URDF Tutorial Package Fails on Launch
austinlucaslake opened this issue · 5 comments
I am trying to use this command to launch the urdf_tutorial package:
ros2 launch urdf_tutorial display.launch.py model:=urdf/01-myfirst.urdf
Here's the error I'm seeing when trying to launch the package:
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-03-17-13-16-36-863279-austin-asus-117521
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure('executed command failed. Command: xacro urdf/01-myfirst.urdf')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 1 more time]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 444, in execute
self._perform_substitutions(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 399, in _perform_substitutions
evaluated_parameters = evaluate_parameters(context, self.__parameters)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 160, in evaluate_parameters
output_params.append(evaluate_parameter_dict(context, param))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 128, in evaluate_parameter_dict
evaluated_value = value.evaluate(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/parameter_descriptions.py", line 83, in evaluate
self.__evaluated_parameter_value = perform_typed_substitution(
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/type_utils.py", line 548, in perform_typed_substitution
perform_substitutions(context, cast(List[Substitution], value)),
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 197, in perform_substitution
return substitution.perform(self)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/command.py", line 116, in perform
raise SubstitutionFailure(f'executed command failed. Command: {command_str}')
launch.substitutions.substitution_failure.SubstitutionFailure: executed command failed. Command: xacro urdf/01-myfirst.urdf
Task exception was never retrieved
future: <Task finished name='Task-8' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
return self.__function(context, *self.__args, **self.__kwargs)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [joint_state_publisher_gui-1]: process started with pid [117524]
[joint_state_publisher_gui-1] [INFO] [1647548198.178937467] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[joint_state_publisher_gui-1] [INFO] [1647548198.212628571] [joint_state_publisher]: Centering
[ERROR] [joint_state_publisher_gui-1]: process[joint_state_publisher_gui-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [joint_state_publisher_gui-1]: sending signal 'SIGTERM' to process[joint_state_publisher_gui-1]
[ERROR] [joint_state_publisher_gui-1]: process has died [pid 117524, exit code -15, cmd '/opt/ros/foxy/lib/joint_state_publisher_gui/joint_state_publisher_gui --ros-args'].
`
Here's a post with a similar error. Try the suggestions:
https://get-help.robotigniteacademy.com/t/i-got-substitution-failure-error/15376/4
same problem here. the suggested solution didn't help on a new Ubuntu 20.04
Please try the updated instructions on the Ros2 Github. That is now the official version of the tutorial and is actively maintained. If you still have issues, you can open a PR ticket there. thanks.
@benbongalon sorry didn't manage to test again