No UR5 model in gazebo

Question

No UR5 model in gazebo

Opened this issue 6 months ago · 6 comments

When I roslaunch execute the following command ur_gazebo ur5_bringup.launch, Robotic arm model cannot be displayed in gazebo. But the output in the terminal seems normal.

SUMMARY

PARAMETERS

/gazebo/enable_ros_network: True
/joint_group_pos_controller/joints: ['shoulder_pan_jo...
/joint_group_pos_controller/type: position_controll...
/joint_state_controller/publish_rate: 125
/joint_state_controller/type: joint_state_contr...
/pos_joint_traj_controller/action_monitor_rate: 10
/pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
/pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
/pos_joint_traj_controller/constraints/goal_time: 0.6
/pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
/pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
/pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
/pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
/pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
/pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
/pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
/pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
/pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
/pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
/pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
/pos_joint_traj_controller/joints: ['shoulder_pan_jo...
/pos_joint_traj_controller/state_publish_rate: 125
/pos_joint_traj_controller/stop_trajectory_duration: 0.5
/pos_joint_traj_controller/type: position_controll...
/robot_description: <?xml version="1....
/robot_state_publisher/publish_frequency: 125.0
/robot_state_publisher/tf_prefix:
/rosdistro: noetic
/rosversion: 1.16.0
/use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ros_control_controller_spawner (controller_manager/spawner)
ros_control_stopped_spawner (controller_manager/spawner)
spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [8558]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6a1edc90-aa15-11ee-ac74-b727aa385e75
process[rosout-1]: started with pid [8568]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [8575]
process[gazebo-3]: started with pid [8576]
process[gazebo_gui-4]: started with pid [8580]
process[spawn_gazebo_model-5]: started with pid [8585]
process[ros_control_controller_spawner-6]: started with pid [8587]
process[ros_control_stopped_spawner-7]: started with pid [8592]
[ INFO] [1704271945.879807302]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1704271945.880620311]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1704271945.933302851]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1704271945.934067506]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1704271946.186580186, 0.001000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1704271946.199761296, 0.014000000]: Physics dynamic reconfigure ready.

Answer 1 · 2024-04-07T11:50:20.000Z

I have also encountered this problem. Have you resolved it？

Answer 2 · 2024-04-08T13:46:43.000Z

This seems like some dependencies are missing, that is way too little output for the roslaunch ur_gazebo ur5_bringup.launch command. Did you install the package from binary packages or from source? And in the second case, did you follow the README instructions and install all dependencies using rosdep?

For reference, this is what a complete startup should look like:

> $ roslaunch ur_gazebo ur5_bringup.launch
... logging to /home/ubuntu/.ros/log/0794ac64-f5ae-11ee-9181-a76ff8ca333b/roslaunch-ur-noetic-1042.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.

started roslaunch server http://ur-noetic:39381/

SUMMARY
========

PARAMETERS
 * /eff_joint_traj_controller/action_monitor_rate: 10
 * /eff_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/goal_time: 0.6
 * /eff_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /eff_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /eff_joint_traj_controller/gains/elbow_joint/d: 20
 * /eff_joint_traj_controller/gains/elbow_joint/i: 1
 * /eff_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/elbow_joint/p: 2000
 * /eff_joint_traj_controller/gains/shoulder_lift_joint/d: 200
 * /eff_joint_traj_controller/gains/shoulder_lift_joint/i: 1
 * /eff_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/shoulder_lift_joint/p: 10000
 * /eff_joint_traj_controller/gains/shoulder_pan_joint/d: 200
 * /eff_joint_traj_controller/gains/shoulder_pan_joint/i: 1
 * /eff_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/shoulder_pan_joint/p: 4000
 * /eff_joint_traj_controller/gains/wrist_1_joint/d: 1
 * /eff_joint_traj_controller/gains/wrist_1_joint/i: 1
 * /eff_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/wrist_1_joint/p: 500
 * /eff_joint_traj_controller/gains/wrist_2_joint/d: 1
 * /eff_joint_traj_controller/gains/wrist_2_joint/i: 1
 * /eff_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/wrist_2_joint/p: 500
 * /eff_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /eff_joint_traj_controller/gains/wrist_3_joint/i: 0
 * /eff_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/wrist_3_joint/p: 10
 * /eff_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /eff_joint_traj_controller/state_publish_rate: 125
 * /eff_joint_traj_controller/stop_trajectory_duration: 0.5
 * /eff_joint_traj_controller/type: effort_controller...
 * /gazebo/enable_ros_network: True
 * /joint_group_eff_controller/joints: ['shoulder_pan_jo...
 * /joint_group_eff_controller/type: effort_controller...
 * /joint_state_controller/publish_rate: 125
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 125.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ros_control_controller_spawner (controller_manager/spawner)
    ros_control_stopped_spawner (controller_manager/spawner)
    spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [1054]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0794ac64-f5ae-11ee-9181-a76ff8ca333b
process[rosout-1]: started with pid [1064]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [1070]
process[gazebo-3]: started with pid [1072]
process[gazebo_gui-4]: started with pid [1077]
process[spawn_gazebo_model-5]: started with pid [1084]
process[ros_control_controller_spawner-6]: started with pid [1088]
process[ros_control_stopped_spawner-7]: started with pid [1090]
[INFO] [1712583830.877869, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1712583830.921106, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1712583830.965670, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1712583830.971282, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1712583831.272979151]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1712583831.273997909]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1712583831.407910172]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1712583831.409627044]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1712583835.414074272]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1712583835.435852688, 0.010000000]: Physics dynamic reconfigure ready.
[INFO] [1712583835.486458, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1712583835.670876, 0.157000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1712583835.705510690, 0.157000000]: Loading gazebo_ros_control plugin
[ INFO] [1712583835.705683720, 0.157000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1712583835.706807832, 0.157000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1712583835.837844938, 0.157000000]: Loaded gazebo_ros_control.
[INFO] [1712583835.993950, 0.270000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1712583835.996028, 0.273000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1712583835.997725, 0.274000]: Loading controller: joint_state_controller
[INFO] [1712583836.004077, 0.281000]: Loading controller: eff_joint_traj_controller
[INFO] [1712583836.037891, 0.314000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1712583836.041152, 0.318000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1712583836.043677, 0.320000]: Loading controller: joint_group_eff_controller
[INFO] [1712583836.108537, 0.385000]: Controller Spawner: Loaded controllers: joint_state_controller, eff_joint_traj_controller
[INFO] [1712583836.130911, 0.392000]: Controller Spawner: Loaded controllers: joint_group_eff_controller
[INFO] [1712583836.131686, 0.393000]: Started controllers: joint_state_controller, eff_joint_traj_controller
[spawn_gazebo_model-5] process has finished cleanly
log file: /home/ubuntu/.ros/log/0794ac64-f5ae-11ee-9181-a76ff8ca333b/spawn_gazebo_model-5*.log

Answer 3 · 2024-06-13T00:59:31.000Z

@RobertWilbrandt
I also met this problem after " [INFO] [1704271946.199761296, 0.014000000]: Physics dynamic reconfigure ready. "

libcurl: (35) OpenSSL SSL_connect: SSL_ERROR_SYSCALL in connection to fuel.gazebosim.org:443 
libcurl: (35) OpenSSL SSL_connect: SSL_ERROR_SYSCALL in connection to fuel.ignitionrobotics.org:443

I install this package from the github repository ' https://github.com/fmauch/universal_robot '

Answer 4 · 2024-06-13T07:01:28.000Z

Please do not use my fork directly. Please use either the released packages (sudo apt install ros-noetic-ur-gazebo) or a source build from this repo's noetic-devel branch.

Answer 5 · 2024-06-14T03:34:08.000Z

@fmauch
I first used sudo apt-get install ros-$ROS_DISTRO-universal-robots
then I used roslaunch ur_gazebo ur5_bringup.launch
but I still encountered this problem

And the UR5 model not loaded in gazebo

Answer 6 · 2024-06-19T08:50:36.000Z

@Gaben21 could you maybe provide more output? Did you delete the source-built version from your workspace and cleaned and built your workspace again? Otherwise it might still try to use your old source-built version.