Invalid parameter and Error with Param xml

[adarshkosta]

Hi,

I was able to install and build everything properly without any errors.

However, when I try to run any of the launch files from bebop_simulator (bebop_without_controller.launch, task1_world.launch etc.) I get the following error.

redefining global symbol: pi
when processing file: /home/akosta/bebop_ws/src/rotors_simulator/rotors_description/urdf/component_snippets.xacro
included from: /home/akosta/bebop_ws/src/BebopS/urdf/bebop.urdf.xacro
Invalid parameter "measurement_delay"
when instantiating macro: imu_plugin_macro (/home/akosta/bebop_ws/src/rotors_simulator/rotors_description/urdf/component_snippets.xacro)
in file: /home/akosta/bebop_ws/src/BebopS/urdf/bebop.urdf.xacro
RLException: while processing /home/akosta/bebop_ws/src/BebopS/launch/spawn_bebop.launch:
Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '/home/akosta/bebop_ws/src/BebopS/urdf/bebop.urdf.xacro', 'enable_ground_truth:=true', 'enable_odometry_sensor_with_noise:=false', 'disable_odometry_sensor_with_noise:=true', 'enable_ground_truth_sensor:=false', 'enable_wind_plugin:=false', 'enable_laser1D:=false', 'enable_imu:=true', 'namespace:=bebop', 'wind_force:=0.5', 'wind_start:=15.0', 'wind_duration:=10.0', 'wind_direction_x:=0.0', 'wind_direction_y:=0.0', 'wind_direction_z:=1.0']] returned with code [2].

Param xml is :
param command=" $(find xacro)/xacro '$(arg model)' enable_ground_truth:='$(arg enable_ground_truth)' enable_odometry_sensor_with_noise:='$(arg enable_odometry_sensor_with_noise)' disable_odometry_sensor_with_noise:='$(arg disable_odometry_sensor_with_noise)' enable_ground_truth_sensor:='$(arg enable_ground_truth_sensor)' enable_wind_plugin:='$(arg enable_wind_plugin)' enable_laser1D:='$(arg enable_laser1D)' enable_imu:='$(arg enable_imu)' namespace:=$(arg name) wind_force:=$(arg wind_force) wind_start:=$(arg wind_start) wind_duration:=$(arg wind_duration) wind_direction_x:=$(arg wind_direction_x) wind_direction_y:=$(arg wind_direction_y) wind_direction_z:=$(arg wind_direction_z) " name="robot_description"
The traceback for the exception was written to the log file

Log file:
roslaunch-P3630-1396.log

I am running on Ubuntu 18.04.5 with ROS Melodic and Gazebo 9.
Has this been observed previously?
Thanks in advance!

[welcome]

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

[gsilano]

Hi! I think you have not installed the repository correctly. You are using an old or incorrect branch of RotorS. This is the missing file in your RotorS repository. The root of the file, i.e., /home/akosta/bebop_ws/src/rotors_simulator/rotors_description/urdf/component_snippets.xacro, is reported in the error log.

These steps should solve the issue:

1. Check the origin of the repository using the git remote -v command. Run it in the RotorS folder. In case it is not, delete the folder and clone it again using the git clone -b med18_gazebo9 https://github.com/gsilano/rotors_simulator.git.
2. If your origin is https://github.com/gsilano/rotors_simulator.git, switch to the right branch using the git checkout med18_gazebo9 command.
3. Please, also check the origin of the mav_comm repository. Repeat operations 1 and 2 for it. Of course, instead of rotors_simulator, you find mav_comm in the link.

Let me know if this fixes it.

[adarshkosta]

Hi,
I had the remote for rotors_simulator set to med18_gazebo9_fix. Changed it to med18_gazebo.
Also, had an issue with parrot_arsdk and bebop_autonomy. Had to soft link the parrot_arsdk installation from /opt/ros/melodic/lib/parrot_arsdk to <CATKIN_WS>/devel/lib/parrot_arsdk and add it to $LD_LIBRARY_PATH.

Able to launch the simulator now.
Thanks!