Hands-On ROS for Robotics Programming, published by Packt
License: MIT License
Hands-On ROS for Robotics Programming, published by Packt
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hello everyone,
iam trying to run the cart-pole_ROS example.
The model does load into Gazebo, but the the simulation does not start...
There are some errors on the terminal I could not solve yet:
lennart@Legion7:~/catkin_ws/src/Chapter11_OpenAI_Gym/cart-pole_ROS/cartpole_dqn/launch$ roslaunch cartpole_description main.launch
... logging to /home/lennart/.ros/log/069a11ac-b9c2-11ec-944c-1902455219a4/roslaunch-Legion7-298056.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://127.0.0.1:38567/
PARAMETERS
NODES
/
cartpole_v0_urdf_spawner (gazebo_ros/spawn_model)
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
robot_state_publisher_cartpole_v0 (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [298076]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 069a11ac-b9c2-11ec-944c-1902455219a4
process[rosout-1]: started with pid [298097]
started core service [/rosout]
process[gazebo-2]: started with pid [298104]
process[gazebo_gui-3]: started with pid [298109]
process[cartpole_v0_urdf_spawner-4]: started with pid [298114]
process[robot_state_publisher_cartpole_v0-5]: started with pid [298115]
process[controller_spawner-6]: started with pid [298116]
[ERROR] [1649700353.299936214]: Could not find parameter robot_description on parameter server
[INFO] [1649700353.504808, 0.000000]: Loading model XML from ros parameter cartpole_v0_robot_description
[INFO] [1649700353.506682, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1649700353.618193, 0.000000]: Controller Spawner: Waiting for service /cartpole_v0/controller_manager/load_controller
[robot_state_publisher_cartpole_v0-5] process has died [pid 298115, exit code 1, cmd /opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher /joint_states:=/cartpole_v0/joint_states __name:=robot_state_publisher_cartpole_v0 __log:=/home/lennart/.ros/log/069a11ac-b9c2-11ec-944c-1902455219a4/robot_state_publisher_cartpole_v0-5.log].
log file: /home/lennart/.ros/log/069a11ac-b9c2-11ec-944c-1902455219a4/robot_state_publisher_cartpole_v0-5.log*
[ INFO] [1649700353.805341247]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1649700353.806181481]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1649700353.881526718]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1649700353.882544173]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1649700354.642185300]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1649700354.684343414]: Physics dynamic reconfigure ready.
[INFO] [1649700354.712522, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1649700354.860746, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1649700354.877280231]: Loading gazebo_ros_control plugin
[ INFO] [1649700354.877352889]: Starting gazebo_ros_control plugin in namespace: /cartpole_v0
[ INFO] [1649700354.877820928]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[cartpole_v0_urdf_spawner-4] process has finished cleanly
log file: /home/lennart/.ros/log/069a11ac-b9c2-11ec-944c-1902455219a4/cartpole_v0_urdf_spawner-4*.log
[WARN] [1649700383.839445, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-6] process has finished cleanly
log file: /home/lennart/.ros/log/069a11ac-b9c2-11ec-944c-1902455219a4/controller_spawner-6*.log
I appreciate any kind of advise!
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