ROS2 in 5 days C++ rosject

Tried to run the simulation in Part I of this rosject but the models fail to load because of some such model.config file missing for the models. Huh? Has this been tested?

@jcocovich ,

Did you start your realrobotlab main.launch and then start the ros1_bridge and finally tried to run the simulation?

I launched main.launch and received a Gazebo window with a grey world. No graphics. The terminal window reported launching gazebo, loading the world, but errors when loading the models because the model.config file was missing.

source /opt/ros/noetic/setup.bash
source ~/simulation_ws/devel/setup.bash
roslaunch realrobotlab main.launch

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://172.25.0.7:11345
[Msg] Publicized address: 172.25.0.7
[Wrn] [GuiIface.cc:298] Couldn’t locate specified .ini. Creating file at “/home/user/.gazebo/gui.ini”
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: ring_road_v2. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: Pedestrian. Please specify the SDF protocolsupported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: Traffic Light. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: triangular_prism_direccion_obligada. Pleasespecify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: triangular_prism. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: triangular_prism_direccion_obligada. Pleasespecify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: triangular_prism_direccion_obligada. Pleasespecify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: triangular_prism. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: triangular_prism_pedestrian. Please specifythe SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: triangular_prism_pedestrian. Please specifythe SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
Warning [parser.cc:723] Can not find the XML attribute ‘version’ in sdf XML tag for model: OverLoard Camera. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
[Wrn] [GuiIface.cc:120] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-user’
[Msg] Loading world file [/home/user/simulation_ws/src/realrobotlab_simulation/realrobotlab/worlds/realrobotlab_v1.world]
[ INFO] [1666638930.895550857]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1666638930.963747928]: Physics dynamic reconfigure ready.
[Err] [InsertModelWidget.cc:402] Missing model.config for model “/home/user/.gazebo/models/RubberDucky”
[ INFO] [1666638932.927409329]: Camera Plugin: The ‘robotNamespace’ param did not exit
[ INFO] [1666638932.934975742, 0.001000000]: Camera Plugin (ns = ) <tf_prefix_>, set to “”
[ INFO] [1666638933.609262868, 0.001000000]: Camera Plugin: Using the ‘robotNamespace’ param: ‘/’
[ INFO] [1666638933.612608784, 0.001000000]: Camera Plugin (ns = /) <tf_prefix_>, set to “”
[spawn_urdf-4] process has finished cleanly
log file: /home/user/.ros/log/24f01702-53d0-11ed-9e91-0242ac190007/spawn_urdf-4*.log
[ INFO] [1666638934.035594904, 0.001000000]: Laser Plugin: Using the ‘robotNamespace’ param: ‘/’
[ INFO] [1666638934.035731179, 0.001000000]: Starting Laser Plugin (ns = /)
[ INFO] [1666638934.037385925, 0.001000000]: Laser Plugin (ns = /) <tf_prefix_>, set to “”
[ INFO] [1666638934.416658372, 0.001000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1666638934.416900653, 0.001000000]: DiffDrive(ns = //): = na
[ INFO] [1666638934.418470757, 0.001000000]: DiffDrive(ns = //): <tf_prefix> =
[ INFO] [1666638934.420844909, 0.001000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1666638934.421966211, 0.001000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1666638934.428347153, 0.001000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1666638934.429367671, 0.001000000]: DiffDrive(ns = //): Advertise odom on odom
[Err] [InsertModelWidget.cc:402] Missing model.config for model “/home/user/.gazebo/models/lms1xx”
[Err] [InsertModelWidget.cc:402] Missing model.config for model “/home/user/.gazebo/models/media”
[Err] [InsertModelWidget.cc:402] Missing model.config for model “/home/user/.gazebo/models/meshes”
[Err] [InsertModelWidget.cc:402] Missing model.config for model “/home/user/.gazebo/models/turtlebot3_autorace”
[Err] [InsertModelWidget.cc:402] Missing model.config for model “/home/user/.gazebo/models/turtlebot3_autorace_2020”
[Err] [InsertModelWidget.cc:402] Missing model.config for model “/home/user/.gazebo/models/turtlebot3_description”
[Err] [InsertModelWidget.cc:402] Missing model.config for model “/home/user/simulation_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace”
[Err] [InsertModelWidget.cc:402] Missing model.config for model “/home/user/simulation_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020”
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.

Is this any help?

@jcocovich ,

Ah… ok… I get the same messages too. Do you see the simulation environment with the turtlebot or not?

To be honest, I received the graphic of the simulation environment which was a grey window inside Gazebo so I didn’t continue running the demo. My bad. Let me try again if the messages are bogus.

Nope. Still a vacant world. The bridge came up alright but the world is empty. I’m missing a step that “any idiot would know” between the lines of the notebook instructions I’m following in Part I.

@jcocovich ,

Ok. So you have two options now, I believe.

  1. Clear your browser history and cookies and then freshly log in into your account and restart rosject simulation and check if that works. If nothing works even after doing this then do the next step.
  2. Save your files that you have created on the rosject by downloading them to your computer. Delete the rosject and start over by following the same link that created the rosject for you. Then re-upload all files back into the rosject by just drag-and-drop from your computer to the rosject IDE left panel.

That should fix these. If both the steps fail and nothing works, then probably The Construct team should have to help you out.

Regards,
Girish

That didn’t work either. How do I contact The Construct Team? Thanks for your time and interest.

@jcocovich ,

No worries. I can verify that even I am facing the same issue. Image attached below.

The Construct team,
Could you please fix this issue for us?

This issue does not happen in Python version of ROS2 rosject. Happens only with C++ version of ROS2 rosject.

Thanks,
Girish

The error for models is not the reason why the simulation is not loading, it’s just a gazebo warning. I think it has, you just have to zoom out. Are you getting the topics from the simulation?

Hi @roalgoal ,

Yes ! It was really zooooomed in (lol) !
It is working as expected. Attached screenshot.

I was initially wondering how it could be missing. The thought of zooming out never hit me.

@jcocovich , Just zoom out while having the mouse focused in Gazebo. You should eventually see the robot area.

Thanks.
Girish

LOL! Thanks for your patience. I thought of that but I guess I didn’t zoom out far enough. I’m good now. Glad I could help fix a tool configuration problem.

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