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USV simulator for ROS

CMake 30.41% Shell 0.14% C++ 63.13% Python 6.32%

ros simulation gazebo usv-simulator rviz wam-v robotx martime-robox-challenge

ros_ship_packages's Introduction

ros_ship_packages

USV simulator for ROS

how to build

1.cd ~/catkin_ws/src [email protected]:hakuturu583/ros_ship_packages.git 3.cd ../ 4.sudo apt install ros-kinetic-jsk-* 5.ros-kinetic-hector-gazebo* 6.sudo apt install ros-kinetic-nmea* 7.sudo apt install ros-kinetic-velodyne* 8.sudo apt install ros-kinetic-nmea* 9.sudo apt install ros-kinetic-robot-pose-ekf 10.sudo apt install ros-kinetic-gps* 11.catkin_make

robot model

ros_ship

simulated sensors

camera,VLP-16

how to launch

roslaunch ros_ship_description ros_ship.launch

WAM-V

demo buoy recognition demo

simulated sensors

gps,imu,camera,VLP-16,laser(2D)

how to launch

roslaunch ros_ship_gazebo_plugins wam-v_gazebo.launch

packages

ros_ship_control

ROS package for control simulated USV

ros_ship_description

ROS package for ros_ship_description(urdf,xacro,mesh,world files,etc..)

ros_ship_gazebo_plugins

gazebo plugins for simlated USV

simple_buoyancy_plugin

gazebo plugin for calculating buoyancy in a very simple way.

world_frame_publisher_plugin

gazebo plugin for broadcast gazebo_world frame.

simple_driving_force_plugin

gazebo plugin for calculating driving force from joint speed and ship speed

ros_ship_msgs

messages for ros_ship_packages

ros_ship_navigation

navigation package for ros_ship

ros_ship_recognition

recognition package for ros_ship

object_recognition_node

object recognition node by using PCL(point cloud library) set rosparams like below stl and mesh file must be puted on (ros_ship_packages)/data/

ros_ship_visualization

gps_plotter.py

plot gps data from /fix(sensor_msgs/NavSatFix) and publish map image via google static map API S is start point of ship C is current position of the ship

kml_plotter.py

plot gps data from /fix(sensor_msgs/NavSatFix) topic in kml format

plot_characteristic_curve.py

plot characteristic curve in .eps and .jpeg format

ros_ship_packages's People

Contributors

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ros_ship_packages's Issues

Gazebo Launch Error

Bug

A launch error occurs when I try to launch ros_ship

Expected Behavior

The model launches in Gazebo.

Actual Behavior

The model launches in Rviz only. Gazebo hangs, and the following outputs including error messages show on the terminal:

$ roslaunch ros_ship_description ros_ship.launch
... logging to /home/wowbagger/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/roslaunch-Nutrimatic-Drink-Dispenser-17687.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.

inconsistent namespace redefinitions for xmlns:xacro:
 old: http://ros.org/wiki/xacro
 new: http://www.ros.org/wiki/xacro (/opt/ros/kinetic/share/velodyne_description/urdf/VLP-16.urdf.xacro)
started roslaunch server http://Nutrimatic-Drink-Dispenser:46171/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /ros_ship/joint_state_controller/publish_rate: 50
 * /ros_ship/joint_state_controller/type: joint_state_contr...
 * /ros_ship/left_motor_controller/joint: propeller_l_joint
 * /ros_ship/left_motor_controller/pid/d: 10.0
 * /ros_ship/left_motor_controller/pid/i: 0.01
 * /ros_ship/left_motor_controller/pid/p: 100.0
 * /ros_ship/left_motor_controller/type: velocity_controll...
 * /ros_ship/right_motor_controller/joint: propeller_r_joint
 * /ros_ship/right_motor_controller/pid/d: 10.0
 * /ros_ship/right_motor_controller/pid/i: 0.01
 * /ros_ship/right_motor_controller/pid/p: 100.0
 * /ros_ship/right_motor_controller/type: velocity_controll...
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /use_sim_time: True
 * /water_surface_height: 0.0

NODES
  /red_buoy_01/
    buoy_spawner (gazebo_ros/spawn_model)
  /green_buoy_01/
    buoy_spawner (gazebo_ros/spawn_model)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    rviz (rviz/rviz)
    urdf_spawner (gazebo_ros/spawn_model)
  /ros_ship/
    controller_spawner (controller_manager/spawner)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [17708]
process[urdf_spawner-2]: started with pid [17709]
process[red_buoy_01/buoy_spawner-3]: started with pid [17710]
process[green_buoy_01/buoy_spawner-4]: started with pid [17711]
process[ros_ship/controller_spawner-5]: started with pid [17712]
process[ros_ship/robot_state_publisher-6]: started with pid [17713]
process[gazebo-7]: started with pid [17714]
process[gazebo_gui-8]: started with pid [17720]
[ INFO] [1531330832.706871468]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1531330832.707295468]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1531330832.713978, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1531330832.731016068]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1531330832.731519758]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
SpawnModel script started
SpawnModel script started
[INFO] [1531330833.235747, 0.000000]: Loading model XML from ros parameter
[INFO] [1531330833.238720, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1531330833.306843, 0.000000]: Loading model XML from file
[INFO] [1531330833.307214, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1531330833.310474, 0.000000]: Loading model XML from file
[INFO] [1531330833.310804, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
[gazebo-7] process has died [pid 17714, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -u -e ode /home/wowbagger/catkin_ws/src/ros_ship_packages/ros_ship_description/world/open_water.world __name:=gazebo __log:=/home/wowbagger/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/gazebo-7.log].
log file: /home/wowbagger/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/gazebo-7*.log
Qt: Cannot set locale modifiers: 
[WARN] [1531330862.854738, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[ros_ship/controller_spawner-5] process has finished cleanly
log file: /home/wowbagger/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/ros_ship-controller_spawner-5*.log
^C[gazebo_gui-8] killing on exit
[ros_ship/robot_state_publisher-6] killing on exit
[green_buoy_01/buoy_spawner-4] killing on exit
[red_buoy_01/buoy_spawner-3] killing on exit
[urdf_spawner-2] killing on exit
[rviz-1] killing on exit
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 313, in <module>
    sm.callSpawnService()
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 271, in callSpawnService
    initial_pose, self.reference_frame, self.gazebo_namespace)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py", line 28, in spawn_urdf_model_client
    rospy.wait_for_service(gazebo_namespace+'/spawn_urdf_model')
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service
    raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 313, in <module>
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 313, in <module>
    sm.callSpawnService()
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 271, in callSpawnService
    sm.callSpawnService()
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 271, in callSpawnService
    initial_pose, self.reference_frame, self.gazebo_namespace)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py", line 28, in spawn_urdf_model_client
    rospy.wait_for_service(gazebo_namespace+'/spawn_urdf_model')
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service
    initial_pose, self.reference_frame, self.gazebo_namespace)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py", line 28, in spawn_urdf_model_client
    raise ROSInterruptException("rospy shutdown")
    rospy.wait_for_service(gazebo_namespace+'/spawn_urdf_model')
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service
rospy.exceptions.ROSInterruptException: rospy shutdown
    raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
[gazebo_gui-8] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done

The log ~/.ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/gazebo-7*.log does not exist.

This is from the log .ros/log/f27048d8-852f-11e8-8c79-7c8bca0b7f70/ros_ship-controller_spawner-5.log:

[rospy.client][INFO] 2018-07-11 13:30:53,337: init_node, name[/ros_ship/controller_spawner], pid[11489]
[xmlrpc][INFO] 2018-07-11 13:30:53,337: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2018-07-11 13:30:53,338: Started XML-RPC server [http://Nutrimatic-Drink-Dispenser:44847/]
[rospy.init][INFO] 2018-07-11 13:30:53,338: ROS Slave URI: [http://Nutrimatic-Drink-Dispenser:44847/]
[rospy.impl.masterslave][INFO] 2018-07-11 13:30:53,338: _ready: http://Nutrimatic-Drink-Dispenser:44847/
[rospy.registration][INFO] 2018-07-11 13:30:53,338: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2018-07-11 13:30:53,338: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2018-07-11 13:30:53,438: registered with master
[rospy.rosout][INFO] 2018-07-11 13:30:53,438: initializing /rosout core topic
[rospy.rosout][INFO] 2018-07-11 13:30:53,441: connected to core topic /rosout
[rospy.simtime][INFO] 2018-07-11 13:30:53,442: initializing /clock core topic
[rospy.simtime][INFO] 2018-07-11 13:30:53,444: connected to core topic /clock
[rosout][INFO] 2018-07-11 13:30:53,447: Controller Spawner: Waiting for service controller_manager/load_controller
[rospy.internal][INFO] 2018-07-11 13:30:53,732: topic[/rosout] adding connection to [/rosout], count 0
[rosout][WARNING] 2018-07-11 13:31:23,595: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rospy.core][INFO] 2018-07-11 13:31:23,595: signal_shutdown [atexit]
[rospy.internal][INFO] 2018-07-11 13:31:23,598: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2018-07-11 13:31:23,599: atexit
[rospy.client][INFO] 2018-07-11 13:40:32,602: init_node, name[/ros_ship/controller_spawner], pid[17712]
[xmlrpc][INFO] 2018-07-11 13:40:32,603: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2018-07-11 13:40:32,603: Started XML-RPC server [http://Nutrimatic-Drink-Dispenser:35159/]
[rospy.init][INFO] 2018-07-11 13:40:32,603: ROS Slave URI: [http://Nutrimatic-Drink-Dispenser:35159/]
[rospy.impl.masterslave][INFO] 2018-07-11 13:40:32,603: _ready: http://Nutrimatic-Drink-Dispenser:35159/
[rospy.registration][INFO] 2018-07-11 13:40:32,604: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2018-07-11 13:40:32,604: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2018-07-11 13:40:32,704: registered with master
[rospy.rosout][INFO] 2018-07-11 13:40:32,704: initializing /rosout core topic
[rospy.rosout][INFO] 2018-07-11 13:40:32,707: connected to core topic /rosout
[rospy.simtime][INFO] 2018-07-11 13:40:32,708: initializing /clock core topic
[rospy.simtime][INFO] 2018-07-11 13:40:32,710: connected to core topic /clock
[rosout][INFO] 2018-07-11 13:40:32,713: Controller Spawner: Waiting for service controller_manager/load_controller
[rospy.internal][INFO] 2018-07-11 13:40:32,944: topic[/rosout] adding connection to [/rosout], count 0
[rosout][WARNING] 2018-07-11 13:41:02,854: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rospy.core][INFO] 2018-07-11 13:41:02,855: signal_shutdown [atexit]
[rospy.internal][INFO] 2018-07-11 13:41:02,858: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2018-07-11 13:41:02,858: atexit

Steps to Reproduce the Problem

cd ~/catkin_ws
roscore &
roslaunch ros_ship_description ros_ship.launch

Specifications

Ubuntu version: 16.04 LTS
ROS Version: kinetic
Branch: master

Additional Questions

Should I add the following lines to some files, according to this?

<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotNamespace>/MYROBOT</robotNamespace>
  </plugin>
</gazebo>

Thanks!

launchファイルが起動しない

xacroファイルがないっていわれます。
依存関係の問題でしょうか．．．？

yukimakura@yukimakura-P750ZM:~/ros_ship_ws$` roslaunch ros_ship_description ros_ship.launch 
... logging to /home/yukimakura/.ros/log/712e3e3c-e666-11e7-b823-80fa5b18228a/roslaunch-yukimakura-P750ZM-17164.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/yukimakura/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

resource not found: velodyne_description
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/yukimakura/husky_ws/src
ROS path [2]=/home/yukimakura/ros_ship_ws/src
ROS path [3]=/home/yukimakura/ros/catkin_ws/src
ROS path [4]=/opt/ros/kinetic/share
XacroException('resource not found:',)
when processing file: /home/yukimakura/ros_ship_ws/src/ros_ship_packages/ros_ship_description/robots/ros_ship.urdf.xacro
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --check-order /home/yukimakura/ros_ship_ws/src/ros_ship_packages/ros_ship_description/robots/ros_ship.urdf.xacro] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro --check-order $(find ros_ship_description)/robots/ros_ship.urdf.xacro" name="robot_description"/>
The traceback for the exception was written to the log file

ros_ship.launch時に不正なオブジェクトがGAZEBOで表示される。

Fill-out only one section depending on whether you are reporting a bug or a new feature.

Bug

この画像のようになる。→https://photos.app.goo.gl/kpXlBx2bHoGli97l2

なお、ros_ship_packages/ros_ship_description/worldのopen_water.worldの
約８２行付近のuriが間違っていた模様。

Expected Behavior

青くて薄べったいオブジェクトが召喚される？？

Actual Behavior

Steps to Reproduce the Problem

1.$ roslaunch ros_ship_description ros_ship.launch

Specifications

Ubuntu version: 16.04.3 LTS
ROS Version:Kinetic Kame
Branch:master

New Feature

Describe where does new feature request come from. Add high-level picture of how the new feature should work.

ros_ship_visualization execution error

Hello I have a three questions about ros_ship_packages...

ros_ship_visualization google map error
Can I controlling ros_ship?
Can I simulating boat navigation using fake gps data?

=============================================

Hello, I'm Jeime Rhee studying about UAV.

I found this project yesterday and I'm success build and run ros_ship.launch but I can't execute ros_ship_visualization exactly "gps_plotter.py".

I already have Google static map API key.
Before executing gps_plotter, I created google_static_map_api_key.yaml under "config" directory and filled my google static map api keyt.
It copied from google_static_map_api_key_sample.yaml

Bug

Expected Behavior

Display Google map and showed marker.

Actual Behavior

ros getParam key error occurred

Specifications

Ubuntu version: 16.04
ROS Version: kinetic
Branch: master (18.12.08)

Can you tell me how to executing gps_plotter?

When I launching ros_ship.launch, how can I control ros_ship? It means, move forward, turn left, turn right something else... I cannot found control manual sorry...
If I want controlling ros_ship using GPS coordinate, is it possible?
I cannot fully analyzed ros_ship_packages yet, but this project contains navigation node and control node. So I think I can simulating ros_ship movement using GPS coordinate but I can't sure it.

I'm so sorry about lots of questions

Regards & Thanks

Jeime Rhee

Joint states topic issues

Hi again! I managed to build your package successfully. I ran afterwards the following:

roslaunch ros_ship_description ros_ship.launch

However, there were problems regarding the urdf, joint state publisher node, the joint states topic, and tf, in rviz.

issue:

I noticed 2 errors:

I can't set up a fixed frame other than base_footprint, and
There's no transforms to base_footprint from the other robot-model elements.

In gazebo, the ship and the buoys appear in the open water. However you can see that in rviz there's things wrong.

I checked some troubleshooting on rviz and tf, and it led me to notice the following:
/ros_ship/robot_state_publisher is a node ran by default on your launch setup, and it subscribes to /ros_ship/joint_states, nothing abnormal. However, there is no node publishing such topic. This must be affecting the transform problems in the robot model.

For this, I ran a node: https://github.com/ros/joint_state_publisher and changed the default publishing topic of /joint_states to /ros_ship/joint_states to see if it had solved the issue, but it seems the problem is bigger than just that. I could see the node publishing the topic but nothing had been solved:

I suspect there's more to it than this issue. Also, fyi, upon running the launcher, a warning message appears:

Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the tag in joint 'propeller_l_joint'.

And also:

[WARN] [1517938365.971791, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

Any leads on this?
Thank you.

Specifications

Ubuntu version: 16.04
ROS Version: Kinetic

would you mind tell me where the ros_ship_control/src uesd?

I do not know how do you call or where do you ues 'ship_controller.cpp',because I do not find any launch file have pkg ros_ship_control with type ship controller.Thank you

Cannot find "controller_managerConfig.Cmake" upon building package

Fill-out only one section depending on whether you are reporting a bug or a new feature.

Bug

Update here. I managed to install all the required packages. However, there is a problem with the build. I run catkin_make and it gives me a Cmake error. This one:

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"controller_manager" with any of the following names:
controller_managerConfig.cmake
controller_manager-config.cmake

Do you know where in your package I can add these prefixes to CMAKE_PREFIX_PATH, or do you have that file at all? or is it from another dev package?

Let me know :) thank you very much

Specifications

Ubuntu version: Xenial 16.04
ROS Version: Kinetic

[ERROR] [1520304431.162725, 0.000000]: Failed to load joint_state_controller

Everything seems to be built successfully. When I ran the command "roslaunch ros_ship_gazebo_plugins wam-v_gazebo.launch", the ship could not be controlled. The errors can be found in the terminal like the following, can you give me some helpful suggestion? Thanks very much!

[ERROR] [1520304431.162725, 0.000000]: Failed to load joint_state_controller
[INFO] [1520304431.163007, 0.000000]: Loading controller: right_motor_controller
[ERROR] [1520304431.164591474]: Could not load controller 'right_motor_controller' because controller type 'velocity_controllers/JointVelocityController' does not exist.
[ERROR] [1520304431.164627068]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1520304432.165761, 0.000000]: Failed to load right_motor_controller
[INFO] [1520304432.166032, 0.000000]: Loading controller: left_motor_controller
[ERROR] [1520304432.167711935]: Could not load controller 'left_motor_controller' because controller type 'velocity_controllers/JointVelocityController' does not exist.
[ERROR] [1520304432.167750789]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1520304433.168274, 0.000000]: Failed to load left_motor_controller

Steps to Reproduce the Problem

Specifications

Ubuntu version: 16.04
ROS Version: kinetic
Branch:

[gazebo-8] process has died

Would you mind tell me how to fix it?
[gazebo-8] process has died [pid 23357, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/just/catkinship1_ws/src/ros_ship_packages-master/ros_ship_description/world/open_water.world __name:=gazebo __log:=/home/just/.ros/log/3d69d356-2f6e-11ea-9aff-7cb27d913d36/gazebo-8.log].
log file: /home/just/.ros/log/3d69d356-2f6e-11ea-9aff-7cb27d913d36/gazebo-8*.log

roslaunch ros_ship_gazebo_plugins wam-v_gazebo.launch execution error

When I launch ros_ship_gazebo_plugins wam-v_gazebo.launch, they fails with missing file error.
It should be a bug.

Steps to Reproduce the Problem

$ roslaunch ros_ship_gazebo_plugins wam-v_gazebo.launch
Get following error message.

IOError: [Errno 2] No such file or directory: '/home/ryodo/workspace/ROS/ouxt_ws/src/ros_ship_packages/ros_ship_visualization/data/gps_log.kml

There is no gps_log.kml.

How to deal with ?

May I ask someone who has that data to upload it ?
Related with this problem, I think we need to think about package dependencies...
Missing dependency error is occurring... -> #7
To deal with this, we need to have roslaunch test on Travis, I think.

Specifications

Ubuntu version: 16.04 LTS
ROS Version: kinetic
Branch: https://github.com/OUXT-Polaris/ros_ship_packages/tree/ryodo/fix-launch-error

gazeboの時間が止まる

Fill-out only one section depending on whether you are reporting a bug or a new feature.

Bug

ros_ship_navigationパッケージ内部にrobot_pose_ekfの出力からgeometry_msgs/Twist型で船体速度を出力するノードodom_combined_to_twist_node.py作成時に異常が発覚
gazeboの時間が止まってしまいシミュレーションが不可能となる。
エラー等は発生しておらず、プロセスが落ちることもない

Expected Behavior

driving_force_controllerは船体速度のデータを受け取り、推進力を制御

Actual Behavior

メッセージを受け取るros_ship_control内部のdriving_force_controllerが原因であると推察されるが、メッセージを受け取るとgazeboの計算が何故か止まってしまい時間が進まなくなる。

Steps to Reproduce the Problem

1.checkout origin/devel/kataoka/odom_combined_to_twist branch
2.catkin_make
3.roslaunch ros_ship_gazebo_plugins wam-v_gazebo.launch

Specifications

Ubuntu version:16.04
ROS Version:Kinetic
Branch:origin/devel/kataoka/odom_combined_to_twist branch

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