gsilano/BebopS

No model loaded in gazebo 11 (ROS noetic)

Closed this issue · 1 comments

HuaheanRobotic commented

hi, i am trying to run the simulation by the command, $ roslaunch rotors_gazebo mav_hovering_example.launch mav_name:=firefly world_name:=basic

But, the mav is not loaded in Gazebo, it is a empty world.

I got the following log, could you please give some solutions?

SUMMARY

PARAMETERS

  • /firefly/lee_position_controller_node/angular_rate_gain/x: 0.52
  • /firefly/lee_position_controller_node/angular_rate_gain/y: 0.52
  • /firefly/lee_position_controller_node/angular_rate_gain/z: 0.18
  • /firefly/lee_position_controller_node/attitude_gain/x: 3
  • /firefly/lee_position_controller_node/attitude_gain/y: 3
  • /firefly/lee_position_controller_node/attitude_gain/z: 0.15
  • /firefly/lee_position_controller_node/inertia/xx: 0.0347563
  • /firefly/lee_position_controller_node/inertia/xy: 0.0
  • /firefly/lee_position_controller_node/inertia/xz: 0.0
  • /firefly/lee_position_controller_node/inertia/yy: 0.0458929
  • /firefly/lee_position_controller_node/inertia/yz: 0.0
  • /firefly/lee_position_controller_node/inertia/zz: 0.0977
  • /firefly/lee_position_controller_node/mass: 1.56779
  • /firefly/lee_position_controller_node/position_gain/x: 6
  • /firefly/lee_position_controller_node/position_gain/y: 6
  • /firefly/lee_position_controller_node/position_gain/z: 6
  • /firefly/lee_position_controller_node/rotor_configuration/0/angle: 0.52359877559
  • /firefly/lee_position_controller_node/rotor_configuration/0/arm_length: 0.215
  • /firefly/lee_position_controller_node/rotor_configuration/0/direction: 1.0
  • /firefly/lee_position_controller_node/rotor_configuration/0/rotor_force_constant: 8.54858e-06
  • /firefly/lee_position_controller_node/rotor_configuration/0/rotor_moment_constant: 0.016
  • /firefly/lee_position_controller_node/rotor_configuration/1/angle: 1.57079632679
  • /firefly/lee_position_controller_node/rotor_configuration/1/arm_length: 0.215
  • /firefly/lee_position_controller_node/rotor_configuration/1/direction: -1.0
  • /firefly/lee_position_controller_node/rotor_configuration/1/rotor_force_constant: 8.54858e-06
  • /firefly/lee_position_controller_node/rotor_configuration/1/rotor_moment_constant: 0.016
  • /firefly/lee_position_controller_node/rotor_configuration/2/angle: 2.61799387799
  • /firefly/lee_position_controller_node/rotor_configuration/2/arm_length: 0.215
  • /firefly/lee_position_controller_node/rotor_configuration/2/direction: 1.0
  • /firefly/lee_position_controller_node/rotor_configuration/2/rotor_force_constant: 8.54858e-06
  • /firefly/lee_position_controller_node/rotor_configuration/2/rotor_moment_constant: 0.016
  • /firefly/lee_position_controller_node/rotor_configuration/3/angle: -2.61799387799
  • /firefly/lee_position_controller_node/rotor_configuration/3/arm_length: 0.215
  • /firefly/lee_position_controller_node/rotor_configuration/3/direction: -1.0
  • /firefly/lee_position_controller_node/rotor_configuration/3/rotor_force_constant: 8.54858e-06
  • /firefly/lee_position_controller_node/rotor_configuration/3/rotor_moment_constant: 0.016
  • /firefly/lee_position_controller_node/rotor_configuration/4/angle: -1.57079632679
  • /firefly/lee_position_controller_node/rotor_configuration/4/arm_length: 0.215
  • /firefly/lee_position_controller_node/rotor_configuration/4/direction: 1.0
  • /firefly/lee_position_controller_node/rotor_configuration/4/rotor_force_constant: 8.54858e-06
  • /firefly/lee_position_controller_node/rotor_configuration/4/rotor_moment_constant: 0.016
  • /firefly/lee_position_controller_node/rotor_configuration/5/angle: -0.52359877559
  • /firefly/lee_position_controller_node/rotor_configuration/5/arm_length: 0.215
  • /firefly/lee_position_controller_node/rotor_configuration/5/direction: -1.0
  • /firefly/lee_position_controller_node/rotor_configuration/5/rotor_force_constant: 8.54858e-06
  • /firefly/lee_position_controller_node/rotor_configuration/5/rotor_moment_constant: 0.016
  • /firefly/lee_position_controller_node/velocity_gain/x: 4.7
  • /firefly/lee_position_controller_node/velocity_gain/y: 4.7
  • /firefly/lee_position_controller_node/velocity_gain/z: 4.7
  • /firefly/robot_description: <?xml version="1....
  • /firefly/tf_prefix:
  • /gazebo/enable_ros_network: True
  • /rosdistro: noetic
  • /rosversion: 1.16.0
  • /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
/firefly/
hovering_example (rotors_gazebo/hovering_example)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
lee_position_controller_node (rotors_control/lee_position_controller_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_firefly (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [10249]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6e0bda88-3aa2-11ef-b52d-57a5c266bee7
process[rosout-1]: started with pid [10259]
started core service [/rosout]
process[gazebo-2]: started with pid [10266]
process[gazebo_gui-3]: started with pid [10270]
process[firefly/spawn_firefly-4]: started with pid [10275]
process[firefly/lee_position_controller_node-5]: started with pid [10277]
process[firefly/hovering_example-6]: started with pid [10278]
process[firefly/robot_state_publisher-7]: started with pid [10279]
process[firefly/joint_state_publisher-8]: started with pid [10284]
[ INFO] [1720165478.179875658]: Started hovering example.
[ INFO] [1720165478.180846770]: Wait for 1 second before trying to unpause Gazebo again.
/opt/ros/noetic/lib/python3/dist-packages/actionlib/goal_id_generator.py:45: SyntaxWarning: invalid escape sequence '\p'
"""
/opt/ros/noetic/lib/python3/dist-packages/actionlib/goal_id_generator.py:56: SyntaxWarning: invalid escape sequence '\p'
"""
[ INFO] [1720165478.430189609]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1720165478.430695565]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
/opt/ros/noetic/lib/python3/dist-packages/tf/transformations.py:32: SyntaxWarning: invalid escape sequence '*'
"""Homogeneous Transformation Matrices and Quaternions.
[ INFO] [1720165478.472905676]: Finished loading Gazebo ROS API Plugin.
/opt/ros/noetic/lib/python3/dist-packages/tf/transformations.py:867: SyntaxWarning: invalid escape sequence '*'
"""Return matrix to transform given vector set into second vector set.
[ INFO] [1720165478.473703048]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1720165479.064070423]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1720165479.076733338]: Physics dynamic reconfigure ready.
[ INFO] [1720165479.181941777]: Unpaused the Gazebo simulation.
[ INFO] [1720165484.344415445, 5.150000000]: Publishing waypoint on namespace /firefly: [0.000000, 0.000000, 1.000000].
[firefly/hovering_example-6] process has finished cleanly
log file: /home/hua/.ros/log/6e0bda88-3aa2-11ef-b52d-57a5c266bee7/firefly-hovering_example-6*.log

welcome commented

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