pal-robotics / talos_simulation Goto Github PK

Hi,

I Installed the TALOS Gazebo Simulation with the steps described in the ROS Tutorials. I'm running ROS Melodic on Ubuntu 18.04.02 LTS.

The build seems to work in the beginning but It fails on the play_motion package.

Failed     << play_motion:make                                     [ Exited with code 2 ]                                                                                                                  
Failed    <<< play_motion                                          [ 1 minute and 20.6 seconds ]                                                                                                           
Abandoned <<< talos_bringup                                        [ Unrelated job failed ]                                                                                                                
Abandoned <<< talos_gazebo                                         [ Unrelated job failed ]                                                                                                                
Abandoned <<< talos_hardware_gazebo                                [ Unrelated job failed ]                                                                                                                
Finished  <<< pal_hardware_gazebo                                  [ 1 minute and 22.8 seconds ]                                                                                                           
[build] Summary: 69 of 73 packages succeeded.                                                                                                                                                              
[build]   Ignored:   7 packages were skipped or are blacklisted.                                                                                                                                           
[build]   Warnings:  7 packages succeeded with warnings.                                                                                                                                                   
[build]   Abandoned: 3 packages were abandoned.                                                                                                                                                            
[build]   Failed:    1 packages failed. 

I got some warnings related to missing .so files as follows,
... /usr/bin/ld: warning: libmoveit_planning_scene_monitor.so.1.0.7, needed by /opt/ros/melodic/lib/libmoveit_move_group_interface.so, not found (try using -rpath or -rpath-link) ...

Then undefined reference errors,
/opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so: undefined reference to planning_scene::PlanningScene::~PlanningScene()'...

When I checked the /opt/ros/melodic/lib directory on my machine, I have all the files but there is a version mismatch in some of them. Like having libmoveit_warehouse.so.1.0.6 instead of libmoveit_warehouse.so.1.0.7 or libmoveit_planning_scene_monitor.so.1.0.7 instead of libmoveit_planning_scene_monitor.so.1.0.6 etc.

I got the same problems with ROS Kinetic and Ubuntu 16.04.04 LTS.

Any hints on what could be causing this issue?

Thanks in advance.
Jasmine

Hello,
i want to simulate Talos Robot in Gazebo. i have followed steps in http://wiki.ros.org/Robots/TALOS/Tutorials/Installation/Simulation . Afther that when i have typed command " roslaunch talos_gazebo talos_gazebo.launch " i have encountered following Gazebo screeen :

I want to move this robot so i have tried to run launch files in some packages like talos_controller_configuration_gazebo or talos_controller_configuration (these packages are in "talos_public_ws" which prepared according to RosWiki Tutorials/installing Talos Simulation" ) with talos_gazebo.launch file but i have encountered some errors and Talos Robot could not stand up. There are a lot of packages and files about control in this workspace and i do not know which one i need. My question is simple but i am new with ROS and Gazebo and need help so which file and packages should i run to make this robot stand up and walk?

I am using Ubuntu 18.04 ,Ros Melodic Morenia and Gazebo9

Thanks

I have truble talos gazebo simulation..

errors are these..

my simulation environment setting is

ubuntu 18.04, ros melodic, gazebo9

[ERROR] [1589464868.833742426, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_left_5_joint [ WARN] [1589464868.833771882, 0.377000000]: Transmission wrist_left_trans has more than one joint. Currently the default robot hardware simulation interface only supports one. [ WARN] [1589464868.833782669, 0.377000000]: Joint arm_left_1_joint of transmission arm_left_1_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [ERROR] [1589464868.834261038, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_left_1_joint [ WARN] [1589464868.834282492, 0.377000000]: Joint arm_left_2_joint of transmission arm_left_2_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [ERROR] [1589464868.834666258, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_left_2_joint [ WARN] [1589464868.834682895, 0.377000000]: Joint arm_left_3_joint of transmission arm_left_3_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [ERROR] [1589464868.835072522, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_left_3_joint [ WARN] [1589464868.835088401, 0.377000000]: Joint arm_left_4_joint of transmission arm_left_4_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [ERROR] [1589464868.835500019, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_left_4_joint [ WARN] [1589464868.835515336, 0.377000000]: Joint arm_right_5_joint of transmission arm_right_5_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [ERROR] [1589464868.835897955, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_right_5_joint [ WARN] [1589464868.835918271, 0.377000000]: Transmission wrist_right_trans has more than one joint. Currently the default robot hardware simulation interface only supports one. [ WARN] [1589464868.835930403, 0.377000000]: Joint arm_right_1_joint of transmission arm_right_1_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [ERROR] [1589464868.836296266, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_right_1_joint [ WARN] [1589464868.836317376, 0.377000000]: Joint arm_right_2_joint of transmission arm_right_2_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [ERROR] [1589464868.836649358, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_right_2_joint [ WARN] [1589464868.836668838, 0.377000000]: Joint arm_right_3_joint of transmission arm_right_3_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [ERROR] [1589464868.836951201, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_right_3_joint [ WARN] [1589464868.836966200, 0.377000000]: Joint arm_right_4_joint of transmission arm_right_4_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [ERROR] [1589464868.837247980, 0.377000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_right_4_joint [ WARN] [1589464868.837261638, 0.377000000]: Joint gripper_left_joint of transmission gripper_left_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry [FATAL] [1589464868.837274054, 0.377000000]: No matching hardware interface found for 'hardware_interface/JointStateInterface' while loading interfaces for gripper_left_joint [FATAL] [1589464868.837343497, 0.377000000]: Could not initialize robot simulation interface [ INFO] [1589464868.841352957, 0.377000000]: Loading gazebo WORLD ODOMETRY RPY plugin [ INFO] [1589464868.841410781, 0.377000000]: world odometry plugin missing <updateRate>, defaults to 1000.000000 [spawn_model-4] process has finished cleanly log file: /home/asl/.ros/log/59775c74-95eb-11ea-ab56-9f4e2488a24e/spawn_model-4*.log [ WARN] [1589464873.737680800, 5.222000000]: Waiting for left_arm_controller/follow_joint_trajectory to come up [ WARN] [1589464879.771947921, 11.222000000]: Waiting for left_arm_controller/follow_joint_trajectory to come up [ERROR] [1589464885.818546179, 17.222000000]: Action client not connected: left_arm_controller/follow_joint_trajectory [ WARN] [1589464890.884902002, 22.234000000]: Waiting for right_arm_controller/follow_joint_trajectory to come up [ WARN] [1589464896.926266775, 28.234000000]: Waiting for right_arm_controller/follow_joint_trajectory to come up [WARN] [1589464897.034166, 28.339000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [bringup_controllers_spawner-7] process has finished cleanly log file: /home/asl/.ros/log/59775c74-95eb-11ea-ab56-9f4e2488a24e/bringup_controllers_spawner-7*.log [ERROR] [1589464902.978780837, 34.234000000]: Action client not connected: right_arm_controller/follow_joint_trajectory [ WARN] [1589464908.083560282, 39.296000000]: Waiting for head_controller/follow_joint_trajectory to come up [ WARN] [1589464914.122971743, 45.296000000]: Waiting for head_controller/follow_joint_trajectory to come up [ERROR] [1589464920.152785285, 51.296000000]: Action client not connected: head_controller/follow_joint_trajectory [ WARN] [1589464925.285662446, 56.398000000]: Waiting for torso_controller/follow_joint_trajectory to come up [ WARN] [1589464931.316867145, 62.399000000]: Waiting for torso_controller/follow_joint_trajectory to come up [ERROR] [1589464937.354294532, 68.399000000]: Action client not connected: torso_controller/follow_joint_trajectory [ WARN] [1589464942.397247918, 73.412000000]: Waiting for left_gripper_controller/follow_joint_trajectory to come up [ WARN] [1589464948.445179575, 79.412000000]: Waiting for left_gripper_controller/follow_joint_trajectory to come up [ERROR] [1589464954.508591370, 85.412000000]: Action client not connected: left_gripper_controller/follow_joint_trajectory

and...

WTF!!!!!!

please help me.....:(