TF Quiz 1 question

mccolgm · June 29, 2020, 9:50pm

I am on my last try for the quiz 1 and I can’t figure out what’s wrong with my launch file.
The quiz says that
-the robot_state_publisher not found
-TF’s not correctly published

Can you help?

Here’s the launch file code.

<node name=“robot_state_publisher” pkg=“robot_state_publisher” type=“robot_state_publisher”

respawn="false" output="screen">

<remap from="/joint_states" to="/pi_robot/joint_states" />

<param name="use_gui" value="TRUE"/>

<node name=“controller_spawner” pkg=“controller_manager” type=“spawner” respawn=“false”

output="screen" ns="/pi_robot" args="head_pan_joint_position_controller head_tilt_joint_position_controller torso_joint_position_controller left_shoulder_forward_joint_position_controller right_shoulder_forward_joint_position_controller left_shoulder_up_joint_position_controller right_shoulder_up_joint_position_controller left_elbow_joint_position_controller right_elbow_joint_position_controller left_wrist_joint_position_controller right_wrist_joint_position_controller joint_state_controller"/>

And here’s the output:
user:~/catkin_ws$ roslaunch tf_quiz tf_launch.launch
… logging to /home/user/.ros/log/400129bc-ba50-11ea-b5fc-0e429dc61e37/roslaunch-rosdscomputer-5472.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://rosdscomputer:36949/

SUMMARY

PARAMETERS

/joint_state_publisher/use_gui: True
/pi_robot/head_pan_joint_position_controller/joint: head_pan_joint
/pi_robot/head_pan_joint_position_controller/pid/d: 10.0
/pi_robot/head_pan_joint_position_controller/pid/i: 0.01
/pi_robot/head_pan_joint_position_controller/pid/p: 100.0
/pi_robot/head_pan_joint_position_controller/type: effort_controller…
/pi_robot/head_tilt_joint_position_controller/joint: head_tilt_joint
/pi_robot/head_tilt_joint_position_controller/pid/d: 10.0
/pi_robot/head_tilt_joint_position_controller/pid/i: 0.01
/pi_robot/head_tilt_joint_position_controller/pid/p: 100.0
/pi_robot/head_tilt_joint_position_controller/type: effort_controller…
/pi_robot/joint_state_controller/publish_rate: 50
/pi_robot/joint_state_controller/type: joint_state_contr…
/pi_robot/left_elbow_joint_position_controller/joint: left_elbow_joint
/pi_robot/left_elbow_joint_position_controller/pid/d: 10.0
/pi_robot/left_elbow_joint_position_controller/pid/i: 0.01
/pi_robot/left_elbow_joint_position_controller/pid/p: 100.0
/pi_robot/left_elbow_joint_position_controller/type: effort_controller…
/pi_robot/left_shoulder_forward_joint_position_controller/joint: left_shoulder_for…
/pi_robot/left_shoulder_forward_joint_position_controller/pid/d: 10.0
/pi_robot/left_shoulder_forward_joint_position_controller/pid/i: 0.01
/pi_robot/left_shoulder_forward_joint_position_controller/pid/p: 100.0
/pi_robot/left_shoulder_forward_joint_position_controller/type: effort_controller…
/pi_robot/left_shoulder_up_joint_position_controller/joint: left_shoulder_up_…
/pi_robot/left_shoulder_up_joint_position_controller/pid/d: 10.0
/pi_robot/left_shoulder_up_joint_position_controller/pid/i: 0.01
/pi_robot/left_shoulder_up_joint_position_controller/pid/p: 100.0
/pi_robot/left_shoulder_up_joint_position_controller/type: effort_controller…
/pi_robot/left_wrist_joint_position_controller/joint: left_wrist_joint
/pi_robot/left_wrist_joint_position_controller/pid/d: 10.0
/pi_robot/left_wrist_joint_position_controller/pid/i: 0.01
/pi_robot/left_wrist_joint_position_controller/pid/p: 100.0
/pi_robot/left_wrist_joint_position_controller/type: effort_controller…
/pi_robot/right_elbow_joint_position_controller/joint: right_elbow_joint
/pi_robot/right_elbow_joint_position_controller/pid/d: 10.0
/pi_robot/right_elbow_joint_position_controller/pid/i: 0.01
/pi_robot/right_elbow_joint_position_controller/pid/p: 100.0
/pi_robot/right_elbow_joint_position_controller/type: effort_controller…
/pi_robot/right_shoulder_forward_joint_position_controller/joint: right_shoulder_fo…
/pi_robot/right_shoulder_forward_joint_position_controller/pid/d: 10.0
/pi_robot/right_shoulder_forward_joint_position_controller/pid/i: 0.01
/pi_robot/right_shoulder_forward_joint_position_controller/pid/p: 100.0
/pi_robot/right_shoulder_forward_joint_position_controller/type: effort_controller…
/pi_robot/right_shoulder_up_joint_position_controller/joint: right_shoulder_up…
/pi_robot/right_shoulder_up_joint_position_controller/pid/d: 10.0
/pi_robot/right_shoulder_up_joint_position_controller/pid/i: 0.01
/pi_robot/right_shoulder_up_joint_position_controller/pid/p: 100.0
/pi_robot/right_shoulder_up_joint_position_controller/type: effort_controller…
/pi_robot/right_wrist_joint_position_controller/joint: right_wrist_joint
/pi_robot/right_wrist_joint_position_controller/pid/d: 10.0
/pi_robot/right_wrist_joint_position_controller/pid/i: 0.01
/pi_robot/right_wrist_joint_position_controller/pid/p: 100.0
/pi_robot/right_wrist_joint_position_controller/type: effort_controller…
/pi_robot/torso_joint_position_controller/joint: torso_joint
/pi_robot/torso_joint_position_controller/pid/d: 10.0
/pi_robot/torso_joint_position_controller/pid/i: 0.01
/pi_robot/torso_joint_position_controller/pid/p: 100.0
/pi_robot/torso_joint_position_controller/type: effort_controller…
/robot_description: <robot name="pi_r…
/rosdistro: kinetic
/rosversion: 1.12.14

NODES
/pi_robot/
controller_spawner (controller_manager/spawner)
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)

ROS_MASTER_URI=http://master:11311

process[robot_state_publisher-1]: started with pid [5564]
process[joint_state_publisher-2]: started with pid [5571]
process[rviz-3]: started with pid [5610]
[WARN] [1593466718.500335, 251.136000]: The ‘use_gui’ parameter was specified, which is deprecated. We’ll attempt to find and run the GUI, but if this fails you should install the ‘joint_state_publisher_gui’ package instead and run that. This backwards compatibility option will be removed in Noetic.
process[pi_robot/controller_spawner-4]: started with pid [5640]
[INFO] [1593466719.817634, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1593466719.819258, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1593466719.820990, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1593466719.823757, 0.000000]: Loading controller: head_pan_joint_position_controller
[INFO] [1593466719.951916, 252.554000]: Loading controller: head_tilt_joint_position_controller
[INFO] [1593466720.005477, 252.606000]: Loading controller: torso_joint_position_controller
[INFO] [1593466720.064055, 252.666000]: Loading controller: left_shoulder_forward_joint_position_controller
[INFO] [1593466720.117211, 252.718000]: Loading controller: right_shoulder_forward_joint_position_controller
[INFO] [1593466720.186853, 252.788000]: Loading controller: left_shoulder_up_joint_position_controller
[INFO] [1593466720.251436, 252.852000]: Loading controller: right_shoulder_up_joint_position_controller
[INFO] [1593466720.305161, 252.906000]: Loading controller: left_elbow_joint_position_controller
[INFO] [1593466720.365971, 252.966000]: Loading controller: right_elbow_joint_position_controller
[INFO] [1593466720.437682, 253.033000]: Loading controller: left_wrist_joint_position_controller
[INFO] [1593466720.523191, 253.107000]: Loading controller: right_wrist_joint_position_controller
[INFO] [1593466720.681050, 253.264000]: Loading controller: joint_state_controller
[INFO] [1593466720.789625, 253.375000]: Controller Spawner: Loaded controllers: head_pan_joint_position_controller, head_tilt_joint_position_controller, torso_joint_position_controller, left_shoulder_forward_joint_position_controller, right_shoulder_forward_joint_position_controller, left_shoulder_up_joint_position_controller, right_shoulder_up_joint_position_controller, left_elbow_joint_position_controller, right_elbow_joint_position_controller, left_wrist_joint_position_controller, right_wrist_joint_position_controller, joint_state_controller
[INFO] [1593466720.797663, 253.380000]: Started controllers: head_pan_joint_position_controller, head_tilt_joint_position_controller, torso_joint_position_controller, left_shoulder_forward_joint_position_controller, right_shoulder_forward_joint_position_controller, left_shoulder_up_joint_position_controller, right_shoulder_up_joint_position_controller, left_elbow_joint_position_controller, right_elbow_joint_position_controller, left_wrist_joint_position_controller, right_wrist_joint_position_controller, joint_state_controller
QXcbConnection: XCB error: 2 (BadValue), sequence: 435, resource id: 400, major code: 130 (Unknown), minor code: 3
QXcbConnection: XCB error

thanks!

albertoezquerro · June 30, 2020, 9:17am

Hello @mccolgm,

What I can see from the logs you past is that your launch file is named tf_launch.launch. This is wrong, the name of the launch file should be tf_quiz.launch (as asked in the Specifications of the Quiz). This could be the reason you are failing the Quiz.

Best,

mccolgm · July 2, 2020, 10:55pm

Thanks for the help.

I had the wrong launch file name. I got a 7 on this quiz once I fixed the name. Everything was correct - no errors in the quiz. Why didn’t I get a 10?

mccolgm · July 3, 2020, 1:54am

I noticed in replies about this to others that students got the same score as me if the launch file was running during the test. I also had my launch file running. Will you add an attempt so I can test it without the launch file running?

bayodesegun · July 3, 2020, 9:08am

Hi @mccolgm,

I have added 2 extra attempts for you.

All the best!