When I run this command: roslaunchrbvogui _ sim _ brinuprbvogui _ complete. launchrobot _ model: = rbvogui robot _ xacro: = rbvogui _ std.urdf.xacro run _ localization: = true run _ navigation: = true.

Open yyds623 opened this issue 3 months ago • 1 comments

roslaunch rbvogui_sim_bringup rbvogui_complete.launch robot_model:=rbvogui robot_xacro:=rbvogui_std.urdf.xacro run_localization:=true run_navigation:=true ... logging to /home/zxcv/.ros/log/341f9fde-eac6-11ee-b94c-b93d09b9055a/roslaunch-ubuntu-2846.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://localhost:33577/

SUMMARY

PARAMETERS

/gazebo/enable_ros_network: True
/robot/amcl/base_frame_id: robot_base_footprint
/robot/amcl/global_frame_id: robot_map
/robot/amcl/gui_publish_rate: 10.0
/robot/amcl/initial_pose_a: 0
/robot/amcl/initial_pose_x: 0
/robot/amcl/initial_pose_y: 0
/robot/amcl/initial_pose_z: 0
/robot/amcl/kld_err: 0.05
/robot/amcl/kld_z: 0.99
/robot/amcl/laser_lambda_short: 0.1
/robot/amcl/laser_likelihood_max_dist: 2.0
/robot/amcl/laser_max_beams: 30
/robot/amcl/laser_model_type: likelihood_field
/robot/amcl/laser_sigma_hit: 0.2
/robot/amcl/laser_z_hit: 0.5
/robot/amcl/laser_z_max: 0.05
/robot/amcl/laser_z_rand: 0.5
/robot/amcl/laser_z_short: 0.05
/robot/amcl/max_particles: 5000
/robot/amcl/min_particles: 500
/robot/amcl/odom_alpha1: 0.2
/robot/amcl/odom_alpha2: 0.2
/robot/amcl/odom_alpha3: 0.8
/robot/amcl/odom_alpha4: 0.2
/robot/amcl/odom_alpha5: 0.1
/robot/amcl/odom_frame_id: robot_odom
/robot/amcl/odom_model_type: omni
/robot/amcl/recovery_alpha_fast: 0.0
/robot/amcl/recovery_alpha_slow: 0.0
/robot/amcl/resample_interval: 1
/robot/amcl/transform_tolerance: 0.2
/robot/amcl/update_min_a: 0.5
/robot/amcl/update_min_d: 0.2
/robot/amcl/use_map_topic: True
/robot/back_left_wheel_steer_joint_controller/joint: robot_back_left_m...
/robot/back_left_wheel_steer_joint_controller/type: position_controll...
/robot/back_left_wheel_traction_joint_controller/joint: robot_back_left_w...
/robot/back_left_wheel_traction_joint_controller/type: velocity_controll...
/robot/back_right_wheel_steer_joint_controller/joint: robot_back_right_...
/robot/back_right_wheel_steer_joint_controller/type: position_controll...
/robot/back_right_wheel_traction_joint_controller/joint: robot_back_right_...
/robot/back_right_wheel_traction_joint_controller/type: velocity_controll...
/robot/front_laser_filter/scan_filter_chain: [{'name': 'range'...
/robot/front_left_wheel_steer_joint_controller/joint: robot_front_left_...
/robot/front_left_wheel_steer_joint_controller/type: position_controll...
/robot/front_left_wheel_traction_joint_controller/joint: robot_front_left_...
/robot/front_left_wheel_traction_joint_controller/type: velocity_controll...
/robot/front_right_wheel_steer_joint_controller/joint: robot_front_right...
/robot/front_right_wheel_steer_joint_controller/type: position_controll...
/robot/front_right_wheel_traction_joint_controller/joint: robot_front_right...
/robot/front_right_wheel_traction_joint_controller/type: velocity_controll...
/robot/joint_read_command_controller/publish_rate: 100.0
/robot/joint_read_command_controller/type: joint_read_comman...
/robot/joint_read_state_controller/publish_rate: 100.0
/robot/joint_read_state_controller/type: joint_state_contr...
/robot/map_server/frame_id: robot_map
/robot/move_base/GlobalPlanner/orientation_mode: 2
/robot/move_base/GlobalPlanner/planner_frequency: 1.0
/robot/move_base/GlobalPlanner/planner_patience: 0.0
/robot/move_base/TebLocalPlannerROS/acc_lim_theta: 0.2
/robot/move_base/TebLocalPlannerROS/acc_lim_x: 0.2
/robot/move_base/TebLocalPlannerROS/acc_lim_y: 0.2
/robot/move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: True
/robot/move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False
/robot/move_base/TebLocalPlannerROS/costmap_converter_plugin: costmap_converter...
/robot/move_base/TebLocalPlannerROS/costmap_converter_rate: 5
/robot/move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True
/robot/move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0
/robot/move_base/TebLocalPlannerROS/dt_hysteresis: 0.1
/robot/move_base/TebLocalPlannerROS/dt_ref: 0.3
/robot/move_base/TebLocalPlannerROS/enable_homotopy_class_planning: False
/robot/move_base/TebLocalPlannerROS/enable_multithreading: True
/robot/move_base/TebLocalPlannerROS/exact_arc_length: False
/robot/move_base/TebLocalPlannerROS/feasibility_check_no_poses: 5
/robot/move_base/TebLocalPlannerROS/footprint_model/line_end: [0.035, 0.0]
/robot/move_base/TebLocalPlannerROS/footprint_model/line_start: [-0.035, 0.0]
/robot/move_base/TebLocalPlannerROS/footprint_model/type: polygon
/robot/move_base/TebLocalPlannerROS/footprint_model/vertices: [[0.52, -0.31], [...
/robot/move_base/TebLocalPlannerROS/force_reinit_new_goal_dist: 1.0
/robot/move_base/TebLocalPlannerROS/free_goal_vel: False
/robot/move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True
/robot/move_base/TebLocalPlannerROS/global_plan_viapoint_sep: 0.5
/robot/move_base/TebLocalPlannerROS/h_signature_prescaler: 1.0
/robot/move_base/TebLocalPlannerROS/h_signature_threshold: 0.1
/robot/move_base/TebLocalPlannerROS/include_costmap_obstacles: True
/robot/move_base/TebLocalPlannerROS/inflation_dist: 0.7
/robot/move_base/TebLocalPlannerROS/legacy_obstacle_association: False
/robot/move_base/TebLocalPlannerROS/map_frame: robot_map
/robot/move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 3.0
/robot/move_base/TebLocalPlannerROS/max_number_classes: 4
/robot/move_base/TebLocalPlannerROS/max_vel_theta: 0.785
/robot/move_base/TebLocalPlannerROS/max_vel_x: 0.75
/robot/move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.15
/robot/move_base/TebLocalPlannerROS/max_vel_y: 0.5
/robot/move_base/TebLocalPlannerROS/min_obstacle_dist: 0.3
/robot/move_base/TebLocalPlannerROS/min_samples: 3
/robot/move_base/TebLocalPlannerROS/min_turning_radius: 0.0
/robot/move_base/TebLocalPlannerROS/no_inner_iterations: 5
/robot/move_base/TebLocalPlannerROS/no_outer_iterations: 4
/robot/move_base/TebLocalPlannerROS/obstacle_association_cutoff_factor: 5.0
/robot/move_base/TebLocalPlannerROS/obstacle_association_force_inclusion_factor: 1.5
/robot/move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45
/robot/move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1
/robot/move_base/TebLocalPlannerROS/obstacle_poses_affected: 30
/robot/move_base/TebLocalPlannerROS/odom_topic: robotnik_base_con...
/robot/move_base/TebLocalPlannerROS/optimization_activate: True
/robot/move_base/TebLocalPlannerROS/optimization_verbose: False
/robot/move_base/TebLocalPlannerROS/penalty_epsilon: 0.1
/robot/move_base/TebLocalPlannerROS/publish_feedback: False
/robot/move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5
/robot/move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15
/robot/move_base/TebLocalPlannerROS/selection_alternative_time_cost: False
/robot/move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0
/robot/move_base/TebLocalPlannerROS/selection_obst_cost_scale: 4.0
/robot/move_base/TebLocalPlannerROS/selection_viapoint_cost_scale: 1.0
/robot/move_base/TebLocalPlannerROS/shrink_horizon_backup: True
/robot/move_base/TebLocalPlannerROS/shrink_horizon_min_duration: 10
/robot/move_base/TebLocalPlannerROS/simple_exploration: False
/robot/move_base/TebLocalPlannerROS/teb_autosize: True
/robot/move_base/TebLocalPlannerROS/visualize_hc_graph: False
/robot/move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1
/robot/move_base/TebLocalPlannerROS/weight_acc_lim_x: 1
/robot/move_base/TebLocalPlannerROS/weight_acc_lim_y: 1
/robot/move_base/TebLocalPlannerROS/weight_adapt_factor: 2
/robot/move_base/TebLocalPlannerROS/weight_inflation: 1
/robot/move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 50
/robot/move_base/TebLocalPlannerROS/weight_kinematics_nh: 10
/robot/move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1
/robot/move_base/TebLocalPlannerROS/weight_max_vel_theta: 1
/robot/move_base/TebLocalPlannerROS/weight_max_vel_x: 1
/robot/move_base/TebLocalPlannerROS/weight_max_vel_y: 1
/robot/move_base/TebLocalPlannerROS/weight_obstacle: 50
/robot/move_base/TebLocalPlannerROS/weight_optimaltime: 10
/robot/move_base/TebLocalPlannerROS/weight_viapoint: 1
/robot/move_base/TebLocalPlannerROS/wheelbase: 0.0
/robot/move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.2
/robot/move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.1
/robot/move_base/aggresive_reset/layer_names: ['obstacle_laser_...
/robot/move_base/aggresive_reset/reset_distance: 0.0
/robot/move_base/base_global_planner: global_planner/Gl...
/robot/move_base/base_local_planner: teb_local_planner...
/robot/move_base/clearing_rotation_allowed: False
/robot/move_base/conservative_reset/layer_names: ['obstacle_laser_...
/robot/move_base/conservative_reset/reset_distance: 10.0
/robot/move_base/conservative_reset_dist: 3.0
/robot/move_base/controller_frequency: 20.0
/robot/move_base/controller_patience: 15.0
/robot/move_base/global_costmap/footprint: [[0.52, -0.31], [...
/robot/move_base/global_costmap/global_frame: robot_map
/robot/move_base/global_costmap/height: 100.0
/robot/move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
/robot/move_base/global_costmap/inflation_layer/inflation_radius: 0.4
/robot/move_base/global_costmap/obstacle_camera_layer/front_rgbd_to_scan/clearing: True
/robot/move_base/global_costmap/obstacle_camera_layer/front_rgbd_to_scan/data_type: LaserScan
/robot/move_base/global_costmap/obstacle_camera_layer/front_rgbd_to_scan/marking: True
/robot/move_base/global_costmap/obstacle_camera_layer/front_rgbd_to_scan/topic: front_rgbd_camera...
/robot/move_base/global_costmap/obstacle_camera_layer/observation_sources: front_rgbd_to_scan
/robot/move_base/global_costmap/obstacle_camera_layer/obstacle_range: 2.5
/robot/move_base/global_costmap/obstacle_camera_layer/raytrace_range: 5.5
/robot/move_base/global_costmap/obstacle_laser_layer/front_laser/clearing: True
/robot/move_base/global_costmap/obstacle_laser_layer/front_laser/data_type: LaserScan
/robot/move_base/global_costmap/obstacle_laser_layer/front_laser/marking: True
/robot/move_base/global_costmap/obstacle_laser_layer/front_laser/sensor_frame: robot_front_laser...
/robot/move_base/global_costmap/obstacle_laser_layer/front_laser/topic: front_laser/scan_...
/robot/move_base/global_costmap/obstacle_laser_layer/observation_sources: front_laser rear_...
/robot/move_base/global_costmap/obstacle_laser_layer/obstacle_range: 2.5
/robot/move_base/global_costmap/obstacle_laser_layer/raytrace_range: 5.5
/robot/move_base/global_costmap/obstacle_laser_layer/rear_laser/clearing: True
/robot/move_base/global_costmap/obstacle_laser_layer/rear_laser/data_type: LaserScan
/robot/move_base/global_costmap/obstacle_laser_layer/rear_laser/marking: True
/robot/move_base/global_costmap/obstacle_laser_layer/rear_laser/sensor_frame: robot_rear_laser_...
/robot/move_base/global_costmap/obstacle_laser_layer/rear_laser/topic: rear_laser/scan_f...
/robot/move_base/global_costmap/plugins: [{'name': 'static...
/robot/move_base/global_costmap/publish_frequency: 1.0
/robot/move_base/global_costmap/resolution: 0.05
/robot/move_base/global_costmap/robot_base_frame: robot_base_footprint
/robot/move_base/global_costmap/rolling_window: False
/robot/move_base/global_costmap/static_map_layer/enabled: True
/robot/move_base/global_costmap/static_map_layer/lethal_cost_threshold: 94
/robot/move_base/global_costmap/static_map_layer/map_topic: map
/robot/move_base/global_costmap/static_map_layer/trinary_costmap: False
/robot/move_base/global_costmap/static_map_layer/unknown_cost_value: 1
/robot/move_base/global_costmap/static_map_layer/use_maximum: False
/robot/move_base/global_costmap/update_frequency: 5.0
/robot/move_base/global_costmap/width: 100.0
/robot/move_base/local_costmap/footprint: [[0.52, -0.31], [...
/robot/move_base/local_costmap/footprint_padding: 0.0
/robot/move_base/local_costmap/global_frame: robot_odom
/robot/move_base/local_costmap/height: 7.0
/robot/move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
/robot/move_base/local_costmap/inflation_layer/inflation_radius: 0.4
/robot/move_base/local_costmap/obstacle_camera_layer/front_rgbd_to_scan/clearing: True
/robot/move_base/local_costmap/obstacle_camera_layer/front_rgbd_to_scan/data_type: LaserScan
/robot/move_base/local_costmap/obstacle_camera_layer/front_rgbd_to_scan/marking: True
/robot/move_base/local_costmap/obstacle_camera_layer/front_rgbd_to_scan/topic: front_rgbd_camera...
/robot/move_base/local_costmap/obstacle_camera_layer/observation_sources: front_rgbd_to_scan
/robot/move_base/local_costmap/obstacle_camera_layer/obstacle_range: 2.5
/robot/move_base/local_costmap/obstacle_camera_layer/raytrace_range: 5.5
/robot/move_base/local_costmap/obstacle_laser_layer/front_laser/clearing: True
/robot/move_base/local_costmap/obstacle_laser_layer/front_laser/data_type: LaserScan
/robot/move_base/local_costmap/obstacle_laser_layer/front_laser/marking: True
/robot/move_base/local_costmap/obstacle_laser_layer/front_laser/sensor_frame: robot_front_laser...
/robot/move_base/local_costmap/obstacle_laser_layer/front_laser/topic: front_laser/scan_...
/robot/move_base/local_costmap/obstacle_laser_layer/observation_sources: front_laser rear_...
/robot/move_base/local_costmap/obstacle_laser_layer/obstacle_range: 2.5
/robot/move_base/local_costmap/obstacle_laser_layer/raytrace_range: 5.5
/robot/move_base/local_costmap/obstacle_laser_layer/rear_laser/clearing: True
/robot/move_base/local_costmap/obstacle_laser_layer/rear_laser/data_type: LaserScan
/robot/move_base/local_costmap/obstacle_laser_layer/rear_laser/marking: True
/robot/move_base/local_costmap/obstacle_laser_layer/rear_laser/sensor_frame: robot_rear_laser_...
/robot/move_base/local_costmap/obstacle_laser_layer/rear_laser/topic: rear_laser/scan_f...
/robot/move_base/local_costmap/plugins: [{'name': 'obstac...
/robot/move_base/local_costmap/publish_frequency: 1.0
/robot/move_base/local_costmap/resolution: 0.05
/robot/move_base/local_costmap/robot_base_frame: robot_base_footprint
/robot/move_base/local_costmap/rolling_window: True
/robot/move_base/local_costmap/static_map_layer/enabled: True
/robot/move_base/local_costmap/static_map_layer/lethal_cost_threshold: 94
/robot/move_base/local_costmap/static_map_layer/map_topic: map
/robot/move_base/local_costmap/static_map_layer/trinary_costmap: False
/robot/move_base/local_costmap/static_map_layer/unknown_cost_value: 1
/robot/move_base/local_costmap/static_map_layer/use_maximum: False
/robot/move_base/local_costmap/update_frequency: 5.0
/robot/move_base/local_costmap/width: 7.0
/robot/move_base/max_planning_retries: 10
/robot/move_base/oscillation_distance: 0.5
/robot/move_base/oscillation_timeout: 0.0
/robot/move_base/planner_frequency: 0.2
/robot/move_base/planner_patience: 15.0
/robot/move_base/recovery_behavior_enabled: True
/robot/move_base/recovery_behaviors: [{'name': 'conser...
/robot/move_base/shutdown_costmaps: False
/robot/rear_laser_filter/scan_filter_chain: [{'name': 'range'...
/robot/robot_description: <?xml version="1....
/robot/robotnik_base_control/angular_acceleration_limit: 2.0
/robot/robotnik_base_control/angular_speed_limit: 2.0
/robot/robotnik_base_control/cmd_watchdog_duration: 0.2
/robot/robotnik_base_control/command_topic: robotnik_base_con...
/robot/robotnik_base_control/direction_wheels_init_range: 3.14
/robot/robotnik_base_control/direction_wheels_moving_range: 3.14
/robot/robotnik_base_control/has_steer_angle_limits: True
/robot/robotnik_base_control/linear_acceleration_limit: 2.0
/robot/robotnik_base_control/linear_speed_limit: 2.8
/robot/robotnik_base_control/odom_broadcast_tf: True
/robot/robotnik_base_control/odom_frame: robot_odom
/robot/robotnik_base_control/odom_publish_frequency: 100
/robot/robotnik_base_control/odom_topic: robotnik_base_con...
/robot/robotnik_base_control/robot_base_frame: robot_base_footprint
/robot/robotnik_base_control/steer/back_left/joint_name: robot_back_left_m...
/robot/robotnik_base_control/steer/back_left/max_angle: 3.1
/robot/robotnik_base_control/steer/back_left/min_angle: -3.1
/robot/robotnik_base_control/steer/back_right/joint_name: robot_back_right_...
/robot/robotnik_base_control/steer/back_right/max_angle: 3.1
/robot/robotnik_base_control/steer/back_right/min_angle: -3.1
/robot/robotnik_base_control/steer/front_left/joint_name: robot_front_left_...
/robot/robotnik_base_control/steer/front_left/max_angle: 2.6
/robot/robotnik_base_control/steer/front_left/min_angle: -2.6
/robot/robotnik_base_control/steer/front_right/joint_name: robot_front_right...
/robot/robotnik_base_control/steer/front_right/max_angle: 2.6
/robot/robotnik_base_control/steer/front_right/min_angle: -2.6
/robot/robotnik_base_control/steering_wheels_in_same_orientation: True
/robot/robotnik_base_control/track_width: 0.439
/robot/robotnik_base_control/traction/back_left/joint_name: robot_back_left_w...
/robot/robotnik_base_control/traction/back_left/max_speed: 20.0
/robot/robotnik_base_control/traction/back_right/joint_name: robot_back_right_...
/robot/robotnik_base_control/traction/back_right/max_speed: 20.0
/robot/robotnik_base_control/traction/front_left/joint_name: robot_front_left_...
/robot/robotnik_base_control/traction/front_left/max_speed: 20.0
/robot/robotnik_base_control/traction/front_right/joint_name: robot_front_right...
/robot/robotnik_base_control/traction/front_right/max_speed: 20.0
/robot/robotnik_base_control/type: rbvogui_hl_omni_c...
/robot/robotnik_base_control/wheel_base: 0.439
/robot/robotnik_base_control/wheel_diameter: 0.22
/robot/twist_mux/locks: [{'name': 'e_stop...
/robot/twist_mux/topics: [{'name': 'pad', ...
/rosdistro: noetic
/rosversion: 1.16.0
/use_sim_time: True

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) rviz (rviz/rviz) /robot/ amcl (amcl/amcl) controller_spawner (controller_manager/spawner) front_laser_filter (laser_filters/scan_to_scan_filter_chain) map_server (map_server/map_server) move_base (move_base/move_base) rear_laser_filter (laser_filters/scan_to_scan_filter_chain) robot_state_publisher (robot_state_publisher/robot_state_publisher) twist_mux (twist_mux/twist_mux) urdf_spawner_robot_model (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [2860] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 341f9fde-eac6-11ee-b94c-b93d09b9055a process[rosout-1]: started with pid [2871] started core service [/rosout] process[gazebo-2]: started with pid [2878] process[gazebo_gui-3]: started with pid [2883] process[robot/urdf_spawner_robot_model-4]: started with pid [2885] process[robot/robot_state_publisher-5]: started with pid [2888] process[robot/controller_spawner-6]: started with pid [2890] process[robot/twist_mux-7]: started with pid [2891] process[rviz-8]: started with pid [2892] process[robot/amcl-9]: started with pid [2894] process[robot/map_server-10]: started with pid [2900] process[robot/move_base-11]: started with pid [2901] process[robot/front_laser_filter-12]: started with pid [2903] process[robot/rear_laser_filter-13]: started with pid [2904] [ INFO] [1711384752.569426167]: Subscribed to map topic. [INFO] [1711384753.637777, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1711384753.709763, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1711384753.725775, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ INFO] [1711384755.137616580]: Finished loading Gazebo ROS API Plugin. [ INFO] [1711384755.141943461]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1711384755.629167338]: Finished loading Gazebo ROS API Plugin. [ INFO] [1711384755.633923486]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1711384756.809885784]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1711384756.846204654, 95.570000000]: Physics dynamic reconfigure ready. [ WARN] [1711384757.054520000, 95.759000000]: No laser scan received (and thus no pose updates have been published) for 95.759000 seconds. Verify that data is being published on the /robot/front_laser/scan topic. [ WARN] [1711384757.056059555, 95.760000000]: No laser scan received (and thus no pose updates have been published) for 95.760000 seconds. Verify that data is being published on the /robot/front_laser/scan topic. [INFO] [1711384757.056691, 95.759000]: Calling service /gazebo/spawn_urdf_model [ WARN] [1711384757.057515555, 95.761000000]: Timed out waiting for transform from robot_base_footprint to robot_map to become available before running costmap, tf error: canTransform: target_frame robot_map does not exist. canTransform: source_frame robot_base_footprint does not exist.. canTransform returned after 95.761 timeout was 0.1. [ INFO] [1711384757.075555323, 95.767000000]: Received a 896 X 928 map @ 0.050 m/pix

[ INFO] [1711384757.315488502, 95.843000000]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1711384757.482608962, 95.843000000]: Done initializing likelihood field model. [ INFO] [1711384757.874350592, 95.843000000]: Laser Plugin: Using the 'robotNamespace' param: '/robot/' [ INFO] [1711384757.874456363, 95.843000000]: Starting GazeboRosLaser Plugin (ns = /robot/) [ INFO] [1711384757.884493917, 95.843000000]: GPU Laser Plugin (ns = /robot/) <tf_prefix_>, set to "" [ INFO] [1711384757.885361161, 95.843000000]: LoadThread function completed [INFO] [1711384757.890142, 95.843000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1711384757.958934930, 95.843000000]: Camera Plugin: Using the 'robotNamespace' param: '/robot/' [ INFO] [1711384757.964031044, 95.843000000]: Camera Plugin (ns = /robot/) <tf_prefix_>, set to "" [ INFO] [1711384758.091231841, 95.843000000]: Loading gazebo_ros_control plugin [ INFO] [1711384758.091434908, 95.843000000]: Starting gazebo_ros_control plugin in namespace: /robot/ [ INFO] [1711384758.092302475, 95.843000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot/robot_description] on the ROS param server. [ERROR] [1711384758.225805036, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_right_motor_wheel_joint [ERROR] [1711384758.227965116, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_right_wheel_joint [ERROR] [1711384758.229483063, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_left_motor_wheel_joint [ERROR] [1711384758.230299082, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_front_left_wheel_joint [ERROR] [1711384758.231076649, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_left_motor_wheel_joint [ERROR] [1711384758.231906067, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_left_wheel_joint [ERROR] [1711384758.232644856, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_right_motor_wheel_joint [ERROR] [1711384758.233201776, 95.843000000]: No p gain specified for pid. Namespace: /robot/gazebo_ros_control/pid_gains/robot_back_right_wheel_joint [ INFO] [1711384758.246394555, 95.843000000]: Loaded gazebo_ros_control. [INFO] [1711384758.474023, 95.968000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1711384758.477740, 95.970000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1711384758.487123, 95.977000]: Loading controller: robotnik_base_control [ INFO] [1711384758.691409517, 96.141000000]: Dynamic Reconfigure: DynamicParams: Kinematic parameters: direction wheels init range: 3.14 direction wheels moving range: 3.14

[ INFO] [1711384758.694029801, 96.149000000]: /robot/robotnik_base_control::initController: everything is OK! [INFO] [1711384758.695668, 96.149000]: Loading controller: joint_read_command_controller [robot/urdf_spawner_robot_model-4] process has finished cleanly log file: /home/zxcv/.ros/log/341f9fde-eac6-11ee-b94c-b93d09b9055a/robot-urdf_spawner_robot_model-4*.log [INFO] [1711384758.748620, 96.192000]: Loading controller: joint_read_state_controller [INFO] [1711384758.767670, 96.203000]: Controller Spawner: Loaded controllers: robotnik_base_control, joint_read_command_controller, joint_read_state_controller [ INFO] [1711384758.773395639, 96.205000000]: /robot/robotnik_base_control: Starting! [INFO] [1711384758.773950, 96.205000]: Started controllers: robotnik_base_control, joint_read_command_controller, joint_read_state_controller [ INFO] [1711384759.131560320, 96.534000000]: global_costmap: Using plugin "static_map_layer" [ INFO] [1711384759.145898733, 96.542000000]: Requesting the map... [ INFO] [1711384759.364408170, 96.743000000]: Resizing costmap to 896 X 928 at 0.050000 m/pix [ INFO] [1711384759.472725805, 96.842000000]: Received a 896 X 928 map at 0.050000 m/pix [ INFO] [1711384759.475017119, 96.842000000]: global_costmap: Using plugin "inflation_layer" [ INFO] [1711384759.639421453, 97.004000000]: local_costmap: Using plugin "obstacle_laser_layer" [ INFO] [1711384759.665804983, 97.028000000]: Subscribed to Topics: front_laser rear_laser [ INFO] [1711384759.762992663, 97.135000000]: local_costmap: Using plugin "inflation_layer" [ INFO] [1711384759.914769909, 97.284000000]: Created local_planner teb_local_planner/TebLocalPlannerROS Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 97.304000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ WARN] [1711384759.957613142, 97.321000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 97.304000 according to authority unknown_publisher Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 97.304000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ WARN] [1711384759.989057653, 97.356000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.4410 seconds [ INFO] [1711384760.184868830, 97.545000000]: Footprint model 'polygon' loaded for trajectory optimization. [ INFO] [1711384760.185832399, 97.546000000]: Parallel planning in distinctive topologies disabled. [ INFO] [1711384760.454134315, 97.778000000]: Costmap conversion plugin costmap_converter::CostmapToPolygonsDBSMCCH loaded. [ INFO] [1711384760.978654122, 98.254000000]: Recovery behavior will clear layer 'obstacle_laser_layer' [ INFO] [1711384760.985358468, 98.258000000]: Recovery behavior will clear layer 'obstacle_laser_layer' [ INFO] [1711384761.164980839, 98.403000000]: odom received! [ WARN] [1711384761.175377471, 98.412000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2560 seconds Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 103.724000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp [ WARN] [1711384766.901763431, 103.746000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame robot_base_footprint (parent robot_odom) at time 103.724000 according to authority unknown_publisher

Mar 25 '24 16:03 yyds623

rbvogui_sim rbvogui_sim copied to clipboard

When I run this command: roslaunchrbvogui _ sim _ brinuprbvogui _ complete. launchrobot _ model: = rbvogui robot _ xacro: = rbvogui _ std.urdf.xacro run _ localization: = true run _ navigation: = true.

SUMMARY

rbvogui_sim
rbvogui_sim copied to clipboard