Comments (7)
jperk15
commented on June 14, 2024
1
We had the exact same problem. We figured out it was because we needed to click the play button on Gazebo :)
from usv_sim_lsa.
marceloparavisi
commented on June 14, 2024
Hello Jake
Can you post the output text of simulator?
Regards
from usv_sim_lsa.
jake3991
commented on June 14, 2024
Here you go!
SUMMARY
PARAMETERS
- /airboat/controllers/config/body/cascaded_position: False
- /airboat/controllers/config/body/command: body_command
- /airboat/controllers/config/body/control_type: thruster
- /airboat/controllers/config/body/dynamic_reconfigure: True
- /airboat/controllers/config/body/state: state
- /airboat/controllers/config/joints/cascaded_position: False
- /airboat/controllers/config/joints/command: joint_command
- /airboat/controllers/config/joints/dynamic_reconfigure: True
- /airboat/controllers/config/joints/setpoint: joint_setpoint
- /airboat/controllers/config/joints/state: joint_states
- /airboat/controllers/fwd/position/d: 0.5
- /airboat/controllers/fwd/position/i: 0.1
- /airboat/controllers/fwd/position/p: 1
- /airboat/controllers/fwd/velocity/d: 0.0
- /airboat/controllers/fwd/velocity/i: 1
- /airboat/controllers/fwd/velocity/p: 20
- /airboat/controllers/fwd_joint/position/d: 0.5
- /airboat/controllers/fwd_joint/position/i: 1
- /airboat/controllers/fwd_joint/position/p: 100
- /airboat/controllers/fwd_joint/velocity/d: 0.0
- /airboat/controllers/fwd_joint/velocity/i: 1
- /airboat/controllers/fwd_joint/velocity/p: 100
- /airboat/controllers/pitch/position/d: 100
- /airboat/controllers/pitch/position/i: 5
- /airboat/controllers/pitch/position/p: 100
- /airboat/controllers/pitch/velocity/d: 0
- /airboat/controllers/pitch/velocity/i: 100
- /airboat/controllers/pitch/velocity/p: 150
- /airboat/controllers/roll/position/d: 100
- /airboat/controllers/roll/position/i: 5
- /airboat/controllers/roll/position/p: 100
- /airboat/controllers/roll/velocity/d: 0
- /airboat/controllers/roll/velocity/i: 100
- /airboat/controllers/roll/velocity/p: 150
- /airboat/controllers/x/position/d: 100
- /airboat/controllers/x/position/i: 5
- /airboat/controllers/x/position/p: 100
- /airboat/controllers/x/velocity/d: 0
- /airboat/controllers/x/velocity/i: 100
- /airboat/controllers/x/velocity/p: 150
- /airboat/controllers/y/position/d: 100
- /airboat/controllers/y/position/i: 5
- /airboat/controllers/y/position/p: 100
- /airboat/controllers/y/velocity/d: 0
- /airboat/controllers/y/velocity/i: 100
- /airboat/controllers/y/velocity/p: 150
- /airboat/controllers/yaw/position/d: 100
- /airboat/controllers/yaw/position/i: 5
- /airboat/controllers/yaw/position/p: 100
- /airboat/controllers/yaw/velocity/d: 0
- /airboat/controllers/yaw/velocity/i: 100
- /airboat/controllers/yaw/velocity/p: 150
- /airboat/controllers/z/position/d: 100
- /airboat/controllers/z/position/i: 5
- /airboat/controllers/z/position/p: 100
- /airboat/controllers/z/velocity/d: 0
- /airboat/controllers/z/velocity/i: 100
- /airboat/controllers/z/velocity/p: 150
- /airboat/robot_description: <?xml version="1....
- /airboat/thrusters/robot_description: <?xml version="1....
- /buoy1/robot_description: <?xml version="1....
- /buoy10/robot_description: <?xml version="1....
- /buoy2/robot_description: <?xml version="1....
- /buoy3/robot_description: <?xml version="1....
- /buoy4/robot_description: <?xml version="1....
- /buoy5/robot_description: <?xml version="1....
- /buoy6/robot_description: <?xml version="1....
- /buoy7/robot_description: <?xml version="1....
- /buoy8/robot_description: <?xml version="1....
- /buoy9/robot_description: <?xml version="1....
- /rosdistro: kinetic
- /rosversion: 1.12.14
- /terrain_description: <?xml version="1....
- /use_sim_time: True
NODES
/airboat/
heading_control (usv_base_ctrl/airboat_control_heading.py)
patrol (usv_navigation/patrol_pid_scene1.py)
pid_control (freefloating_gazebo/pid_control)
world_base_link (tf/static_transform_publisher)
/
airboat_spawner (gazebo_ros/spawn_model)
buoy10_spawner (gazebo_ros/spawn_model)
buoy1_spawner (gazebo_ros/spawn_model)
buoy2_spawner (gazebo_ros/spawn_model)
buoy3_spawner (gazebo_ros/spawn_model)
buoy4_spawner (gazebo_ros/spawn_model)
buoy5_spawner (gazebo_ros/spawn_model)
buoy6_spawner (gazebo_ros/spawn_model)
buoy7_spawner (gazebo_ros/spawn_model)
buoy8_spawner (gazebo_ros/spawn_model)
buoy9_spawner (gazebo_ros/spawn_model)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
terrain_spawner (gazebo_ros/spawn_model)
uwsim (uwsim/uwsim)
auto-starting new master
process[master]: started with pid [5982]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to f7111b32-5186-11e9-928c-4851b702f60c
process[rosout-1]: started with pid [5995]
started core service [/rosout]
process[gazebo-2]: started with pid [5998]
process[gazebo_gui-3]: started with pid [6008]
process[uwsim-4]: started with pid [6029]
process[airboat_spawner-5]: started with pid [6033]
process[buoy1_spawner-6]: started with pid [6034]
process[buoy2_spawner-7]: started with pid [6035]
process[buoy3_spawner-8]: started with pid [6038]
process[buoy4_spawner-9]: started with pid [6040]
process[buoy5_spawner-10]: started with pid [6041]
process[buoy6_spawner-11]: started with pid [6044]
process[buoy7_spawner-12]: started with pid [6050]
process[buoy8_spawner-13]: started with pid [6061]
process[buoy9_spawner-14]: started with pid [6071]
process[buoy10_spawner-15]: started with pid [6078]
process[terrain_spawner-16]: started with pid [6086]
process[airboat/patrol-17]: started with pid [6101]
process[airboat/pid_control-18]: started with pid [6108]
process[airboat/heading_control-19]: started with pid [6116]
process[airboat/world_base_link-20]: started with pid [6124]
-----------------######################################################## _enable_gt_shader: 0Loading SimulatedDevices plugin: 'DredgeTool_Factory'
Loading SimulatedDevices plugin: 'ForceSensor_Factory'
Loading SimulatedDevices plugin: 'SimDev_Echo_Factory'
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle
found OceanSurfaceToROSOceanVehicle___ FREEFLOATING_PIDS_MAIN::STARTING //airboat namespace: //airboat
Gazebo multi-robot simulator, version 7.14.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Gazebo multi-robot simulator, version 7.14.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
---- starting to load scene!
############ Starting loading scene file!
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
SpawnModel script started
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
SpawnModel script started
SpawnModel script started
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
SpawnModel script started
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
[ INFO] [1553797576.703105186]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.105
[ INFO] [1553797576.733863905]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
SpawnModel script started
SpawnModel script started
[ INFO] [1553797576.777563695]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.105
SpawnModel script started
[ INFO] [1553797576.821108330]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1553797576.841459, 0.000000]: Loading model XML from ros parameter
-----------------######################################################## _enable_gt_shader: 0 . Setting localized world: [INFO] [1553797576.846143, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
7.9e-05s
SpawnModel script started
--- enable: 0
-------------------- gt_shader: 0
------------------------------------------------------------------the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
------------> vehicle 0 / 11 links.size: 8Loading URDF robot...
· meshes/simpleHull3/base_link.obj: SpawnModel script started
0.021938s
· meshes/simpleHull3/backLeft.obj: SpawnModel script started
SpawnModel script started
0.067268s
· meshes/simpleHull3/backRight.obj: 0.016797s
· meshes/simpleHull3/centerRight.obj: 0.015832s
· meshes/simpleHull3/frontLeft.obj: [INFO] [1553797577.030514, 0.000000]: Loading model XML from ros parameter
0.035052s
· meshes/simpleHull3/frontRight.obj: [INFO] [1553797577.036298, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.037912, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1553797577.039446, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.040447, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1553797577.041537, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.043026, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.044484, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.045072, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1553797577.047603, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1553797577.047748, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1553797577.048370, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
0.018599s
· meshes/simpleHull3/airPropeller.obj: [INFO] [1553797577.056031, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.058392, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[INFO] [1553797577.060832, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.063988, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1553797577.064620, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.066898, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
0.017954s
· meshes/simpleHull3/box.obj: 0.005288s
· Linking links...[INFO] [1553797577.079985, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.081165, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
Robot successfully loaded. Total time: 0.012861s
0.211994s
------------> vehicle 1 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: 0.020009s
· Linking links...Robot successfully loaded. Total time: 0.00148s
0.021529s
------------> vehicle 2 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: [INFO] [1553797577.114919, 0.000000]: Loading model XML from ros parameter
[INFO] [1553797577.116061, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
0.039417s
· Linking links...Robot successfully loaded. Total time: 0.001891s
0.041355s
------------> vehicle 3 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: 0.022853s
· Linking links...Robot successfully loaded. Total time: 0.001894s
0.024786s
------------> vehicle 4 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: 0.015187s
· Linking links...Robot successfully loaded. Total time: 0.002157s
0.017391s
------------> vehicle 5 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: 0.038955s
· Linking links...Robot successfully loaded. Total time: 0.002301s
0.041297s
------------> vehicle 6 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: 0.014654s
· Linking links...Robot successfully loaded. Total time: 0.002527s
0.017222s
------------> vehicle 7 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: 0.015358s
· Linking links...Robot successfully loaded. Total time: 0.002988s
0.01839s
------------> vehicle 8 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: 0.02275s
· Linking links...Robot successfully loaded. Total time: 0.002935s
0.025724s
------------> vehicle 9 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: 0.014592s
· Linking links...Robot successfully loaded. Total time: 0.003094s
0.017715s
------------> vehicle 10 / 11 links.size: 1Loading URDF robot...
· meshes/buoy2.osg: 0.043308s
· Linking links...Robot successfully loaded. Total time: 0.003375s
0.046723s
Compare airboat to airboat. <---- found!!! 0x2a1cdb0 pos link: (240, 95, 1.13)
iface not null interfaceCount: 1
Compare buoy1 to buoy1. <---- found!!! 0x3745620 pos link: (250, 100, 1)
iface not null interfaceCount: 2
Compare buoy2 to buoy2. <---- found!!! 0x393e070 pos link: (255, 100, 1)
iface not null interfaceCount: 3
Compare buoy3 to buoy3. <---- found!!! 0x3b36ab0 pos link: (260, 100, 1)
iface not null interfaceCount: 4
Compare buoy4 to buoy4. <---- found!!! 0x3d2f240 pos link: (265, 100, 1)
iface not null interfaceCount: 5
Compare buoy5 to buoy5. <---- found!!! 0x3f27b50 pos link: (270, 100, 1)
iface not null interfaceCount: 6
Compare buoy6 to buoy6. <---- found!!! 0x41205a0 pos link: (250, 90, 1)
iface not null interfaceCount: 7
Compare buoy7 to buoy7. <---- found!!! 0x4318f30 pos link: (255, 90, 1)
iface not null interfaceCount: 8
Compare buoy8 to buoy8. <---- found!!! 0x4511880 pos link: (260, 90, 1)
iface not null interfaceCount: 9
Compare buoy9 to buoy9. <---- found!!! 0x470a420 pos link: (265, 90, 1)
iface not null interfaceCount: 10
Compare buoy10 to buoy10. <---- found!!! 0x4903160 pos link: (270, 90, 1)
iface not null interfaceCount: 11
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: airboat
Compare airboat to airboat. <---- found!!! 0x2a1cdb0 pos link: (240, 95, 1.13)
Compare base_link to base_link. <---- found!!! 0x2a2f8c0 pos link: (240, 95, 1.13)
Compare base_link to base_link. <---- found!!! 0x2a2fdc0 pos link: (240, 95, 1.13)
Compare base_link to base_link. <---- found!!! 0x2a037f0 pos link: (240, 95, 1.13)
Compare base_link to base_link. <---- found!!! 0x2a060f0 pos link: (240, 95, 1.13)
Compare base_link to base_link. <---- found!!! 0x2a063c0 pos link: (240, 95, 1.13)
Compare base_link to base_link. <---- found!!! 0x2a011c0 pos link: (240, 95, 1.13)
----- airboat[base_link]0x2a2f8c0 pos link: (240, 95, 1.13) linkNode_0x2a2f8c0
iface not null interfaceCount: 12
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: airboat
Compare airboat to airboat. <---- found!!! 0x2a1cdb0 pos link: (240, 95, 1.13)
Compare center_r_link to center_r_link. <---- found!!! 0x2c93720 pos link: (240, 95, 1.13)
Compare center_r_link to center_r_link. <---- found!!! 0x2e7ee70 pos link: (240, 95, 1.13)
Compare center_r_link to center_r_link. <---- found!!! 0x2e7e1c0 pos link: (240, 95, 1.13)
Compare center_r_link to center_r_link. <---- found!!! 0x2e7ecb0 pos link: (240, 95, 1.13)
Compare center_r_link to center_r_link. <---- found!!! 0x2e808c0 pos link: (240, 95, 1.13)
Compare center_r_link to center_r_link. <---- found!!! 0x2e80740 pos link: (240, 95, 1.13)
Compare center_r_link to center_r_link. <---- found!!! 0x2e81a90 pos link: (240, 95, 1.13)
----- airboat[center_r_link]0x2c93720 pos link: (240, 95, 1.13) linkNode_0x2c93720
iface not null interfaceCount: 13
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: airboat
Compare airboat to airboat. <---- found!!! 0x2a1cdb0 pos link: (240, 95, 1.13)
Compare back_r_link to back_r_link. <---- found!!! 0x2a09050 pos link: (239.895, 94.9181, 1.13)
Compare back_r_link to back_r_link. <---- found!!! 0x2a0ede0 pos link: (239.895, 94.9181, 1.13)
Compare back_r_link to back_r_link. <---- found!!! 0x2a0d4b0 pos link: (239.895, 94.9181, 1.13)
Compare back_r_link to back_r_link. <---- found!!! 0x2a0cb80 pos link: (239.895, 94.9181, 1.13)
Compare back_r_link to back_r_link. <---- found!!! 0x2a0e200 pos link: (239.895, 94.9181, 1.13)
Compare back_r_link to back_r_link. <---- found!!! 0x2c90130 pos link: (239.895, 94.9181, 1.13)
Compare back_r_link to back_r_link. <---- found!!! 0x2c90820 pos link: (239.895, 94.9181, 1.13)
Compare back_r_link to back_r_link. <---- found!!! 0x2c92160 pos link: (239.895, 94.9181, 1.13)
Compare back_r_link to back_r_link. <---- found!!! 0x2c91440 pos link: (239.895, 94.9181, 1.13)
----- airboat[back_r_link]0x2a09050 pos link: (239.895, 94.9181, 1.13) linkNode_0x2a09050
iface not null interfaceCount: 14
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: airboat
Compare airboat to airboat. <---- found!!! 0x2a1cdb0 pos link: (240, 95, 1.13)
Compare back_l_link to back_l_link. <---- found!!! 0x2a2bed0 pos link: (239.895, 95.0819, 1.13)
Compare back_l_link to back_l_link. <---- found!!! 0x2a2c420 pos link: (239.895, 95.0819, 1.13)
Compare back_l_link to back_l_link. <---- found!!! 0x2a2ca00 pos link: (239.895, 95.0819, 1.13)
Compare back_l_link to back_l_link. <---- found!!! 0x2ba36a0 pos link: (239.895, 95.0819, 1.13)
Compare back_l_link to back_l_link. <---- found!!! 0x2ba3860 pos link: (239.895, 95.0819, 1.13)
Compare back_l_link to back_l_link. <---- found!!! 0x2ba3b50 pos link: (239.895, 95.0819, 1.13)
Compare back_l_link to back_l_link. <---- found!!! 0x2a08110 pos link: (239.895, 95.0819, 1.13)
----- airboat[back_l_link]0x2a2bed0 pos link: (239.895, 95.0819, 1.13) linkNode_0x2a2bed0
iface not null interfaceCount: 15
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: airboat
Compare airboat to airboat. <---- found!!! 0x2a1cdb0 pos link: (240, 95, 1.13)
Compare front_r_link to front_r_link. <---- found!!! 0x2e84dc0 pos link: (240.273, 94.958, 1.13)
Compare front_r_link to front_r_link. <---- found!!! 0x327b990 pos link: (240.273, 94.958, 1.13)
Compare front_r_link to front_r_link. <---- found!!! 0x32787c0 pos link: (240.273, 94.958, 1.13)
Compare front_r_link to front_r_link. <---- found!!! 0x32794f0 pos link: (240.273, 94.958, 1.13)
Compare front_r_link to front_r_link. <---- found!!! 0x327c5c0 pos link: (240.273, 94.958, 1.13)
Compare front_r_link to front_r_link. <---- found!!! 0x327a970 pos link: (240.273, 94.958, 1.13)
Compare front_r_link to front_r_link. <---- found!!! 0x3279f70 pos link: (240.273, 94.958, 1.13)
Compare front_r_link to front_r_link. <---- found!!! 0x327a3d0 pos link: (240.273, 94.958, 1.13)
Compare front_r_link to front_r_link. <---- found!!! 0x327ddf0 pos link: (240.273, 94.958, 1.13)
----- airboat[front_r_link]0x2e84dc0 pos link: (240.273, 94.958, 1.13) linkNode_0x2e84dc0
iface not null interfaceCount: 16
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: airboat
Compare airboat to airboat. <---- found!!! 0x2a1cdb0 pos link: (240, 95, 1.13)
Compare front_l_link to front_l_link. <---- found!!! 0x2e85310 pos link: (240.273, 95.042, 1.13)
----- airboat[front_l_link]0x2e85310 pos link: (240.273, 95.042, 1.13) linkNode_0x2e85310
iface not null interfaceCount: 17
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: airboat
Compare airboat to airboat. <---- found!!! 0x2a1cdb0 pos link: (240, 95, 1.13)
Compare fwd to fwd. <---- found!!! 0x32952e0 pos link: (239.7, 95, 1.31)
----- airboat[fwd]0x32952e0 pos link: (239.7, 95, 1.31) linkNode_0x32952e0
iface not null interfaceCount: 18
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy1
Compare buoy1 to buoy1. <---- found!!! 0x3745620 pos link: (250, 100, 1)
Compare link to link. <---- found!!! 0x3552080 pos link: (250, 100, 1.25)
----- buoy1[link]0x3552080 pos link: (250, 100, 1.25) linkNode_0x3552080
iface not null interfaceCount: 19
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy2
Compare buoy2 to buoy2. <---- found!!! 0x393e070 pos link: (255, 100, 1)
Compare link to link. <---- found!!! 0x374aa20 pos link: (255, 100, 1.25)
----- buoy2[link]0x374aa20 pos link: (255, 100, 1.25) linkNode_0x374aa20
iface not null interfaceCount: 20
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy3
Compare buoy3 to buoy3. <---- found!!! 0x3b36ab0 pos link: (260, 100, 1)
Compare link to link. <---- found!!! 0x393eae0 pos link: (260, 100, 1.25)
----- buoy3[link]0x393eae0 pos link: (260, 100, 1.25) linkNode_0x393eae0
iface not null interfaceCount: 21
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy4
Compare buoy4 to buoy4. <---- found!!! 0x3d2f240 pos link: (265, 100, 1)
Compare link to link. <---- found!!! 0x3b37380 pos link: (265, 100, 1.25)
----- buoy4[link]0x3b37380 pos link: (265, 100, 1.25) linkNode_0x3b37380
iface not null interfaceCount: 22
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy5
Compare buoy5 to buoy5. <---- found!!! 0x3f27b50 pos link: (270, 100, 1)
Compare link to link. <---- found!!! 0x3d30310 pos link: (270, 100, 1.25)
----- buoy5[link]0x3d30310 pos link: (270, 100, 1.25) linkNode_0x3d30310
iface not null interfaceCount: 23
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy6
Compare buoy6 to buoy6. <---- found!!! 0x41205a0 pos link: (250, 90, 1)
Compare link to link. <---- found!!! 0x3f2cf60 pos link: (250, 90, 1.25)
----- buoy6[link]0x3f2cf60 pos link: (250, 90, 1.25) linkNode_0x3f2cf60
iface not null interfaceCount: 24
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy7
Compare buoy7 to buoy7. <---- found!!! 0x4318f30 pos link: (255, 90, 1)
Compare link to link. <---- found!!! 0x4125a70 pos link: (255, 90, 1.25)
----- buoy7[link]0x4125a70 pos link: (255, 90, 1.25) linkNode_0x4125a70
iface not null interfaceCount: 25
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy8
Compare buoy8 to buoy8. <---- found!!! 0x4511880 pos link: (260, 90, 1)
Compare link to link. <---- found!!! 0x431e1e0 pos link: (260, 90, 1.25)
----- buoy8[link]0x431e1e0 pos link: (260, 90, 1.25) linkNode_0x431e1e0
iface not null interfaceCount: 26
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy9
Compare buoy9 to buoy9. <---- found!!! 0x470a420 pos link: (265, 90, 1)
Compare link to link. <---- found!!! 0x450f150 pos link: (265, 90, 1.25)
----- buoy9[link]0x450f150 pos link: (265, 90, 1.25) linkNode_0x450f150
iface not null interfaceCount: 27
--------------- new OceanSurfaceToROSOceanVehicle. vehicle: buoy10
Compare buoy10 to buoy10. <---- found!!! 0x4903160 pos link: (270, 90, 1)
Compare link to link. <---- found!!! 0x470f4d0 pos link: (270, 90, 1.25)
----- buoy10[link]0x470f4d0 pos link: (270, 90, 1.25) linkNode_0x470f4d0
iface not null interfaceCount: 28
iface not null interfaceCount: 29
---- ended loading scene!
child[0]:
child[1]:
child[2]: localizedWorld
child[2]: switch_frames, mask: 64
child[2]: airboat, mask: 4294967295
child[2]: buoy1, mask: 4294967295
child[2]: buoy2, mask: 4294967295
child[2]: buoy3, mask: 4294967295
child[2]: buoy4, mask: 4294967295
child[2]: buoy5, mask: 4294967295
child[2]: buoy6, mask: 4294967295
child[2]: buoy7, mask: 4294967295
child[2]: buoy8, mask: 4294967295
child[2]: buoy9, mask: 4294967295
child[2]: buoy10, mask: 4294967295
child[2]: , mask: 4294967295
child[2]: , mask: 7Warning [parser.cc:778] XML Element[wind], child of element[link] not defined in SDF. Ignoring[wind]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[ INFO] [1553797579.132482935]: ############### Loading freefloating_fluid plugin
Init model_st()[ INFO] [1553797579.138304062]: ############### Loaded freefloating_fluid plugin.
[INFO] [1553797579.153593, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.154304, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.157686, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.159697, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.161222, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.164252, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.170245, 0.000000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1553797579.172815, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.176676, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.190975, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.226108, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.260534, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1553797579.302692, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[ERROR] [1553797579.384783, 0.000000]: Simulation number 1
[INFO] [1553797579.556469, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[buoy6_spawner-11] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy6_spawner-11*.log
[INFO] [1553797579.780356, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[buoy10_spawner-15] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy10_spawner-15*.log
[buoy3_spawner-8] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy3_spawner-8*.log
[Wrn] [msgs.cc:1808] Conversion of sensor type[gpu_ray] not suppported.
[INFO] [1553797580.047532, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[airboat_spawner-5] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/airboat_spawner-5*.log
[ INFO] [1553797580.314729009]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1553797580.314804348]: Starting GazeboRosLaser Plugin (ns = /)
[ INFO] [1553797580.317099909]: GPU Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1553797580.317957206]: LoadThread function completed
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
######Starting to load FreeFloating Control Plugin for airboat
STARTING TO VERIFY EXISTENCE OF CONTROL BODY AND CONTROL JOINTS!
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
___ WAIT INTENTIFING CONTROL! //airboat body: 1 joints: 0
==========FFControlPlugin - WAIT INTENTIFING CONTROL! body: 1 joints: 1
FREEFLOATING_GAZEBO_CONTROL::airboat has control body[ INFO] [1553797581.391830348]: Adding fwd as a steering thruster
FREEFLOATING_GAZEBO_CONTROL::airboat has control joints[ INFO] [1553797581.426174396]: ######Started FreeFloating Control Plugin for airboat.
[Wrn] [msgs.cc:1808] Conversion of sensor type[gpu_ray] not suppported.
[Wrn] [msgs.cc:1808] Conversion of sensor type[gpu_ray] not suppported.
[INFO] [1553797581.657809, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1553797581.895612, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[buoy1_spawner-6] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy1_spawner-6*.log
[buoy7_spawner-12] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy7_spawner-12*.log
[INFO] [1553797582.128531, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1781] Triangle input semantic: 'COLOR' is currently not supported
[terrain_spawner-16] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/terrain_spawner-16*.log
[INFO] [1553797582.674427, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1553797582.901829, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[buoy9_spawner-14] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy9_spawner-14*.log
[INFO] [1553797583.142004, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[buoy2_spawner-7] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy2_spawner-7*.log
[INFO] [1553797583.373038, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[buoy4_spawner-9] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy4_spawner-9*.log
[INFO] [1553797583.600883, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[buoy8_spawner-13] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy8_spawner-13*.log
[buoy5_spawner-10] process has finished cleanly
log file: /home/jake/.ros/log/f7111b32-5186-11e9-928c-4851b702f60c/buoy5_spawner-10*.log
_______ INTENTIFIED CONTROL!
____ FREEFLOATING_PIDS_MAIN:: have control joints//airboat
[ INFO] [1553797585.948509682]: ___Init PID control for //airboat: 0 body axes, 1 joints
from usv_sim_lsa.
marceloparavisi
commented on June 14, 2024
Hello Jake
I think you have to execute the following commands:
sudo rosdep init
rosdep update
After that, delete the folders build_isolated, devel_isolated, install_isolated...
So, compile the project and execute again the roslaunch.
Regards
from usv_sim_lsa.
jake3991
commented on June 14, 2024
Thanks for getting back to me, I tried your posted commands and it did not improve. I also re-cloned the repo and that achieved the same result. Do you have any idea what it is causing the color warnings? It seems that is triggering an error with "simulation 1." What dependency is used for colors? I can manually update that or clone into the catkin_ws. Any other ideas?
from usv_sim_lsa.
marceloparavisi
commented on June 14, 2024
Hello Jake
I cloned the repository in two computers to verify if I get any errors. In both PCs, i didn't receive any errors.
I believe that we couldn't identify the problem because we was receiving the following message "the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'". Please verify if you still receiving this warning.
What is your ubuntu version?
Can you send me again the simulator output?
If everything is running, the rqt_graph will look like the attached image...
Please run "rosrun rqt_graph rqt_graph" and verify the topics and ros_nodes.
Regards,
Marcelo
from usv_sim_lsa.
jake3991
commented on June 14, 2024
@jperk15 that was it!
from usv_sim_lsa.
Related Issues (20)
- Error when running polar diagram scripts for sailboat HOT 2
- port code to ros-melodic HOT 1
- Some questions in using environment disturbance. HOT 2
- ./install_usv_sim can not running HOT 8
- ROS Melodic and freefloating_gazebo HOT 2
- Other sources for water currents
- PROTOC compatibility problem HOT 1
- Problem with uwsim catkin isolated make HOT 2
- Water_displaced_mass calculation. HOT 1
- roslaunch error HOT 1
- roslaunch usv_sim airboat_scenario1.launch parse:=true have sonething error HOT 1
- roslaunch usv_sim airboat_scenario1.launch parse:=true problem HOT 1
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- Documentation
- Ubuntu linux 18.04 to achieve this project, HOT 1
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- Docker compose approach
- Consider merging ros-melodic branch for use in docker HOT 1
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from usv_sim_lsa.