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m3atsauc3
11-08-2015, 01:55 PM
Hi all,

I am attempting to test some simulated controllers to actuate the joints of my Bioloid in Gazebo, and have configured the gazebo_ros_control plugin as shown in the Gazebo tutorial (http://gazebosim.org/tutorials/?tut=ros_control).
However I get the following exception error as soon as I get gazebo_ros to spawn the URDF robot, which I have Googled but found no information on:


started roslaunch server http://localhost:53810/

SUMMARY
========

PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.13
* /use_sim_time: True

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

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [28202]
process[gazebo_gui-2]: started with pid [28206]
process[spawn_urdf-3]: started with pid [28212]
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

Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.110
[ INFO] [1447010965.057195368]: Finished loading Gazebo ROS API Plugin.
Msg [ INFO] [1447010965.064284160]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.110
spawn_model script started
[INFO] [WallTime: 1447010965.670720] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1447010965.690358] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
[ INFO] [1447010966.479451838, 0.025000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1447010966.562365638, 0.101000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1447010966.599365] [0.136000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1447010967.117010] [0.300000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1447010967.152199608, 0.300000000]: Loading gazebo_ros_control plugin
[ INFO] [1447010967.152648519, 0.300000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1447010967.154483912, 0.300000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[spawn_urdf-3] process has finished cleanly
log file: /home/xyz/.ros/log/dc2c388a-864e-11e5-996f-00e04c000001/spawn_urdf-3*.log
[ INFO] [1447010967.572469057, 0.300000000]: Loaded gazebo_ros_control.
Qt has caught an exception thrown from an event handler. Throwing
exceptions from an event handler is not supported in Qt. You must
reimplement QApplication::notify() and catch all exceptions there.

terminate called after throwing an instance of 'std::logic_error'
what(): basic_string::_S_construct null not valid
Aborted
[gazebo_gui-2] process has died [pid 28206, exit code 134, cmd /opt/ros/indigo/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/xyz/.ros/log/dc2c388a-864e-11e5-996f-00e04c000001/gazebo_gui-2.log].
log file: /home/xyz/.ros/log/dc2c388a-864e-11e5-996f-00e04c000001/gazebo_gui-2*.log


Here are the related files:
Bioloid xacro (URDF) file (https://github.com/dxydas/ros-bioloid/blob/master/src/bioloid_master/urdf/bioloid.xacro)
Gazebo launch file (https://github.com/dxydas/ros-bioloid/blob/master/src/bioloid_master/launch/bioloid_gazebo.launch)

Has anyone seen this issue before? I am running ROS Indigo on Linux Mint 17.