Comments (12)
gsilano
commented on July 19, 2024
1
Finally, I got the mistake. Yes, you are able to run the launch file but not the simulation. I mean, the drone does not take off. You see it in Gazebo, but the controller is not in the loop (see the active nodes). I think you did not follow the instructions in the right way or a step is missing.
Please, reinstall everything paying attention to respect the exact order.
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welcome
commented on July 19, 2024
Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!
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gsilano
commented on July 19, 2024
Hi @chanforg! First of all, thank you for finding BebopS useful to you. As for your question, could it be a wrong copy and paste?
I mean, seeing your message a ` (at the end of the command) is missing. The message should be:
rostopic pub /gazebo/command/motor_speed mav_msgs/Actuators '{angular_velocities: [1000, 1000, 1000, 1000]}'
And, if it does not work. Please, try with the one suggested below (I reported it for your convenience)
rostopic pub /command/motor_speed mav_msgs/Actuators '{angular_velocities: [1000, 1000, 1000, 1000]}'
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chanforg
commented on July 19, 2024
It still not work
And i checked the message type, This type of message is really missing on my computer.
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gsilano
commented on July 19, 2024
So, as you wrote, the 'roslaunch bebop_simulator bebop_without_controller.launch' command works. So, it should not be a problem related to the mav_comm package.
To understand what is the problem, I think it would be interesting to understand what happens when you run the 'roslaunch bebop_simulator bebop_without_controller.launch' command. In particular, when the simulation is running, in another terminal window run the rosnode info position_controller_node and rostopic info NAME_OF_THE_TOPIC (where the propellers angular velocities are published) and paste the screens here.
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chanforg
commented on July 19, 2024
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gsilano
commented on July 19, 2024
No, sorry. I think there is something wrong. Did you run the command when the launch file is running?
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chanforg
commented on July 19, 2024
No, sorry. I think there is something wrong. Did you run the command when the launch file is running?
I am sure I have run the launch
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gsilano
commented on July 19, 2024
And there is something that is wrong. It is very strange that, if the simulation is running, any nodes are displayed on the terminal line.
Could you copy and paste the verbose you see when running the simulation?
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chanforg
commented on July 19, 2024
`$ roslaunch bebop_simulator bebop_without_controller.launch
`... logging to /home/ethan/.ros/log/b687e82e-5c30-11ea-9f19-98e7f44cf5fc/roslaunch-ethan-HP-Pavilion-Notebook-2877.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://ethan-HP-Pavilion-Notebook:33299/
SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /tf_prefix: bebop
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
spawn_robot (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [2892]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to b687e82e-5c30-11ea-9f19-98e7f44cf5fc
process[rosout-1]: started with pid [2905]
started core service [/rosout]
process[gazebo-2]: started with pid [2908]
process[gazebo_gui-3]: started with pid [2912]
process[spawn_robot-4]: started with pid [2918]
SpawnModel script started
[INFO] [1583117498.606854, 0.000000]: Loading model XML from ros parameter
[INFO] [1583117498.615400, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1583117499.806817224]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1583117499.810260917]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1583117499.810721513]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1583117499.812324849]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1583117501.945120, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1583117502.156852611, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1583117502.160872374, 0.027000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1583117502.466920, 0.195000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1583117502.491282597, 0.195000000]: Physics dynamic reconfigure ready.
[ INFO] [1583117502.491902042, 0.195000000]: Physics dynamic reconfigure ready.
[spawn_robot-4] process has finished cleanly
log file: /home/ethan/.ros/log/b687e82e-5c30-11ea-9f19-98e7f44cf5fc/spawn_robot-4*.log
[ INFO] [1583117503.011917346, 0.195000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1583117503.298053254, 0.195000000]: Camera Plugin (ns = /) <tf_prefix_>, set to "bebop"
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chanforg
commented on July 19, 2024
oh! yes i reinstall it .and now it can be work!
Thank you for your patient answer，Please forgive my carelessness, I have just touched this field。:-)
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gsilano
commented on July 19, 2024
Take it easy, it can happen. I happy to ear from you that everything is fine now. So, I can close the issue.
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