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Published 20 hours ago • verified publisher icon ros-industrial

No UR5 model in gazebo

Open Yet-ian opened this issue 1 year ago • 9 comments

When I roslaunch execute the following command ur_gazebo ur5_bringup.launch, Robotic arm model cannot be displayed in gazebo. But the output in the terminal seems normal.

SUMMARY

PARAMETERS

  • /gazebo/enable_ros_network: True
  • /joint_group_pos_controller/joints: ['shoulder_pan_jo...
  • /joint_group_pos_controller/type: position_controll...
  • /joint_state_controller/publish_rate: 125
  • /joint_state_controller/type: joint_state_contr...
  • /pos_joint_traj_controller/action_monitor_rate: 10
  • /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
  • /pos_joint_traj_controller/constraints/goal_time: 0.6
  • /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
  • /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
  • /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
  • /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
  • /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
  • /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
  • /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
  • /pos_joint_traj_controller/joints: ['shoulder_pan_jo...
  • /pos_joint_traj_controller/state_publish_rate: 125
  • /pos_joint_traj_controller/stop_trajectory_duration: 0.5
  • /pos_joint_traj_controller/type: position_controll...
  • /robot_description: <?xml version="1....
  • /robot_state_publisher/publish_frequency: 125.0
  • /robot_state_publisher/tf_prefix:
  • /rosdistro: noetic
  • /rosversion: 1.16.0
  • /use_sim_time: True

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) robot_state_publisher (robot_state_publisher/robot_state_publisher) ros_control_controller_spawner (controller_manager/spawner) ros_control_stopped_spawner (controller_manager/spawner) spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [8558] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6a1edc90-aa15-11ee-ac74-b727aa385e75 process[rosout-1]: started with pid [8568] started core service [/rosout] process[robot_state_publisher-2]: started with pid [8575] process[gazebo-3]: started with pid [8576] process[gazebo_gui-4]: started with pid [8580] process[spawn_gazebo_model-5]: started with pid [8585] process[ros_control_controller_spawner-6]: started with pid [8587] process[ros_control_stopped_spawner-7]: started with pid [8592] [ INFO] [1704271945.879807302]: Finished loading Gazebo ROS API Plugin. [ INFO] [1704271945.880620311]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1704271945.933302851]: Finished loading Gazebo ROS API Plugin. [ INFO] [1704271945.934067506]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1704271946.186580186, 0.001000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1704271946.199761296, 0.014000000]: Physics dynamic reconfigure ready. 2024-01-03 17-50-48_screenshot

Yet-ian avatar Jan 03 '24 09:01 Yet-ian

I have also encountered this problem. Have you resolved it？

Gaojcc avatar Apr 07 '24 11:04 Gaojcc

This seems like some dependencies are missing, that is way too little output for the roslaunch ur_gazebo ur5_bringup.launch command. Did you install the package from binary packages or from source? And in the second case, did you follow the README instructions and install all dependencies using rosdep?

For reference, this is what a complete startup should look like:

> $ roslaunch ur_gazebo ur5_bringup.launch
... logging to /home/ubuntu/.ros/log/0794ac64-f5ae-11ee-9181-a76ff8ca333b/roslaunch-ur-noetic-1042.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.

started roslaunch server http://ur-noetic:39381/

SUMMARY
========

PARAMETERS
 * /eff_joint_traj_controller/action_monitor_rate: 10
 * /eff_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/goal_time: 0.6
 * /eff_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /eff_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /eff_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /eff_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /eff_joint_traj_controller/gains/elbow_joint/d: 20
 * /eff_joint_traj_controller/gains/elbow_joint/i: 1
 * /eff_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/elbow_joint/p: 2000
 * /eff_joint_traj_controller/gains/shoulder_lift_joint/d: 200
 * /eff_joint_traj_controller/gains/shoulder_lift_joint/i: 1
 * /eff_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/shoulder_lift_joint/p: 10000
 * /eff_joint_traj_controller/gains/shoulder_pan_joint/d: 200
 * /eff_joint_traj_controller/gains/shoulder_pan_joint/i: 1
 * /eff_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/shoulder_pan_joint/p: 4000
 * /eff_joint_traj_controller/gains/wrist_1_joint/d: 1
 * /eff_joint_traj_controller/gains/wrist_1_joint/i: 1
 * /eff_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/wrist_1_joint/p: 500
 * /eff_joint_traj_controller/gains/wrist_2_joint/d: 1
 * /eff_joint_traj_controller/gains/wrist_2_joint/i: 1
 * /eff_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/wrist_2_joint/p: 500
 * /eff_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /eff_joint_traj_controller/gains/wrist_3_joint/i: 0
 * /eff_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /eff_joint_traj_controller/gains/wrist_3_joint/p: 10
 * /eff_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /eff_joint_traj_controller/state_publish_rate: 125
 * /eff_joint_traj_controller/stop_trajectory_duration: 0.5
 * /eff_joint_traj_controller/type: effort_controller...
 * /gazebo/enable_ros_network: True
 * /joint_group_eff_controller/joints: ['shoulder_pan_jo...
 * /joint_group_eff_controller/type: effort_controller...
 * /joint_state_controller/publish_rate: 125
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 125.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ros_control_controller_spawner (controller_manager/spawner)
    ros_control_stopped_spawner (controller_manager/spawner)
    spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [1054]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0794ac64-f5ae-11ee-9181-a76ff8ca333b
process[rosout-1]: started with pid [1064]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [1070]
process[gazebo-3]: started with pid [1072]
process[gazebo_gui-4]: started with pid [1077]
process[spawn_gazebo_model-5]: started with pid [1084]
process[ros_control_controller_spawner-6]: started with pid [1088]
process[ros_control_stopped_spawner-7]: started with pid [1090]
[INFO] [1712583830.877869, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1712583830.921106, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1712583830.965670, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1712583830.971282, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1712583831.272979151]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1712583831.273997909]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1712583831.407910172]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1712583831.409627044]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1712583835.414074272]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1712583835.435852688, 0.010000000]: Physics dynamic reconfigure ready.
[INFO] [1712583835.486458, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1712583835.670876, 0.157000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1712583835.705510690, 0.157000000]: Loading gazebo_ros_control plugin
[ INFO] [1712583835.705683720, 0.157000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1712583835.706807832, 0.157000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1712583835.837844938, 0.157000000]: Loaded gazebo_ros_control.
[INFO] [1712583835.993950, 0.270000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1712583835.996028, 0.273000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1712583835.997725, 0.274000]: Loading controller: joint_state_controller
[INFO] [1712583836.004077, 0.281000]: Loading controller: eff_joint_traj_controller
[INFO] [1712583836.037891, 0.314000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1712583836.041152, 0.318000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1712583836.043677, 0.320000]: Loading controller: joint_group_eff_controller
[INFO] [1712583836.108537, 0.385000]: Controller Spawner: Loaded controllers: joint_state_controller, eff_joint_traj_controller
[INFO] [1712583836.130911, 0.392000]: Controller Spawner: Loaded controllers: joint_group_eff_controller
[INFO] [1712583836.131686, 0.393000]: Started controllers: joint_state_controller, eff_joint_traj_controller
[spawn_gazebo_model-5] process has finished cleanly
log file: /home/ubuntu/.ros/log/0794ac64-f5ae-11ee-9181-a76ff8ca333b/spawn_gazebo_model-5*.log

RobertWilbrandt avatar Apr 08 '24 13:04 RobertWilbrandt

@RobertWilbrandt I also met this problem after " [INFO] [1704271946.199761296, 0.014000000]: Physics dynamic reconfigure ready. "

libcurl: (35) OpenSSL SSL_connect: SSL_ERROR_SYSCALL in connection to fuel.gazebosim.org:443 
libcurl: (35) OpenSSL SSL_connect: SSL_ERROR_SYSCALL in connection to fuel.ignitionrobotics.org:443

I install this package from the github repository ' https://github.com/fmauch/universal_robot '

Gaben21 avatar Jun 13 '24 00:06 Gaben21

Please do not use my fork directly. Please use either the released packages (sudo apt install ros-noetic-ur-gazebo) or a source build from this repo's noetic-devel branch.

fmauch avatar Jun 13 '24 07:06 fmauch

@fmauch I first used sudo apt-get install ros-$ROS_DISTRO-universal-robots then I used roslaunch ur_gazebo ur5_bringup.launch but I still encountered this problem 2024-06-14 11-32-36屏幕截图 And the UR5 model not loaded in gazebo

Gaben21 avatar Jun 14 '24 03:06 Gaben21

@Gaben21 could you maybe provide more output? Did you delete the source-built version from your workspace and cleaned and built your workspace again? Otherwise it might still try to use your old source-built version.

fmauch avatar Jun 19 '24 08:06 fmauch

@Gaben21 could you maybe provide more output? Did you delete the source-built version from your workspace and cleaned and built your workspace again? Otherwise it might still try to use your old source-built version.

Hi fmauch !

I have tried to run the Gazebo version of repo and I am encountering same issue , i have tried the cloned version as well as the sudo apt-install version. Do you have any suggestions :

Screenshot from 2024-07-02 15-10-20

Muhammadjunaidmalik1 avatar Jul 02 '24 13:07 Muhammadjunaidmalik1

I've just verified that with a clean system things seem to be working. I created a Dockerfile:

FROM ros:noetic
RUN addgroup --gid 1000 ros_user && \
    adduser --uid 1000 --gid 1000 --home /home/ros_user --disabled-password --gecos "" ros_user
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y ros-noetic-ur-gazebo
USER 1000:1000
ENV DISPLAY=:0

Assuming here, that your host's user ID is 1000.

then, building an image

docker build -t ur_noetic .

and starting it

docker run -it --rm --net host -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/dri/card1:/dev/dri/card0 ur_noetic
ros_user@ids-felino:/$ roslaunch ur_gazebo ur5_bringup.launch

This brings me a working ur5 gazebo simulation.

fmauch avatar Jul 03 '24 08:07 fmauch

Thanks fmauch , turns out trying it on my another pc worked just fine for me.

Muhammadjunaidmalik1 avatar Jul 04 '24 11:07 Muhammadjunaidmalik1