Path and trajectory generators: rexrov2 doesn't move

[EmmaShou]

When following along with the "path and trajectory generator tutorial" , I can't get rexrov2 to move!

I get the following error when I run "roslaunch uuv_control_utils start_helical_trajectory.launch uuv_name:=rexrov2 n_turns:=2"

Traceback (most recent call last):
  File "/home/catkin_ws/src/uuv_simulator/uuv_control/uuv_control_utils/scripts/start_helical_trajectory.py", line 67, in <module>
    raise rospy.ROSException('Service not available! Closing node...')
rospy.exceptions.ROSException: Service not available! Closing node...
[rexrov2/start_helical_trajectory-1] process has died [pid 19617, exit code 1, cmd /home/catkin_ws/src/uuv_simulator/uuv_control/uuv_control_utils/scripts/start_helical_trajectory.py __name:=start_helical_trajectory __log:=/home/.ros/log/9aaddb66-1204-11ea-974f-0800279d5f12/rexrov2-start_helical_trajectory-1.log].
log file: /home/.ros/log/9aaddb66-1204-11ea-974f-0800279d5f12/rexrov2-start_helical_trajectory-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete

Is anyone else having problems with the path and trajectory tutorial?

Any ideas how I might fix this?

[arturmiller]

With the current version of uuv_simulator it is working on my machine. Nevertheless, I was able to reproduce the error, and I think I know what you are missing. You have to run "roslaunch rexrov2_gazebo start_demo_pid_controller.launch" before "roslaunch uuv_control_utils start_helical_trajectory.launch uuv_name:=rexrov2 n_turns:=2". Maybe this could be made a little bit clearer in the tutorial.

[Yifangx1]

Hello @arturmiller ,

I'm encountering the same problem for trajectory generators. I ran the commands as follows:

1. "roslaunch uuv_gazebo_worlds empty_underwater_world.launch"
2. "roslaunch rexrov2_description upload_rexrov2.launch"
3. "roslaunch rexrov2_control start_sf_controller.launch"
4. "roslaunch rexrov2_gazebo start_demo_pid_controller.launch"
5. "roslaunch uuv_control_utils start_helical_trajectory.launch uuv_name:=rexrov2 n_turns:=2"

After I ran step 4, "ResourceNotFound: uuv_simulation_wrapper" was shown and after step 5, same issue occured as @EmmaShou mentioned above.

Any help is appreciated. Thank you in advance.

[pxalcantara]

@Yifangx1 are you still having this problem?