gsilano/BebopS

uav not moving

sheldonjinqi opened this issue · 2 comments

sheldonjinqi commented

Hi, Just a quick question. I followed the instructions to install the package. But when i run roslaunch bebop_simulator task2_world.launch, the drone is not moving at all in gazebo. Any idea why this is happening?

Here is the messages i got from gazebo :

`sheldon@sheldon-Thinkpad:~$ roslaunch bebop_simulator task2_world.launch
... logging to /home/sheldon/.ros/log/a8ba498e-96dd-11ea-8ce9-a434d9bf2575/roslaunch-sheldon-Thinkpad-21763.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.

WARN: unrecognized 'param' tag in tag
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://sheldon-Thinkpad:43771/

SUMMARY

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /position_controller_node/EKFActive: False
  • /position_controller_node/H: 0.01
  • /position_controller_node/Qp/aa: 0.001
  • /position_controller_node/Qp/bb: 0.001
  • /position_controller_node/Qp/cc: 0.001
  • /position_controller_node/Qp/dd: 0.001
  • /position_controller_node/Qp/ee: 0.001
  • /position_controller_node/Qp/ff: 0.001
  • /position_controller_node/Tsf: 1.5
  • /position_controller_node/U_xyz/U_x: 1.181
  • /position_controller_node/U_xyz/U_y: 1.181
  • /position_controller_node/U_xyz/U_z: 4.6697
  • /position_controller_node/beta_phi/beta_phi: -1.7514
  • /position_controller_node/beta_psi/beta_psi: -14.3431
  • /position_controller_node/beta_theta/beta_theta: -1.7513
  • /position_controller_node/beta_xy/beta_x: -26.4259
  • /position_controller_node/beta_xy/beta_y: -26.3627
  • /position_controller_node/beta_z/beta_z: -27.2277
  • /position_controller_node/bf: 8.54858e-06
  • /position_controller_node/bm: 0.016
  • /position_controller_node/csvFilesStoring: False
  • /position_controller_node/csvFilesStoringTime: 60.0
  • /position_controller_node/dev_vx: 0.01
  • /position_controller_node/dev_vy: 0.01
  • /position_controller_node/dev_vz: 0.01
  • /position_controller_node/dev_x: 0.01
  • /position_controller_node/dev_y: 0.01
  • /position_controller_node/dev_z: 0.01
  • /position_controller_node/inertia/xx: 0.00389
  • /position_controller_node/inertia/xy: 0.0
  • /position_controller_node/inertia/xz: 0.0
  • /position_controller_node/inertia/yy: 0.00389
  • /position_controller_node/inertia/yz: 0.0
  • /position_controller_node/inertia/zz: 0.0078
  • /position_controller_node/l: 0.12905
  • /position_controller_node/mass: 0.5
  • /position_controller_node/mu_phi/mu_phi: 0.0544
  • /position_controller_node/mu_psi/mu_psi: 0.44
  • /position_controller_node/mu_theta/mu_theta: 0.0543
  • /position_controller_node/mu_xy/mu_x: 1
  • /position_controller_node/mu_xy/mu_y: 1
  • /position_controller_node/mu_z/mu_z: 1
  • /position_controller_node/use_sim_time: True
  • /position_controller_node/user_account: giuseppe
  • /position_controller_node/waypoint_filter: True
  • /robot_description: <?xml version="1....
  • /rosdistro: melodic
  • /rosversion: 1.14.5
  • /tf_prefix: bebop
  • /use_sim_time: True

NODES
/bebop/
waypoint_example (bebop_simulator/waypoint_example)
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
position_controller_node (bebop_simulator/position_controller_node)
spawn_robot (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [21776]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a8ba498e-96dd-11ea-8ce9-a434d9bf2575
process[rosout-1]: started with pid [21787]
started core service [/rosout]
process[gazebo-2]: started with pid [21794]
process[gazebo_gui-3]: started with pid [21799]
process[spawn_robot-4]: started with pid [21804]
process[position_controller_node-5]: started with pid [21805]
process[bebop/waypoint_example-6]: started with pid [21806]
[ INFO] [1589568936.178282443]: Started position controller
[ INFO] [1589568936.193859194]: Started waypoint example.
[ INFO] [1589568936.195138599]: Read 3 waypoints.
[ INFO] [1589568936.195636254]: Wait for 1 second before trying to unpause Gazebo again.
[ INFO] [1589568936.196584293]: Got param 'user_account': giuseppe
[ INFO] [1589568936.196890888]: Got param 'waypoint_filter': 1
[ INFO] [1589568936.197172056]: Got param 'csvFilesStoring': 0
[ INFO] [1589568936.197440912]: Got param 'EKFActive': 0
[ INFO] [1589568936.197726432]: Got param 'csvFilesStoringTime': 60.000000
[ INFO] [1589568936.511454188]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1589568936.512640541]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1589568936.583643163]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1589568936.584870497]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1589568936.822351838]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1589568936.849715779, 0.011000000]: Physics dynamic reconfigure ready.
[INFO] [1589568936.943802, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1589568936.958119, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1589568936.962434, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1589568937.158903, 0.153000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1589568937.197020074]: Unpaused the Gazebo simulation.
[spawn_robot-4] process has finished cleanly
log file: /home/sheldon/.ros/log/a8ba498e-96dd-11ea-8ce9-a434d9bf2575/spawn_robot-4*.log
[ INFO] [1589568937.375451619, 0.153000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1589568937.378410219, 0.153000000]: Camera Plugin (ns = /) <tf_prefix_>, set to "bebop"
[ INFO] [1589568938.185719853, 0.654000000]: Start publishing waypoints.
[ INFO] [1589568938.185796404, 0.654000000]: Publishing waypoint on namespace /bebop: [0.000000, 0.000000, 1.000000].
[ INFO] [1589568938.185952638, 0.654000000]: PositionController got first MultiDOFJointTrajectory message.
[ INFO] [1589568953.843194547, 10.654000000]: Publishing waypoint on namespace /bebop: [-1.000000, -1.000000, 1.000000].
[ INFO] [1589568968.309097951, 20.654000000]: Publishing waypoint on namespace /bebop: [0.000000, 0.000000, 1.000000].

`

welcome commented

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

sheldonjinqi commented

solved by upgrading the gazebo following the last step in install instruction

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