Cannot load the model with joint controllers #16
Comments
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+1 |
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Hm strange, I can't reproduce it on Kinetic, it works for me. Maybe the reason is that I have recently upgraded moveit-pkgs for Kinetic, which you also must have fixed up for compiling with Kinetic? Can you please pull the new version of moveit-pkgs, re-compile and try again? @HailinRen I am still using There are two possibilities where the error can come from (the error "Only support 1 axis" is the key), and I have altered both of them to not exit the program any more, and instead print a more descriptive error. The fact that your joints are loaded with more than 1 (or 0) axis is weird... anyway, can you please pull joint-control-pkgs and moveit-pkgs again, and then send me the output which should now instead print errors? I need to know the error which is repeatedly printed (about the 1 axis), that's all. Thanks! |
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Hi Jennifer, After I installed the moveit-pkgs, it worked but with one annoying error considering "base_to_jaco_on_table" |
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Hi, thanks for your response. The annyoing error was on purpose, I put it in there so you could send me the output so I'd know where the error comes from ;) Anyway, someone else reported it here, so I think I know what the issue is now, it's about the fixed joints. I have updated joint-control-pkgs, can you please pull it again and confirm that it now works? Thanks! |
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Since I haven't heard back, I presume you are not testing this any more. |
When I try to load the model with joint controllers with commend
roslaunch jaco_on_table jaco_on_table_gazebo_controlled.launch, the following error occurs:(py2_ros) user@user:~/catkin_ws$ roslaunch jaco_on_table jaco_on_table_gazebo_controlled.launch
... logging to /home/user/.ros/log/2f184b26-3311-11e8-ba25-484d7ea4dbcf/roslaunch-user-1415.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://user:32909/
SUMMARY
PARAMETERS
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
urdf_spawner (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [1429]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 2f184b26-3311-11e8-ba25-484d7ea4dbcf
process[rosout-1]: started with pid [1442]
started core service [/rosout]
process[gazebo-2]: started with pid [1469]
process[gazebo_gui-3]: started with pid [1476]
process[urdf_spawner-4]: started with pid [1480]
process[robot_state_publisher-5]: started with pid [1482]
[ INFO] [1522300954.617447272]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1522300954.617812221]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1522300954.623526384]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1522300954.623699493]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1522300956.383025320, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1522300956.443383772, 0.083000000]: Physics dynamic reconfigure ready.
[ INFO] [1522300956.626582242, 0.260000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1522300956.846119553, 0.310000000]: Physics dynamic reconfigure ready.
[ INFO] [1522300956.892458881, 0.310000000]: Creating GazeboJointControl plugin
[ INFO] [1522300956.892494372, 0.310000000]: Creating GazeboJointControlLocalImpl plugin
[ INFO] [1522300956.893470611, 0.310000000]: Gazebo using SetVelocity(): 1
[ INFO] [1522300956.893503998, 0.310000000]: Loading GazeboJointControl
[ INFO] [1522300956.893558068, 0.310000000]: GazeboJointControl: Loading arm component parameters from jaco
[ INFO] [1522300956.893747956, 0.310000000]: ArmComponentsNameManager reading parameters from namespace: /jaco
[ INFO] [1522300956.901199667, 0.310000000]: INFO: Parameter arm_effort_controller_names has not been specified
[ INFO] [1522300956.907262135, 0.310000000]: INFO: Parameter gripper_effort_controller_names has not been specified
[ INFO] [1522300956.907296863, 0.310000000]: GazeboJointControl: Arm component parameters loaded.
[ INFO] [1522300956.908865800, 0.310000000]: Set to load velocity controlers: 1
[ INFO] [1522300956.909963887, 0.310000000]: Setting fmax prints a warning/error but it somehow still is required...
[Err] [ODEJoint.cc:515] SetParam(fmax) boost any_cast error:boost::bad_any_cast: failed conversion using boost::any_cast
[ INFO] [1522300956.912623471, 0.310000000]: Setting fmax prints a warning/error but it somehow still is required...
[Err] [ODEJoint.cc:515] SetParam(fmax) boost any_cast error:boost::bad_any_cast: failed conversion using boost::any_cast
[ INFO] [1522300956.914435761, 0.310000000]: Setting fmax prints a warning/error but it somehow still is required...
[Err] [ODEJoint.cc:515] SetParam(fmax) boost any_cast error:boost::bad_any_cast: failed conversion using boost::any_cast
[ INFO] [1522300956.916228976, 0.310000000]: Setting fmax prints a warning/error but it somehow still is required...
[Err] [ODEJoint.cc:515] SetParam(fmax) boost any_cast error:boost::bad_any_cast: failed conversion using boost::any_cast
[ INFO] [1522300956.918060900, 0.310000000]: Setting fmax prints a warning/error but it somehow still is required...
[Err] [ODEJoint.cc:515] SetParam(fmax) boost any_cast error:boost::bad_any_cast: failed conversion using boost::any_cast
[ INFO] [1522300956.919843304, 0.310000000]: Setting fmax prints a warning/error but it somehow still is required...
[Err] [ODEJoint.cc:515] SetParam(fmax) boost any_cast error:boost::bad_any_cast: failed conversion using boost::any_cast
[ INFO] [1522300956.921691325, 0.310000000]: Setting fmax prints a warning/error but it somehow still is required...
[Err] [ODEJoint.cc:515] SetParam(fmax) boost any_cast error:boost::bad_any_cast: failed conversion using boost::any_cast
[ INFO] [1522300956.923385455, 0.310000000]: Setting fmax prints a warning/error but it somehow still is required...
[Err] [ODEJoint.cc:515] SetParam(fmax) boost any_cast error:boost::bad_any_cast: failed conversion using boost::any_cast
[ INFO] [1522300956.924703114, 0.310000000]: Setting fmax prints a warning/error but it somehow still is required...
[Err] [ODEJoint.cc:515] SetParam(fmax) boost any_cast error:boost::bad_any_cast: failed conversion using boost::any_cast
[ INFO] [1522300956.926634623, 0.310000000]: GazeboJointControl loaded.
[ INFO] [1522300956.931606734, 0.310000000]: Creating GazeboJointStateClient plugin
[ INFO] [1522300956.933207004, 0.310000000]: GazeboJointStateClient subscription topic: jaco/joint_control
[ INFO] [1522300956.933283030, 0.310000000]: GazeboJointStateClient: Loading arm component parameters from jaco
[ INFO] [1522300956.933392528, 0.310000000]: ArmComponentsNameManager reading parameters from namespace: /jaco
[ INFO] [1522300956.940185307, 0.310000000]: INFO: Parameter arm_effort_controller_names has not been specified
[ INFO] [1522300956.945620999, 0.310000000]: INFO: Parameter gripper_effort_controller_names has not been specified
[ INFO] [1522300956.945887729, 0.310000000]: Gazebo joint: 'jaco_arm_0_joint' is registered as 'jaco_on_table::jaco_arm_0_joint'
[ INFO] [1522300956.945931081, 0.310000000]: Gazebo joint: 'jaco_arm_1_joint' is registered as 'jaco_on_table::jaco_arm_1_joint'
[ INFO] [1522300956.945948711, 0.310000000]: Gazebo joint: 'jaco_arm_2_joint' is registered as 'jaco_on_table::jaco_arm_2_joint'
[ INFO] [1522300956.945965155, 0.310000000]: Gazebo joint: 'jaco_arm_3_joint' is registered as 'jaco_on_table::jaco_arm_3_joint'
[ INFO] [1522300956.945990129, 0.310000000]: Gazebo joint: 'jaco_arm_4_joint' is registered as 'jaco_on_table::jaco_arm_4_joint'
[ INFO] [1522300956.946017147, 0.310000000]: Gazebo joint: 'jaco_arm_5_joint' is registered as 'jaco_on_table::jaco_arm_5_joint'
[ INFO] [1522300956.946044983, 0.310000000]: Gazebo joint: 'jaco_finger_joint_0' is registered as 'jaco_on_table::jaco_finger_joint_0'
[ INFO] [1522300956.946073523, 0.310000000]: Gazebo joint: 'jaco_finger_joint_2' is registered as 'jaco_on_table::jaco_finger_joint_2'
[ INFO] [1522300956.946099940, 0.310000000]: Gazebo joint: 'jaco_finger_joint_4' is registered as 'jaco_on_table::jaco_finger_joint_4'
[ INFO] [1522300956.954853293, 0.310000000]: Creating GazeboJointStatePublisher plugin
[ INFO] [1522300956.956328960, 0.310000000]: Joint state publish topic: jaco/joint_state
[ INFO] [1522300956.958319949, 0.310000000]: Joints to not cap to [-PI,PI] in GazeboJointStatePublisher:
[ INFO] [1522300956.958406177, 0.310000000]: jaco_arm_1_joint
[ INFO] [1522300956.958448646, 0.310000000]: jaco_arm_2_joint
[ INFO] [1522300956.958538120, 0.310000000]: GazeboJointStatePublisher: Loading arm component parameters from jaco
[ INFO] [1522300956.958629361, 0.310000000]: ArmComponentsNameManager reading parameters from namespace: /jaco
[ INFO] [1522300956.966328642, 0.310000000]: INFO: Parameter arm_effort_controller_names has not been specified
[ INFO] [1522300956.971544025, 0.310000000]: INFO: Parameter gripper_effort_controller_names has not been specified
[ INFO] [1522300956.982901223, 0.310000000]: Creating GazeboJointTrajectoryServer plugin
[ INFO] [1522300956.982928517, 0.310000000]: Loading GazeboJointTrajectoryServer
[ INFO] [1522300956.983058013, 0.310000000]: GazeboJointTrajectoryServer: Creating trajectory action server, reading ROS parameters from namespaces jaco_trajectory and jaco
[ INFO] [1522300956.983104096, 0.310000000]: ArmComponentsNameManager reading parameters from namespace: /jaco
[ INFO] [1522300956.990586655, 0.310000000]: INFO: Parameter arm_effort_controller_names has not been specified
[ INFO] [1522300956.996172250, 0.310000000]: INFO: Parameter gripper_effort_controller_names has not been specified
[ INFO] [1522300956.996290852, 0.310000000]: Reading joint trajectory parameters from namespace jaco_trajectory
[ INFO] [1522300956.997653948, 0.310000000]: Joint trajectory action topic name: </jaco/joint_trajectory_action>
[ INFO] [1522300956.999012459, 0.310000000]: Goal angles tolerance: <0.015000>
[ INFO] [1522300957.000357121, 0.310000000]: Intermediate goal angles tolerance: <0.030000>
[ INFO] [1522300957.001901730, 0.310000000]: Trajectory goal angles safety limit: <-1.000000>
[ INFO] [1522300957.003160877, 0.310000000]: Using trajectory position mode: <1>
[ INFO] [1522300957.004669528, 0.310000000]: Using online control: <0>
[ INFO] [1522300957.006142515, 0.310000000]: Exceed duration wait factor: <2.000000>
[ INFO] [1522300957.006316732, 0.310000000]: Max velocity for joint jaco_arm_0_joint specified as 0.8
[ INFO] [1522300957.006362524, 0.310000000]: Max velocity for joint jaco_arm_1_joint specified as 0.8
[ INFO] [1522300957.006384892, 0.310000000]: Max velocity for joint jaco_arm_2_joint specified as 0.8
[ INFO] [1522300957.006405690, 0.310000000]: Max velocity for joint jaco_arm_3_joint specified as 0.8
[ INFO] [1522300957.006427251, 0.310000000]: Max velocity for joint jaco_arm_4_joint specified as 0.8
[ INFO] [1522300957.006449134, 0.310000000]: Max velocity for joint jaco_arm_5_joint specified as 0.8
[ INFO] [1522300957.006470628, 0.310000000]: Max velocity for joint jaco_finger_joint_0 specified as 0.3
[ INFO] [1522300957.006491795, 0.310000000]: Max velocity for joint jaco_finger_joint_2 specified as 0.3
[ INFO] [1522300957.006511000, 0.310000000]: Max velocity for joint jaco_finger_joint_4 specified as 0.3
[ INFO] [1522300957.007475161, 0.310000000]: Initializing trajectory action server for 9 joints.
[urdf_spawner-4] process has finished cleanly
log file: /home/user/.ros/log/2f184b26-3311-11e8-ba25-484d7ea4dbcf/urdf_spawner-4*.log
[ INFO] [1522300957.027841132, 0.310000000]: Action server for Joint Trajectory started. Using position mode: 1
[ INFO] [1522300957.027879395, 0.310000000]: Joint trajectory action server running.
[FATAL] [1522300957.030986631, 0.311000000]: Only support 1 axis
gzserver: /usr/include/boost/thread/pthread/recursive_mutex.hpp:113: void boost::recursive_mutex::lock(): Assertion `!pthread_mutex_lock(&m)' failed.
Aborted (core dumped)
[gazebo-2] process has died [pid 1469, exit code 134, cmd /home/user/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode -s libgazebo_world_plugin_loader.so worlds/empty.world __name:=gazebo __log:=/home/user/.ros/log/2f184b26-3311-11e8-ba25-484d7ea4dbcf/gazebo-2.log].
log file: /home/user/.ros/log/2f184b26-3311-11e8-ba25-484d7ea4dbcf/gazebo-2*.log
[gazebo_gui-3] process has finished cleanly
log file: /home/user/.ros/log/2f184b26-3311-11e8-ba25-484d7ea4dbcf/gazebo_gui-3*.log
I'm using Ubuntu 16.04.4 LTS, ROS Kinetic, and python 2.7.14. And there is no problem load the model without controllers.
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