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    rviz (rviz/rviz)
    urdf_spawner (gazebo_ros/spawn_model)
  /ros_ship/
    controller_spawner (controller_manager/spawner)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [17708]
process[urdf_spawner-2]: started with pid [17709]
process[red_buoy_01/buoy_spawner-3]: started with pid [17710]
process[green_buoy_01/buoy_spawner-4]: started with pid [17711]
process[ros_ship/controller_spawner-5]: started with pid [17712]
process[ros_ship/robot_state_publisher-6]: started with pid [17713]
process[gazebo-7]: started with pid [17714]
process[gazebo_gui-8]: started with pid [17720]
[ INFO] [1531330832.706871468]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1531330832.707295468]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1531330832.713978, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1531330832.731016068]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1531330832.731519758]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
SpawnModel script started
SpawnModel script started
[INFO] [1531330833.235747, 0.000000]: Loading model XML from ros parameter
[INFO] [1531330833.238720, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1531330833.306843, 0.000000]: Loading model XML from file
[INFO] [1531330833.307214, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1531330833.310474, 0.000000]: Loading model XML from file
[INFO] [1531330833.310804, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
[gazebo-7] process has died [pid 17714, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -u -e ode /home/wowbagger/catkin_ws/src/ros_ship_packages/ros_ship_description/world/open_water.world __name:=gazebo __log:=/home/wowbagger/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/gazebo-7.log].
log file: /home/wowbagger/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/gazebo-7*.log
Qt: Cannot set locale modifiers: 
[WARN] [1531330862.854738, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[ros_ship/controller_spawner-5] process has finished cleanly
log file: /home/wowbagger/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/ros_ship-controller_spawner-5*.log
^C[gazebo_gui-8] killing on exit
[ros_ship/robot_state_publisher-6] killing on exit
[green_buoy_01/buoy_spawner-4] killing on exit
[red_buoy_01/buoy_spawner-3] killing on exit
[urdf_spawner-2] killing on exit
[rviz-1] killing on exit
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
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 313, in <module>
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
    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
    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
    raise ROSInterruptException("rospy shutdown")
    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
rospy.exceptions.ROSInterruptException: rospy shutdown
    raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
[gazebo_gui-8] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done

The log ~/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/gazebo-7*.log does not exist.

This is from the log .ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/ros_ship-controller_spawner-5.log:

[rospy.client][INFO] 2018-07-11 13:30:53,337: init_node, name[/ros_ship/controller_spawner], pid[11489]
[xmlrpc][INFO] 2018-07-11 13:30:53,337: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2018-07-11 13:30:53,338: Started XML-RPC server [http://Nutrimatic-Drink-Dispenser:44847/]
[rospy.init][INFO] 2018-07-11 13:30:53,338: ROS Slave URI: [http://Nutrimatic-Drink-Dispenser:44847/]
[rospy.impl.masterslave][INFO] 2018-07-11 13:30:53,338: _ready: http://Nutrimatic-Drink-Dispenser:44847/
[rospy.registration][INFO] 2018-07-11 13:30:53,338: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2018-07-11 13:30:53,338: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2018-07-11 13:30:53,438: registered with master
[rospy.rosout][INFO] 2018-07-11 13:30:53,438: initializing /rosout core topic
[rospy.rosout][INFO] 2018-07-11 13:30:53,441: connected to core topic /rosout
[rospy.simtime][INFO] 2018-07-11 13:30:53,442: initializing /clock core topic
[rospy.simtime][INFO] 2018-07-11 13:30:53,444: connected to core topic /clock
[rosout][INFO] 2018-07-11 13:30:53,447: Controller Spawner: Waiting for service controller_manager/load_controller
[rospy.internal][INFO] 2018-07-11 13:30:53,732: topic[/rosout] adding connection to [/rosout], count 0
[rosout][WARNING] 2018-07-11 13:31:23,595: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rospy.core][INFO] 2018-07-11 13:31:23,595: signal_shutdown [atexit]
[rospy.internal][INFO] 2018-07-11 13:31:23,598: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2018-07-11 13:31:23,599: atexit
[rospy.client][INFO] 2018-07-11 13:40:32,602: init_node, name[/ros_ship/controller_spawner], pid[17712]
[xmlrpc][INFO] 2018-07-11 13:40:32,603: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2018-07-11 13:40:32,603: Started XML-RPC server [http://Nutrimatic-Drink-Dispenser:35159/]
[rospy.init][INFO] 2018-07-11 13:40:32,603: ROS Slave URI: [http://Nutrimatic-Drink-Dispenser:35159/]
[rospy.impl.masterslave][INFO] 2018-07-11 13:40:32,603: _ready: http://Nutrimatic-Drink-Dispenser:35159/
[rospy.registration][INFO] 2018-07-11 13:40:32,604: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2018-07-11 13:40:32,604: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2018-07-11 13:40:32,704: registered with master
[rospy.rosout][INFO] 2018-07-11 13:40:32,704: initializing /rosout core topic
[rospy.rosout][INFO] 2018-07-11 13:40:32,707: connected to core topic /rosout
[rospy.simtime][INFO] 2018-07-11 13:40:32,708: initializing /clock core topic
[rospy.simtime][INFO] 2018-07-11 13:40:32,710: connected to core topic /clock
[rosout][INFO] 2018-07-11 13:40:32,713: Controller Spawner: Waiting for service controller_manager/load_controller
[rospy.internal][INFO] 2018-07-11 13:40:32,944: topic[/rosout] adding connection to [/rosout], count 0
[rosout][WARNING] 2018-07-11 13:41:02,854: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rospy.core][INFO] 2018-07-11 13:41:02,855: signal_shutdown [atexit]
[rospy.internal][INFO] 2018-07-11 13:41:02,858: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2018-07-11 13:41:02,858: atexit

Steps to Reproduce the Problem

  1. cd ~/catkin_ws
  2. roscore &
  3. roslaunch ros_ship_description ros_ship.launch

Specifications

  • Ubuntu version: 16.04 LTS
  • ROS Version: kinetic
  • Branch: master

Additional Questions

Should I add the following lines to some files, according to this?

<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotNamespace>/MYROBOT</robotNamespace>
  </plugin>
</gazebo>

Thanks!
@Zhuojie-Ji
Copy link
Author

I solved this error by copying open_water.world from /ros_ship_gazebo_plugins to /ros_ship_description/world, according to issue #6

@zanebin
Copy link

zanebin commented May 16, 2020

I solved this error by copying open_water.world from /ros_ship_gazebo_plugins to /ros_ship_description/world, according to issue #6

it works for me too

@shangwp
Copy link

shangwp commented May 7, 2021

I solved this error by copying open_water.world from /ros_ship_gazebo_plugins to /ros_ship_description/world, according to issue #6

Thanks. it works for me.

Sign up for free to subscribe to this conversation on GitHub. Already have an account? Sign in.
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
3 participants
@Zhuojie-Ji @zanebin @shangwp