Hello folks!
First time here, mind me if I do anything wrong :)
First, my setup is: ROS Indigo on Linux Mint 17.1 (Ubuntu 14.04 based).
I am trying to import a robot I built on Solidworks and exported to URDF with the plugin provided [here](http://wiki.ros.org/sw_urdf_exporter). Now things start to get tricky:
I can't run none launch files provided, with the following error (display.launch):
roque@mint-machine:~/ROS/catkin_workspace/src/CamPanTilt/launch$ roslaunch display.launch
... logging to /home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/roslaunch-mint-machine-11086.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://mint-machine:35559/
SUMMARY
========
PARAMETERS
* /robot_description:
* /rosdistro: indigo
* /rosversion: 1.11.10
* /use_gui: False
NODES
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_state_publisher (robot_state_publisher/state_publisher)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [11098]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 7db1f390-4d13-11e5-9277-94dbc9b65860
process[rosout-1]: started with pid [11113]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [11130]
process[robot_state_publisher-3]: started with pid [11131]
[ERROR] [1440718181.920790719]: Error document empty.
state_publisher: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = const urdf::Link; typename boost::detail::sp_member_access::type = const urdf::Link*]: Assertion `px != 0' failed.
process[rviz-4]: started with pid [11145]
[robot_state_publisher-3] process has died [pid 11131, exit code -6, cmd /opt/ros/indigo/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/robot_state_publisher-3.log].
log file: /home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/robot_state_publisher-3*.log
Traceback (most recent call last):
File "/opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher", line 343, in
jsp = JointStatePublisher()
File "/opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher", line 26, in __init__
robot = xml.dom.minidom.parseString(description).getElementsByTagName('robot')[0]
File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, in parseString
return expatbuilder.parseString(string)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
return builder.parseString(string)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
parser.Parse(string, True)
xml.parsers.expat.ExpatError: no element found: line 1, column 0
[joint_state_publisher-2] process has died [pid 11130, exit code 1, cmd /opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/joint_state_publisher-2.log].
log file: /home/roque/.ros/log/7db1f390-4d13-11e5-9277-94dbc9b65860/joint_state_publisher-2*.log
------------------
For gazebo, all i get is:
roque@mint-machine:~/ROS/catkin_workspace/src/CamPanTilt/launch$ roslaunch gazebo.launch
... logging to /home/roque/.ros/log/8b042242-4d14-11e5-b9ce-94dbc9b65860/roslaunch-mint-machine-13332.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://mint-machine:43321/
SUMMARY
========
PARAMETERS
* /pr2_controller_manager/joint_state_publish_rate: 100.0
* /pr2_controller_manager/mechanism_statistics_publish_rate: 1.0
* /robot_state_publisher/publish_frequency: 50.0
* /robot_state_publisher/tf_prefix:
* /rosdistro: indigo
* /rosversion: 1.11.10
* /use_sim_time: True
NODES
/
fake_joint_calibration (rostopic/rostopic)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_model (gazebo_ros/spawn_model)
tf_footprint_base (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [13344]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8b042242-4d14-11e5-b9ce-94dbc9b65860
process[rosout-1]: started with pid [13357]
started core service [/rosout]
process[gazebo-2]: started with pid [13381]
process[gazebo_gui-3]: started with pid [13387]
process[tf_footprint_base-4]: started with pid [13397]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
process[spawn_model-5]: started with pid [13417]
process[robot_state_publisher-6]: started with pid [13418]
[ERROR] [1440718633.930278102]: Could not find parameter robot_description on parameter server
robot_state_publisher: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = const urdf::Link; typename boost::detail::sp_member_access::type = const urdf::Link*]: Assertion `px != 0' failed.
Msg Waiting for master.[ INFO] [1440718633.959184914]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1440718633.959634053]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
process[pr2_mechanism_diagnostics-7]: started with pid [13469]
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.66
[robot_state_publisher-6] process has died [pid 13418, exit code -6, cmd /opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/roque/.ros/log/8b042242-4d14-11e5-b9ce-94dbc9b65860/robot_state_publisher-6.log].
log file: /home/roque/.ros/log/8b042242-4d14-11e5-b9ce-94dbc9b65860/robot_state_publisher-6*.log
process[fake_joint_calibration-8]: started with pid [13497]
spawn_model script started
Error: you must specify incoming format as either urdf or sdf format xml
[ INFO] [1440718634.279034660, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1440718634.325453185, 0.067000000]: Physics dynamic reconfigure ready.
[spawn_model-5] process has finished cleanly
log file: /home/roque/.ros/log/8b042242-4d14-11e5-b9ce-94dbc9b65860/spawn_model-5*.log
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.66
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
---------------------
And nothing appears on gazebo world.
Now, I need majorly rviz working for simulation purposes, so any help is well appreciated!
Thank you all in advance!
EDIT:
These are the launch files and URDF contentes:
-> gazebo.launch
↧
