soy-robotics / roch_simulator Goto Github PK

git clone -b kinetic-devel https://github.com/ros-controls/ros_controllers.git
git clone -b kinetic https://github.com/Soy-Robotics/roch_robot.git
git clone -b kinetic https://github.com/Soy-Robotics/roch.git
git clone -b kinetic https://github.com/Soy-Robotics/roch_simulator.git
git clone -b kinetic https://github.com/Soy-Robotics/roch_viz.git

[build] Summary: All 28 packages succeeded!                                    
[build]   Ignored:   4 packages were skipped or are blacklisted.               
[build]   Warnings:  4 packages succeeded with warnings.                       
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 55.4 seconds total.                                           
[build] Note: Workspace packages have changed, please re-source setup files to use them.

export ROCH_BASE=roch
export ROCH_NAME="roch"
export ROCH_TYPE="roch"
export ROCH_STACKS=standard
export ROCH_3D_SENSOR=kinect
export ROCH_LASER=ls01c
export ROCH_3D_SENSOR_ENABLE=true
export ROCH_3D_SENSOR_NAV_ENABLE=true
export ROCH_LASER_ENABLE=false
export ROCH_SERIAL_PORT="/dev/roch"
export ROCH_SIMULATION="true"

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
deprecated: xacro tags should be prepended with 'xacro' xml namespace.

[WARN] [1563542180.939693, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.

[ERROR] [1563542182.704518532, 2741.261000000]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set <legacyModeNS> to true.

[ WARN] [1563542182.818861144, 2741.261000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the <hardwareInterface> tag in joint 'front_left_wheel'.
[ERROR] [1563542182.820512414, 2741.261000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_left_wheel
[ WARN] [1563542182.820581968, 2741.261000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the <hardwareInterface> tag in joint 'front_right_wheel'.
[ERROR] [1563542182.821651313, 2741.261000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_right_wheel

[ WARN] [1563542183.138814614, 2741.459000000]: updateConfig() called on a dynamic_reconfigure::Server that provides its own mutex. This can lead to deadlocks if updateConfig() is called during an update. Providing a mutex to the constructor is highly recommended in this case. Please forward this message to the node author.

[ERROR] [1563542183.155111199, 2741.469000000]: This controller requires a hardware interface of type 'hardware_interface::ImuSensorInterface'. Make sure this is registered in the hardware_interface::RobotHW class.
[ERROR] [1563542183.155173000, 2741.469000000]: Initializing controller 'roch_sensor_controller' failed
[ERROR] [1563542184.156486, 2742.142000]: Failed to load roch_sensor_controller

  <node pkg="roch_teleop" type="roch_teleop_key" name="roch_teleop_keyboard"  output="screen">
    <param name="scale_linear" value="0.5" type="double"/>
    <param name="scale_angular" value="1.5" type="double"/>
 <!--   <remap from="roch_teleop_keyboard/cmd_vel" to="/roch_velocity_controller/cmd_vel"/> -->
    <remap from="roch_teleop_keyboard/cmd_vel" to="roch_velocity_smoother/raw_cmd_vel"/>
  </node>

  <node pkg="roch_teleop" type="roch_teleop_key" name="roch_teleop_keyboard"  output="screen">
    <param name="scale_linear" value="0.5" type="double"/>
    <param name="scale_angular" value="1.5" type="double"/>
	<remap from="roch_teleop_keyboard/cmd_vel" to="/roch_velocity_controller/cmd_vel"/>
    <!-- <remap from="roch_teleop_keyboard/cmd_vel" to="roch_velocity_smoother/raw_cmd_vel"/> -->
  </node>