I have this message when i launch the spawn_gurdy.launch for the quiz. I have read all the log files but do not have a clue of the reason of the problem.
The library should be there since it is available for the mira robot in the same course.
ROS_MASTER_URI=http://master:11311
process[urdf_spawner-1]: started with pid [20106]
process[gurdy/controller_spawner-2]: started with pid [20121]
process[robot_state_publisher-3]: started with pid [20138]
[WARN] [1569552976.489194, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1569552976.489524, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
the rosdep view is empty: call āsudo rosdep initā and ārosdep updateā
SpawnModel script started
[INFO] [1569552978.275119, 0.000000]: Loading model XML from ros parameter
[INFO] [1569552978.289653, 1384.625000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1569552978.298985, 1384.638000]: Calling service /gazebo/spawn_urdf_model
Service call failed: service [/gazebo/spawn_urdf_model] responded with an error:
[urdf_spawner-1] process has finished cleanly
log file: /home/user/.ros/log/17f719aa-e0cf-11e9-8d83-0adbc9a988fc/urdf_spawner-1*.log
[WARN] [1569553006.609526, 1412.712000]: Controller Spawner couldnāt find the expected controller_manager ROS interface.
[gurdy/controller_spawner-2] process has finished cleanly
log file: /home/user/.ros/log/17f719aa-e0cf-11e9-8d83-0adbc9a988fc/gurdy-controller_spawner-2*.log
^X^C[robot_state_publisher-3] killing on exit
shutting down processing monitorā¦
ā¦ shutting down processing monitor complete
***** The code that i have in my gurdy.urdf is a slight modification from the one in the mira.urdf *****
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/gurdy</robotNamespace>
</plugin>
</gazebo>
Hello @fgenestcvdl!
Is this error still happening to you, or were you able to solve it? Please let me know.
Best,
I am still having that problem and it is even getting worse. I can no longer run my two launch files using the the position controller with Mira (that were working well before).
I have checked every thing in the all the launch files and the URDF files and it is looking ok.
I have no idea how i can solve this problem.
By the mean time i have done the TF course and i am starting ROS control 101.
In ROS control 101 i also have problems with controllers ( is it related or not i do not know).
I have the following messages when i roslaunch my_robot_control my_robot_control.launch
process[rrbot/controller_spawner-1]: started with pid [13174]
process[robot_state_publisher-2]: started with pid [13190]
[INFO] [1570056141.601893, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1570056141.605653, 853.181000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1570056141.608487, 853.183000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1570056141.615002, 853.189000]: Loading controller: joint1_position_controller
[ERROR] [1570056142.623198, 854.163000]: Failed to load joint1_position_controller
[INFO] [1570056142.623621, 854.163000]: Loading controller: joint2_position_controller
[ERROR] [1570056143.639351, 855.177000]: Failed to load joint2_position_controller
[INFO] [1570056143.639830, 855.177000]: Loading controller: joint_state_controller
[ERROR] [1570056144.650364, 856.124000]: Failed to load joint_state_controller
[INFO] [1570056144.650796, 856.124000]: Controller Spawner: Loaded controllers:
[INFO] [1570056144.654275, 856.126000]: Started controllers:
Hi again @fgenestcvdl,
Please send me the packages that are giving you these problems, so that I can check them. You can send them to aezquerro@gmail.com.
Best,
Finally i have solved my problem i had an error in the gurdy_control.yaml file
head_upperlegM2_joint_position_controller and head_upperlegM3_joint_position_controller were configured with the head_upperlegM1_joint ( pase errorā¦)
But i still do not know why i had the same message with the mira . But mira also restrated to work well.
Francois
1 Like
Hi @albertoezquerro I also am having this issue for gurdy. I checked my Namespace is right in yaml and in spawner in launch file. I have already checked my yaml file and urdf, the joints tags are configured correctly, name equal, I could not realize why the controller manager is not working properly. The erro msg appears below:
process[urdf_spawner-1]: started with pid [3250]
process[gurdy/controller_spawner-2]: started with pid [3262]
the rosdep view is empty: call āsudo rosdep initā and ārosdep updateā
[WARN] [1577520120.288540, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1577520120.290429, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[robot_state_publisher-3]: started with pid [3284]
SpawnModel script started
[INFO] [1577520120.867956, 0.000000]: Loading model XML from ros parameter
[INFO] [1577520120.882912, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1577520120.886868, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1577520121.354345, 130.737000]: Spawn status: SpawnModel: Successfully spawned entity
[urdf_spawner-1] process has finished cleanly
log file: /home/user/.ros/log/00d51a3a-2948-11ea-aa2c-02c22cc165e6/urdf_spawner-1*.log
[WARN] [1577520150.301624, 158.588000]: Controller Spawner couldnāt find the expected controller_manager ROS interface.
[gurdy/controller_spawner-2] process has finished cleanly
log file: /home/user/.ros/log/00d51a3a-2948-11ea-aa2c-02c22cc165e6/gurdy-controller_spawner-2*.log
Than later I have other issue when I try to execute my python script which will move gurdy ( it is the same given by the solution), I named as āmove_gurdy.pyā. The message error is:
user:~/catkin_ws/src/my_gurdy_description/scripts$ python move_gurdy.py
[INFO] [1577520224.726382, 0.000000]: Gurdy JointMover Initialisingā¦
[WARN] [1577520229.756556, 235.933000]: Time out /gurdy/joint_states
[WARN] [1577520234.764906, 240.768000]: Time out /gurdy/joint_states
I imagine that this happens because of the previous error of controller_managerā¦because maybe it is not loading the robot joints, which, later needs to be active to receive command values which are being published on them. Am I right?
So I am sending you my ws if you could assess this error, I will be very grateful. Thanks
Hello @marcusvini178,
Iāve just answered your e-mail.
Best,
1 Like
Thanks very much @albertoezquerro. I have send you attached to my reply e-mail my package again with a new gurdy.urdf, in order to comprehend the joints position (could not fix alone).
Oh I have solved this extra joints-links issue @albertoezquerro donāt worry with thatā¦however it would be cool have the solution of the U3-3 exerciseā¦I will begin today, but it seems pretty hardā¦without some previous, similar example.