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Thread: Gazebo ros control plugin error

  1. #1

    Gazebo ros control plugin error

    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.
    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:
    Code:
    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
    Gazebo launch file

    Has anyone seen this issue before? I am running ROS Indigo on Linux Mint 17.
    Last edited by m3atsauc3; 11-08-2015 at 01:57 PM.

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