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VMRC Example Tutorial not working #43

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osrf-migration opened this issue Aug 25, 2018 · 17 comments
Closed

VMRC Example Tutorial not working #43

osrf-migration opened this issue Aug 25, 2018 · 17 comments
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bug Something isn't working major
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0.2

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@osrf-migration
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Original report (archived issue) by Michael McCarrin (Bitbucket: m1chaelm).

This tutorial contains three commands, for running a simulation, robot localization, and visualization. All 3 commands are currently failing on my machine (configured using the host installation from tutorial 1). Is there additional preparation that needs to be completed before running this?

The output of the commands is:

#!bash

$ ~/vmrc_ws/example_vmrc_package$ roslaunch robotx_gazebo vmrc.launch

[vmrc.launch] is neither a launch file in package [robotx_gazebo] nor is [robotx_gazebo] a launch file name
The traceback for the exception was written to the log file

#!bash

$ ~/vmrc_ws/example_vmrc_package$ roslaunch wamv_gazebo localization_example.launch 


... logging to /home/mq/.ros/log/20447be0-a839-11e8-8fc7-4c34883f13b7/roslaunch-mq-ThinkPad-X1-Carbon-3rd-30263.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://mq-ThinkPad-X1-Carbon-3rd:43783/

SUMMARY
========

PARAMETERS
 * /ekf_localization/base_link_frame: base_link
 * /ekf_localization/frequency: 60
 * /ekf_localization/imu0: imu/data
 * /ekf_localization/imu0_config: [False, False, Fa...
 * /ekf_localization/imu0_differential: False
 * /ekf_localization/imu0_remove_gravitational_acceleration: True
 * /ekf_localization/map_frame: map
 * /ekf_localization/odom0: odometry/gps
 * /ekf_localization/odom0_config: [True, True, True...
 * /ekf_localization/odom0_differential: False
 * /ekf_localization/odom_frame: odom
 * /ekf_localization/publish_tf: True
 * /ekf_localization/sensor_timeout: 2.0
 * /ekf_localization/smooth_lagged_data: True
 * /ekf_localization/two_d_mode: False
 * /ekf_localization/world_frame: odom
 * /navsat_transform_node/broadcast_utm_transform: True
 * /navsat_transform_node/datum: [21.30996, -157.8...
 * /navsat_transform_node/frequency: 60
 * /navsat_transform_node/magnetic_declination_radians: 0
 * /navsat_transform_node/publish_filtered_gps: True
 * /navsat_transform_node/use_odometry_yaw: True
 * /navsat_transform_node/wait_for_datum: True
 * /navsat_transform_node/yaw_offset: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    ekf_localization (robot_localization/ekf_localization_node)
    navsat_transform_node (robot_localization/navsat_transform_node)
    rob_st_pub (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [30273]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 20447be0-a839-11e8-8fc7-4c34883f13b7
process[rosout-1]: started with pid [30286]
started core service [/rosout]
process[rob_st_pub-2]: started with pid [30303]
process[ekf_localization-3]: started with pid [30304]
process[navsat_transform_node-4]: started with pid [30306]
[ERROR] [1535182394.941206542]: Could not find parameter robot_description on parameter server
[ INFO] [1535182394.979079447]: Datum (latitude, longitude, altitude) is (21.309960, -157.890100, 0.000000)
[ INFO] [1535182394.979148879]: Datum UTM coordinate is (615116.100362, 2356857.621317)
[ INFO] [1535182394.979189190]: Initial odometry pose is Origin: (0 0 0)
Rotation (RPY): (0, -0, 0)

[ INFO] [1535182394.997427626]: Corrected for magnetic declination of 0.000000 and user-specified offset of 0.000000. Transform heading factor is now 0.000000
[ INFO] [1535182394.997487988]: Transform world frame pose is: Origin: (0 0 0)
Rotation (RPY): (0, -0, 0)

[ INFO] [1535182394.997540326]: World frame->utm transform is Origin: (-615116.10036203637719 -2356857.6213171021082 0)
Rotation (RPY): (0, 0, -1.6798231958602382502e-322)

[rob_st_pub-2] process has died [pid 30303, exit code 255, cmd /opt/ros/kinetic/lib/robot_state_publisher/robot_state_publisher __name:=rob_st_pub __log:=/home/mq/.ros/log/20447be0-a839-11e8-8fc7-4c34883f13b7/rob_st_pub-2.log].
log file: /home/mq/.ros/log/20447be0-a839-11e8-8fc7-4c34883f13b7/rob_st_pub-2*.log

#!bash

$ ~/vmrc_ws/example_vmrc_package$ roslaunch wamv_gazebo rviz_vmrc.launch

[rviz_vmrc.launch] is neither a launch file in package [wamv_gazebo] nor is [wamv_gazebo] a launch file name
The traceback for the exception was written to the log file
@osrf-migration
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Original comment by Brian Bingham (Bitbucket: brian_bingham).

  • set milestone to "0.2"

This tutorial is really a part of PR https://osrf-migration.github.io/vrx-gh-pages/#!/osrf/vmrc/pull-requests/44

Could you try the tutorial using that branch?

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

The first command now runs without error (when I switch to the new branch), but the localization example is still failing. The substance of the error message seems to be the same:
"Could not find parameter robot_description on the parameter server" and, later, "[rob_st_pub-2] process has died"

@osrf-migration
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Original comment by Brian Bingham (Bitbucket: brian_bingham).

Could you post the entire output of the command roslaunch wamv_gazebo localization_example.launch
(This command should be the same on either branch.)

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

Yes. The entire output is posted above. Running again gives the same result, except pids, etc. vary as expected.

@osrf-migration
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Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

Just checking, do you have the ros-kinetic-robot-localization package installed?

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

I do.

@osrf-migration
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Original comment by Brian Bingham (Bitbucket: brian_bingham).

@M1chaelM Could you run this

roslaunch wamv_gazebo localization_example.launch

and the paste the output as a code block so that it is verbatim? The formatting above is making it difficult to parse.

When I run the example, I get...

bsb@aku:~/vmrc_ws$ roslaunch wamv_gazebo localization_example.launch
... logging to /home/bsb/.ros/log/78155dc6-aa46-11e8-b753-408d5c555554/roslaunch-aku-12792.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://aku:46461/

SUMMARY
========

PARAMETERS
 * /ekf_localization/base_link_frame: base_link
 * /ekf_localization/frequency: 60
 * /ekf_localization/imu0: imu/data
 * /ekf_localization/imu0_config: [False, False, Fa...
 * /ekf_localization/imu0_differential: False
 * /ekf_localization/imu0_remove_gravitational_acceleration: True
 * /ekf_localization/map_frame: map
 * /ekf_localization/odom0: odometry/gps
 * /ekf_localization/odom0_config: [True, True, True...
 * /ekf_localization/odom0_differential: False
 * /ekf_localization/odom_frame: odom
 * /ekf_localization/publish_tf: True
 * /ekf_localization/sensor_timeout: 2.0
 * /ekf_localization/smooth_lagged_data: True
 * /ekf_localization/two_d_mode: False
 * /ekf_localization/world_frame: odom
 * /navsat_transform_node/broadcast_utm_transform: True
 * /navsat_transform_node/datum: [21.30996, -157.8...
 * /navsat_transform_node/frequency: 60
 * /navsat_transform_node/magnetic_declination_radians: 0
 * /navsat_transform_node/publish_filtered_gps: True
 * /navsat_transform_node/use_odometry_yaw: True
 * /navsat_transform_node/wait_for_datum: True
 * /navsat_transform_node/yaw_offset: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    ekf_localization (robot_localization/ekf_localization_node)
    navsat_transform_node (robot_localization/navsat_transform_node)
    rob_st_pub (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[rob_st_pub-1]: started with pid [12815]
process[ekf_localization-2]: started with pid [12816]
process[navsat_transform_node-3]: started with pid [12827]
[ INFO] [1535411644.220203195]: Datum (latitude, longitude, altitude) is (21.309960, -157.890100, 0.000000)
[ INFO] [1535411644.220247975]: Datum UTM coordinate is (615116.100362, 2356857.621317)
[ INFO] [1535411644.220271722]: Initial odometry pose is Origin: (0 0 0)
Rotation (RPY): (0, -0, 0)

[ INFO] [1535411644.231072735]: Corrected for magnetic declination of 0.000000 and user-specified offset of 0.000000. Transform heading factor is now 0.000000
[ INFO] [1535411644.231100779]: Transform world frame pose is: Origin: (0 0 0)
Rotation (RPY): (0, -0, 0)

[ INFO] [1535411644.231122696]: World frame->utm transform is Origin: (-615116.10036203637719 -2356857.6213171021082 0)
Rotation (RPY): (0, 0, -1.6798231958602382502e-322)

[ WARN] [1535411644.388668282, 3597.761000000]: Detected jump back in time of 1.53541e+09s. Clearing TF buffer.
[ WARN] [1535411644.764174460, 3598.137000000]: Transform from base_link to odom was unavailable for the time requested. Using latest instead.

[ WARN] [1535411646.777446751, 3600.137000000]: Transform from base_link to odom was unavailable for the time requested. Using latest instead.

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

  • Edited issue description
    Fixed formatting of error output.

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

I added backticks to the output so it's easier to read. I can also repost the output if you prefer. Just let me know what's easiest.

@osrf-migration
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Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

Could you check the output of this command?

rosparam get /robot_description

Also, could you double check that you pull, update and recompile from the last version of default?

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

OK, I ran:

#!bash

hg up default
hg pull
catkin_make
roslaunch wamv_gazebo localization_example.launch

and got the same errors as above.
Then I ran:

#!bash

rosparam get /robot_description

and got:

ERROR: Parameter [/robot_description] is not set

@osrf-migration
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Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

I'm sure you probably have the latest code but you should run hg pull first, and then, hg update.

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

OK, I did that too. Still no robot_description parameter though.

@osrf-migration
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Original comment by Brian Bingham (Bitbucket: brian_bingham).

Hmmm - are you running on a laptop? Maybe you could bring it buy tomorrow and I could take a look?

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

Sure, no problem.

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

The problem was that I didn't understand the relationship between the commands described in this tutorial. In particular, that Gazebo produces the simulated input needed by the robot_localization package, so the first command must continue to run for the second to work, and likewise both commands must be running for the third to work (since rviz is using the robot localization data). I've edited the instructions to suggest opening a new terminal so my fellow noobs are not tripped up by this.

@osrf-migration
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Original comment by Michael McCarrin (Bitbucket: m1chaelm).

  • changed state from "new" to "resolved"

Tutorial is now running without errors.

@osrf-migration osrf-migration added major bug Something isn't working labels May 4, 2020
@osrf-migration osrf-migration added this to the 0.2 milestone May 4, 2020
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