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No p gain specified for pid #161

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westin123 opened this issue Apr 3, 2019 · 8 comments
Open

No p gain specified for pid #161

westin123 opened this issue Apr 3, 2019 · 8 comments

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@westin123
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I'm getting this issue where it cannot find p gains it wants and I'm wondering if it is because I'm using newer gazebo. I have a clean installation of Melodic, although I was seeing this on Kinetic as well. I'm unsure whether the depricated syntax warnings are related, although they always seem to come together.

~/catkin_ws$ roslaunch iiwa_gazebo iiwa_world.launch 
... logging to /home/rosseymour/.ros/log/4c4493d2-564a-11e9-9aa5-e0d55e2b0377/roslaunch-rosseymour-X399-DESIGNARE-EX-53369.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://rosseymour-X399-DESIGNARE-EX:42833/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    urdf_spawner (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [53387]
process[gazebo_gui-2]: started with pid [53392]
process[urdf_spawner-3]: started with pid [53397]
[ INFO] [1554327009.624922581]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554327009.625826695]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1554327009.638017407]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554327009.639311464]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1554327010.027814, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1554327010.038934, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1554327010.383950067, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554327010.403749606, 0.041000000]: Physics dynamic reconfigure ready.
[INFO] [1554327010.643423, 0.276000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1554327010.787069, 0.356000]: Spawn status: SpawnModel: Successfully spawned entity
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[ INFO] [1554327010.878234699, 0.356000000]: Loading gazebo_ros_control plugin
[ INFO] [1554327010.878314040, 0.356000000]: Starting gazebo_ros_control plugin in namespace: /iiwa
[ INFO] [1554327010.878878606, 0.356000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ WARN] [1554327010.991328540, 0.356000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'iiwa_joint_1'.
[ERROR] [1554327010.992209951, 0.356000000]: No p gain specified for pid.  Namespace: /iiwa/gazebo_ros_control/pid_gains/iiwa_joint_1
[ WARN] [1554327010.992250618, 0.356000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'iiwa_joint_2'.
[ERROR] [1554327010.992799324, 0.356000000]: No p gain specified for pid.  Namespace: /iiwa/gazebo_ros_control/pid_gains/iiwa_joint_2
[ WARN] [1554327010.992838659, 0.356000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'iiwa_joint_3'.
[ERROR] [1554327010.993350585, 0.356000000]: No p gain specified for pid.  Namespace: /iiwa/gazebo_ros_control/pid_gains/iiwa_joint_3
[ WARN] [1554327010.993383057, 0.356000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'iiwa_joint_4'.
[ERROR] [1554327010.993885616, 0.356000000]: No p gain specified for pid.  Namespace: /iiwa/gazebo_ros_control/pid_gains/iiwa_joint_4
[ WARN] [1554327010.993914901, 0.356000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'iiwa_joint_5'.
[ERROR] [1554327010.994442357, 0.356000000]: No p gain specified for pid.  Namespace: /iiwa/gazebo_ros_control/pid_gains/iiwa_joint_5
[ WARN] [1554327010.994470300, 0.356000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'iiwa_joint_6'.
[ERROR] [1554327010.994998788, 0.356000000]: No p gain specified for pid.  Namespace: /iiwa/gazebo_ros_control/pid_gains/iiwa_joint_6
[ WARN] [1554327010.995027563, 0.356000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'iiwa_joint_7'.
[ERROR] [1554327010.995552053, 0.356000000]: No p gain specified for pid.  Namespace: /iiwa/gazebo_ros_control/pid_gains/iiwa_joint_7
[ INFO] [1554327010.999307413, 0.356000000]: Loaded gazebo_ros_control.
[urdf_spawner-3] process has finished cleanly
@Deastan
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Deastan commented Apr 9, 2019 •
edited
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Same issue... Do someone have a solution ? Did you find a solution @westinsykes ?

`jonathan@jonathan:~/catkin_ws$ roslaunch iiwa_gazebo iiwa_gazebo.launch model:=iiwa7
... logging to /home/jonathan/.ros/log/d0164b2e-5b09-11e9-9243-e4a47163547f/roslaunch-jonathan--14434.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://wiki.ros.org/xacro#Processing_Order
started roslaunch server http://jonathan-csem:38297/

SUMMARY

PARAMETERS

  • /iiwa/EffortJointInterface_J1_controller/joint: iiwa_joint_1
  • /iiwa/EffortJointInterface_J1_controller/pid/d: 80.0
  • /iiwa/EffortJointInterface_J1_controller/pid/i: 100
  • /iiwa/EffortJointInterface_J1_controller/pid/i_clamp_max: 10000
  • /iiwa/EffortJointInterface_J1_controller/pid/i_clamp_min: -10000
  • /iiwa/EffortJointInterface_J1_controller/pid/p: 800.0
  • /iiwa/EffortJointInterface_J1_controller/type: effort_controller...
  • /iiwa/EffortJointInterface_J2_controller/joint: iiwa_joint_2
  • /iiwa/EffortJointInterface_J2_controller/pid/d: 100.0
  • /iiwa/EffortJointInterface_J2_controller/pid/i: 1000
  • /iiwa/EffortJointInterface_J2_controller/pid/i_clamp_max: 10000
  • /iiwa/EffortJointInterface_J2_controller/pid/i_clamp_min: -10000
  • /iiwa/EffortJointInterface_J2_controller/pid/p: 800.0
  • /iiwa/EffortJointInterface_J2_controller/type: effort_controller...
  • /iiwa/EffortJointInterface_J3_controller/joint: iiwa_joint_3
  • /iiwa/EffortJointInterface_J3_controller/pid/d: 5.0
  • /iiwa/EffortJointInterface_J3_controller/pid/i: 10
  • /iiwa/EffortJointInterface_J3_controller/pid/i_clamp_max: 10000
  • /iiwa/EffortJointInterface_J3_controller/pid/i_clamp_min: -10000
  • /iiwa/EffortJointInterface_J3_controller/pid/p: 800.0
  • /iiwa/EffortJointInterface_J3_controller/type: effort_controller...
  • /iiwa/EffortJointInterface_J4_controller/joint: iiwa_joint_4
  • /iiwa/EffortJointInterface_J4_controller/pid/d: 80.0
  • /iiwa/EffortJointInterface_J4_controller/pid/i: 10
  • /iiwa/EffortJointInterface_J4_controller/pid/i_clamp_max: 10000
  • /iiwa/EffortJointInterface_J4_controller/pid/i_clamp_min: -10000
  • /iiwa/EffortJointInterface_J4_controller/pid/p: 800.0
  • /iiwa/EffortJointInterface_J4_controller/type: effort_controller...
  • /iiwa/EffortJointInterface_J5_controller/joint: iiwa_joint_5
  • /iiwa/EffortJointInterface_J5_controller/pid/d: 10.0
  • /iiwa/EffortJointInterface_J5_controller/pid/i: 5
  • /iiwa/EffortJointInterface_J5_controller/pid/i_clamp_max: 10000
  • /iiwa/EffortJointInterface_J5_controller/pid/i_clamp_min: -10000
  • /iiwa/EffortJointInterface_J5_controller/pid/p: 300.0
  • /iiwa/EffortJointInterface_J5_controller/type: effort_controller...
  • /iiwa/EffortJointInterface_J6_controller/joint: iiwa_joint_6
  • /iiwa/EffortJointInterface_J6_controller/pid/d: 1.0
  • /iiwa/EffortJointInterface_J6_controller/pid/i: 1
  • /iiwa/EffortJointInterface_J6_controller/pid/i_clamp_max: 10000
  • /iiwa/EffortJointInterface_J6_controller/pid/i_clamp_min: -10000
  • /iiwa/EffortJointInterface_J6_controller/pid/p: 50.0
  • /iiwa/EffortJointInterface_J6_controller/type: effort_controller...
  • /iiwa/EffortJointInterface_J7_controller/joint: iiwa_joint_7
  • /iiwa/EffortJointInterface_J7_controller/pid/d: 1.0
  • /iiwa/EffortJointInterface_J7_controller/pid/i: 0.1
  • /iiwa/EffortJointInterface_J7_controller/pid/i_clamp_max: 10000
  • /iiwa/EffortJointInterface_J7_controller/pid/i_clamp_min: -10000
  • /iiwa/EffortJointInterface_J7_controller/pid/p: 10.0
  • /iiwa/EffortJointInterface_J7_controller/type: effort_controller...
  • /iiwa/EffortJointInterface_trajectory_controller/action_monitor_rate: 30
  • /iiwa/EffortJointInterface_trajectory_controller/constraints/goal_time: 0.5
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_1/d: 30
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_1/i: 15
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_1/i_clamp: 30
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_1/p: 500
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_2/d: 10
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_2/i: 10
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_2/i_clamp: 30
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_2/p: 200
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_3/d: 10
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_3/i: 15
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_3/i_clamp: 30
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_3/p: 65
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_4/d: 7
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_4/i: 12
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_4/i_clamp: 30
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_4/p: 31
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_5/d: 3
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_5/i: 5
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_5/i_clamp: 30
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_5/p: 23
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_6/d: 3
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_6/i: 3
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_6/i_clamp: 30
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_6/p: 13
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_7/d: 2
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_7/i: 2.5
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_7/i_clamp: 10
  • /iiwa/EffortJointInterface_trajectory_controller/gains/iiwa_joint_7/p: 17
  • /iiwa/EffortJointInterface_trajectory_controller/joints: ['iiwa_joint_1', ...
  • /iiwa/EffortJointInterface_trajectory_controller/state_publish_rate: 25
  • /iiwa/EffortJointInterface_trajectory_controller/stop_trajectory_duration: 0
  • /iiwa/EffortJointInterface_trajectory_controller/type: effort_controller...
  • /iiwa/PositionJointInterface_J1_controller/joint: iiwa_joint_1
  • /iiwa/PositionJointInterface_J1_controller/type: position_controll...
  • /iiwa/PositionJointInterface_J2_controller/joint: iiwa_joint_2
  • /iiwa/PositionJointInterface_J2_controller/type: position_controll...
  • /iiwa/PositionJointInterface_J3_controller/joint: iiwa_joint_3
  • /iiwa/PositionJointInterface_J3_controller/type: position_controll...
  • /iiwa/PositionJointInterface_J4_controller/joint: iiwa_joint_4
  • /iiwa/PositionJointInterface_J4_controller/type: position_controll...
  • /iiwa/PositionJointInterface_J5_controller/joint: iiwa_joint_5
  • /iiwa/PositionJointInterface_J5_controller/type: position_controll...
  • /iiwa/PositionJointInterface_J6_controller/joint: iiwa_joint_6
  • /iiwa/PositionJointInterface_J6_controller/type: position_controll...
  • /iiwa/PositionJointInterface_J7_controller/joint: iiwa_joint_7
  • /iiwa/PositionJointInterface_J7_controller/type: position_controll...
  • /iiwa/PositionJointInterface_trajectory_controller/action_monitor_rate: 30
  • /iiwa/PositionJointInterface_trajectory_controller/constraints/goal_time: 0.5
  • /iiwa/PositionJointInterface_trajectory_controller/joints: ['iiwa_joint_1', ...
  • /iiwa/PositionJointInterface_trajectory_controller/state_publish_rate: 25
  • /iiwa/PositionJointInterface_trajectory_controller/stop_trajectory_duration: 0
  • /iiwa/PositionJointInterface_trajectory_controller/type: position_controll...
  • /iiwa/VelocityJointInterface_J1_controller/joint: iiwa_joint_1
  • /iiwa/VelocityJointInterface_J1_controller/type: velocity_controll...
  • /iiwa/VelocityJointInterface_J2_controller/joint: iiwa_joint_2
  • /iiwa/VelocityJointInterface_J2_controller/type: velocity_controll...
  • /iiwa/VelocityJointInterface_J3_controller/joint: iiwa_joint_3
  • /iiwa/VelocityJointInterface_J3_controller/type: velocity_controll...
  • /iiwa/VelocityJointInterface_J4_controller/joint: iiwa_joint_4
  • /iiwa/VelocityJointInterface_J4_controller/type: velocity_controll...
  • /iiwa/VelocityJointInterface_J5_controller/joint: iiwa_joint_5
  • /iiwa/VelocityJointInterface_J5_controller/type: velocity_controll...
  • /iiwa/VelocityJointInterface_J6_controller/joint: iiwa_joint_6
  • /iiwa/VelocityJointInterface_J6_controller/type: velocity_controll...
  • /iiwa/VelocityJointInterface_J7_controller/joint: iiwa_joint_7
  • /iiwa/VelocityJointInterface_J7_controller/type: velocity_controll...
  • /iiwa/VelocityJointInterface_trajectory_controller/action_monitor_rate: 30
  • /iiwa/VelocityJointInterface_trajectory_controller/constraints/goal_time: 0.5
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_1/d: 30
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_1/i: 15
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_1/i_clamp: 30
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_1/p: 500
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_2/d: 10
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_2/i: 10
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_2/i_clamp: 30
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_2/p: 200
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_3/d: 10
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_3/i: 15
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_3/i_clamp: 30
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_3/p: 65
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_4/d: 7
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_4/i: 12
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_4/i_clamp: 30
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_4/p: 31
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_5/d: 3
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_5/i: 5
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_5/i_clamp: 30
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_5/p: 23
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_6/d: 3
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_6/i: 3
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_6/i_clamp: 30
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_6/p: 13
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_7/d: 2
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_7/i: 2.5
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_7/i_clamp: 10
  • /iiwa/VelocityJointInterface_trajectory_controller/gains/iiwa_joint_7/p: 17
  • /iiwa/VelocityJointInterface_trajectory_controller/joints: ['iiwa_joint_1', ...
  • /iiwa/VelocityJointInterface_trajectory_controller/state_publish_rate: 25
  • /iiwa/VelocityJointInterface_trajectory_controller/stop_trajectory_duration: 0
  • /iiwa/VelocityJointInterface_trajectory_controller/type: velocity_controll...
  • /iiwa/joint_state_controller/publish_rate: 50
  • /iiwa/joint_state_controller/type: joint_state_contr...
  • /robot_description: <?xml version="1....
  • /rosdistro: kinetic
  • /rosversion: 1.12.14
  • /use_sim_time: True

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

auto-starting new master
process[master]: started with pid [14447]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d0164b2e-5b09-11e9-9243-e4a47163547f
process[rosout-1]: started with pid [14460]
started core service [/rosout]
process[gazebo-2]: started with pid [14484]
process[gazebo_gui-3]: started with pid [14489]
process[urdf_spawner-4]: started with pid [14494]
process[iiwa/controller_spawner-5]: started with pid [14495]
process[iiwa/robot_state_publisher-6]: started with pid [14496]
[ INFO] [1554843332.731686022]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554843332.732053116]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1554843332.748025740]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554843332.748403446]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[WARN] [1554843332.786190, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1554843332.786369, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
SpawnModel script started
[INFO] [1554843333.073561, 0.000000]: Loading model XML from ros parameter
[INFO] [1554843333.075545, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1554843334.845661069, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554843334.869601072, 0.044000000]: Physics dynamic reconfigure ready.
[INFO] [1554843334.886398, 0.059000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1554843335.072643, 0.164000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1554843335.194580452, 0.164000000]: Loading gazebo_ros_control plugin
[ERROR] [1554843335.194662294, 0.164000000]: GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set to true.

[ INFO] [1554843335.194727657, 0.164000000]: Starting gazebo_ros_control plugin in namespace: /iiwa
[ INFO] [1554843335.195433915, 0.164000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ WARN] [1554843335.303806790, 0.164000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the tag in joint 'iiwa_joint_1'.
[ERROR] [1554843335.305183035, 0.164000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/iiwa_joint_1
[ WARN] [1554843335.305254789, 0.164000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the tag in joint 'iiwa_joint_2'.
[ERROR] [1554843335.306209794, 0.164000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/iiwa_joint_2
[ WARN] [1554843335.306254167, 0.164000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the tag in joint 'iiwa_joint_3'.
[ERROR] [1554843335.307123103, 0.164000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/iiwa_joint_3
[ WARN] [1554843335.307166498, 0.164000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the tag in joint 'iiwa_joint_4'.
[ERROR] [1554843335.308001752, 0.164000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/iiwa_joint_4
[ WARN] [1554843335.308048784, 0.164000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the tag in joint 'iiwa_joint_5'.
[ERROR] [1554843335.309027547, 0.164000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/iiwa_joint_5
[ WARN] [1554843335.309086847, 0.164000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the tag in joint 'iiwa_joint_6'.
[ERROR] [1554843335.310116240, 0.164000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/iiwa_joint_6
[ WARN] [1554843335.310162864, 0.164000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the tag in joint 'iiwa_joint_7'.
[ERROR] [1554843335.311026535, 0.164000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/iiwa_joint_7
[ INFO] [1554843335.315603488, 0.164000000]: Loaded gazebo_ros_control.
[ WARN] [1554843335.315838278, 0.165000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1554843335.315863262, 0.165000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1554843335.315880030, 0.165000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1554843335.315895683, 0.165000000]: For details, see ros-simulation/gazebo_ros_pkgs#612
[ INFO] [1554843335.337601045, 0.186000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[urdf_spawner-4] process has finished cleanly
log file: /home/jonathan/.ros/log/d0164b2e-5b09-11e9-9243-e4a47163547f/urdf_spawner-4*.log
[ INFO] [1554843335.366359394, 0.215000000]: Physics dynamic reconfigure ready.
[INFO] [1554843335.499335, 0.347000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1554843335.500574, 0.348000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1554843335.501672, 0.349000]: Loading controller: joint_state_controller
[INFO] [1554843335.507902, 0.356000]: Loading controller: PositionJointInterface_J1_controller
[INFO] [1554843335.516892, 0.365000]: Loading controller: PositionJointInterface_J2_controller
[INFO] [1554843335.523735, 0.372000]: Loading controller: PositionJointInterface_J3_controller
[INFO] [1554843335.531091, 0.377000]: Loading controller: PositionJointInterface_J4_controller
[INFO] [1554843335.537499, 0.386000]: Loading controller: PositionJointInterface_J5_controller
[INFO] [1554843335.543492, 0.392000]: Loading controller: PositionJointInterface_J6_controller
[INFO] [1554843335.549372, 0.398000]: Loading controller: PositionJointInterface_J7_controller
[INFO] [1554843335.555311, 0.404000]: Controller Spawner: Loaded controllers: joint_state_controller, PositionJointInterface_J1_controller, PositionJointInterface_J2_controller, PositionJointInterface_J3_controller, PositionJointInterface_J4_controller, PositionJointInterface_J5_controller, PositionJointInterface_J6_controller, PositionJointInterface_J7_controller
[INFO] [1554843335.557224, 0.406000]: Started controllers: joint_state_controller, PositionJointInterface_J1_controller, PositionJointInterface_J2_controller, PositionJointInterface_J3_controller, PositionJointInterface_J4_controller, PositionJointInterface_J5_controller, PositionJointInterface_J6_controller, PositionJointInterface_J7_controller

`

@westin123
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I didn't find a solution I liked. I think the simulator doesn't work correctly on Kinetic. I installed Ubuntu 14.04 and ROS Indigo and now it works. Unfortunately Indigo is at the end of its life.

@Deastan
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Deastan commented Apr 11, 2019 •
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And do you know if for the communication with the kuka robot works on kinetic well ? I hope this part work with ubuntu 16.04. I saw that it should work with kinetic!

I did the same as you. I switched to Ubuntu 14.04 and ROS Indigo and now it works. One question... Do you know which topic to move the robot in the simulation ? Cartesian or joint ?

Best,

@westin123
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westin123 commented Apr 12, 2019 via email •
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@matthiashh matthiashh mentioned this issue Apr 15, 2019
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@ymollard
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I fixed the IIWA Gazebo simulation in Melodic that way: ymollard@e9312df

I've tested different gains, see the dev branch: ymollard@0e3db65

I'm not satisfied with these gains, though. There's still a bit of bouncing. If someone has a little bit of time to tweak PID gains that would be a nice fix. I assume that in previous versions it was using the Gazebo default

@Deastan
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Deastan commented Jun 5, 2019

Thank you!
Do you think with the addition of the PID gains in the iiwa_control.yaml makes it works also for Kenetic? On which Gazebo version did you try ?
Is it working with melodic on the real robot ? Because if everything work, I might move on it.
Best,
Jonathan

@ymollard
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ymollard commented Jun 5, 2019

I've runned this on melodic with Gazebo 9.0.0.
I haven't tested on other versions, you can make the test on kinetic.
AFAIK, these gains are only used by Gazebo, the real robot must have other PID control elsewhere. I've haven't tested this iiwa_stack package on a real robot because I miss the smart servo plugin for Sunrise Workbench. I'm using the FRI instead with iiwa_ros which runs fine on the real robot with melodic.

@Deastan
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Deastan commented Jul 3, 2019 •
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Thank for your information ! I will test one day the one from EPFL but I think it is really close to this one.

ymollard/iiwa_stack@0e3db65 => I alsi so this commit and this one: commit e9312df

How can I be sure that it work ? Because I have added you modif but it seems that it doesn't work...
Because for me, the end-effector still move a lot.. (I am still on gazebo 2.2). Do you think we can improve it ?
By reading this article (https://answers.ros.org/question/245802/why-joint-position-controller-is-not-sensitive-to-changing-pid-gains/), I have the impress that we cannot modify the PID for the joint position interface..

EDIT:
I move to Gazebo 7. I had another issue and now the robot isn't floating any more.

@arturShafikov arturShafikov mentioned this issue Mar 27, 2020
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@daeunSong daeunSong mentioned this issue Jan 13, 2021
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@ymollard @Deastan @westin123