micpalmia/youbot_ros_tools

A KUKA youBot description for ROS.

youbot_ros_tools's Issues

Add basic documentation to the README

Information that should be accessible:

• test status by ROS/Gazebo/Ubuntu version
• basic features supported by the robot
• installation details (somehow personnal, but may be useful for assistance)
• collaborators and contacts

roslaunch youbot_gazebo youbot.launch warnings

Hi Mic,
thank you very much for your response! Here again the description of the error (terminal log)

I can run "roslaunch youbot_description youbot_rviz.launch" without mistakes, can also move all the joints over the sliders, but "roslaunch youbot_gazebo youbot.launch" gives me back the following warnings, due to that the youbot moves crazily.

dfab@ubudfab:~/catkin_ws/src$ roslaunch youbot_gazebo youbot.launch
... logging to /home/dfab/.ros/log/97849f34-46d0-11e3-a7c6-b8ac6f819722/roslaunch-ubudfab-18444.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://ubudfab:55749/

SUMMARY

PARAMETERS

• /rosdistro
• /rosversion
• /tf_prefix
• /use_sim_time
• /youbot/tf_prefix
• /youbot/youbot_description
• /youbot_description

NODES
/youbot/
spawn_robot (gazebo_ros/spawn_model)
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)

auto-starting new master
process[master]: started with pid [18464]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 97849f34-46d0-11e3-a7c6-b8ac6f819722
process[rosout-1]: started with pid [18477]
started core service [/rosout]
process[gazebo-2]: started with pid [18491]
process[gazebo_gui-3]: started with pid [18494]
process[youbot/spawn_robot-4]: started with pid [18500]
Gazebo multi-robot simulator, version 1.9.1
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.9.1
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

spawn_model script started
Msg Waiting for master.[INFO] [WallTime: 1383734749.856237] [0.000000] Loading model xml from ros parameter
[ INFO] [1383734749.859794345]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1383734749.862020468]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [WallTime: 1383734749.862642] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 129.132.204.230
[ INFO] [1383734750.628184768, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1383734750.672613927, 0.057000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1383734750.768877] [0.154000] Calling service /gazebo/spawn_urdf_model

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 129.132.204.230
Warning [parser.cc:356] No element in file[data-string]
Warning [parser_urdf.cc:956] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
[INFO] [WallTime: 1383734752.711271] [1.061000] Spawn status: SpawnModel: Successfully spawned model
[youbot/spawn_robot-4] process has finished cleanly
log file: /home/dfab/.ros/log/97849f34-46d0-11e3-a7c6-b8ac6f819722/youbot-spawn_robot-4*.log
[ INFO] [1383734753.744620592, 1.061000000]: Loading gazebo_ros_control plugin
[ INFO] [1383734753.745080981, 1.061000000]: Starting gazebo_ros_control plugin in namespace: /youbot/
[ INFO] [1383734753.746111300, 1.061000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/youbot_description] on the ROS param server.
[ INFO] [1383734754.008085870, 1.061000000]: pluginlib WARNING: In file /tmp/buildd/ros-hydro-gazebo-ros-control-2.3.3-0precise-20131021-0345/src/default_robot_hw_sim.cpp PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros. Base = base_class_type, Derived = derived_class_type
[ INFO] [1383734754.098504453, 1.061000000]: Loaded gazebo_ros_control.

The robot looks like this:

thanks in advance for your help!

P.S.: One mistake in ..catkin_ws/src/youbot_ros_tools/youbot_gazebo/worlds/EmptyRoom/:
The path "/home/mic/workspace/hydro/catkin_ws/src/youbot_ros_tools/youbot_gazebo/worlds/EmptyRoom" needs to be replaced with variable.

Can not launch xacro files with ROS kinetic

I tried to upgrade the xacro files to the new version but still fail to launch it into RVIZ or Gazebo. Do you have time to check the reason? Thank you.

2dnav depends on a map.yaml file

Hi,
First off, I want to say thank you for these very helpful packages.
When I try to run the move_base.launch file from the youbot_2dnav package, I get an error when the map_server node tries to look for "$(find empty_room)/map/map.yaml".

I see an empty_room.world file in the youbot_gazebo package, but nothing that looks like a map.yaml file. Is that something I should have from a related install?

Thanks,
Evan

Copy new detail README to the groovy branch

Should be nice to have there also.

"roslaunch youbot_gazebo youbot.launch" not working

Hi,

I am attempting to use your youbot simulator package and achieve teleoperation in gazebo. I am still using ROS groovy; we haven't upgraded to ROS hydro since we're attempting to set up a multi-robot simulation involving the Baxter as well, and they highly recommend sticking to Groovy.

The package compiles without any problems, but when I attempt to launch the simulator with the youbot, the output looks like this:

`[ 20:22 svikas-FX6860: catkin_ws ] roslaunch youbot_gazebo youbot.launch
... logging to /home/svikas/.ros/log/1aa1e82e-1e92-11e4-8caf-386077896d21/roslaunch-svikas-FX6860-27201.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://svikas-FX6860:54892/

SUMMARY

PARAMETERS

• /robot_description
• /rosdistro
• /rosversion
• /use_sim_time

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [27221]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1aa1e82e-1e92-11e4-8caf-386077896d21
process[rosout-1]: started with pid [27234]
started core service [/rosout]
process[gazebo-2]: started with pid [27248]
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[gazebo_gui-3]: started with pid [27256]
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[spawn_urdf-4]: started with pid [27262]
[ INFO] [1407457360.610230458]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1407457360.610598093]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 128.8.140.219
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 128.8.140.219
spawn_model script started
[ INFO] [1407457360.905509272, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1407457360.933415948, 0.049000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1407457361.052488] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1407457361.057168] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1407457361.058817] [0.000000] Calling service /gazebo/spawn_urdf_model
Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
[INFO] [WallTime: 1407457362.214209] [0.691000] Spawn status: SpawnModel: Successfully spawned model
[spawn_urdf-4] process has finished cleanly
log file: /home/svikas/.ros/log/1aa1e82e-1e92-11e4-8caf-386077896d21/spawn_urdf-4*.log
[ INFO] [1407457362.637441304, 0.691000000]: Loading gazebo_ros_control plugin
[ INFO] [1407457362.637623148, 0.691000000]: Starting gazebo_ros_control plugin in namespace: /youbot
[ INFO] [1407457362.638482283, 0.691000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.`

For some reason, the simulator is stalling at the final line. I was getting a warning regarding deprecation of PLUGINLIB_DECLARE_CLASS, but I handled that. I took a look at Issue #13 (which seemed relevant) and compared my launch output to the one there, and saw that I was not getting the extra line "Loaded gazebo_ros_control". I am baffled as to why its not working.

The simulator at this point looks as follows:

I anyway went ahead to attempted to launch youbot_control to see what happens, and that too failed with the following output:

[ 20:22 svikas-FX6860: catkin_ws ] roslaunch youbot_control youbot_control.launch
... logging to /home/svikas/.ros/log/1aa1e82e-1e92-11e4-8caf-386077896d21/roslaunch-svikas-FX6860-27713.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://svikas-FX6860:43253/

SUMMARY

PARAMETERS

• /rosdistro
• /rosversion
• /youbot/arm_joint_1_position_controller/joint
• /youbot/arm_joint_1_position_controller/pid/d
• /youbot/arm_joint_1_position_controller/pid/p
• /youbot/arm_joint_1_position_controller/type
• /youbot/arm_joint_2_position_controller/joint
• /youbot/arm_joint_2_position_controller/pid/d
• /youbot/arm_joint_2_position_controller/pid/p
• /youbot/arm_joint_2_position_controller/type
• /youbot/arm_joint_3_position_controller/joint
• /youbot/arm_joint_3_position_controller/pid/d
• /youbot/arm_joint_3_position_controller/pid/p
• /youbot/arm_joint_3_position_controller/type
• /youbot/arm_joint_4_position_controller/joint
• /youbot/arm_joint_4_position_controller/pid/d
• /youbot/arm_joint_4_position_controller/pid/p
• /youbot/arm_joint_4_position_controller/type
• /youbot/arm_joint_5_position_controller/joint
• /youbot/arm_joint_5_position_controller/pid/d
• /youbot/arm_joint_5_position_controller/pid/p
• /youbot/arm_joint_5_position_controller/type
• /youbot/gripper_finger_joint_l_position_controller/joint
• /youbot/gripper_finger_joint_l_position_controller/pid/d
• /youbot/gripper_finger_joint_l_position_controller/pid/p
• /youbot/gripper_finger_joint_l_position_controller/type
• /youbot/gripper_finger_joint_r_position_controller/joint
• /youbot/gripper_finger_joint_r_position_controller/pid/d
• /youbot/gripper_finger_joint_r_position_controller/pid/p
• /youbot/gripper_finger_joint_r_position_controller/type

NODES
/youbot/
controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[youbot/controller_spawner-1]: started with pid [27731]
[INFO] [WallTime: 1407458083.856221] [0.000000] Controller Spawner: Waiting for service /youbot/controller_manager/load_controller

Any idea why this is happening? Any guidance would be deeply appreciated.

Extra info that could be relevant:
distro: Ubuntu 12.04
gazebo_ros: installed as described in http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros but using the instructions for ROS Groovy.

Please let me know if I would need to provide any additional info. I'm new to ROS, so I might have missed out on providing some essential info/log file.

Joints not working - Indigo

I am trying to use this repo with the ros-indigo release. When starting the different launch files I get the errors seen below. Has anyone tried this with indigo yet or is one stuck with hydro when wanting to work with the kuka youbot?

gazebo:

[ INFO] [1430817908.796286634, 0.341000000]: Loading gazebo_ros_control plugin
[ INFO] [1430817908.796364220, 0.341000000]: Starting gazebo_ros_control plugin in namespace: /youbot/
[ INFO] [1430817908.796975774, 0.341000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/youbot/youbot_description] on the ROS param server.
[ERROR] [1430817908.898610989, 0.341000000]: No valid hardware interface element found in joint 'wheel_joint_fl'.
[ERROR] [1430817908.898651715, 0.341000000]: Failed to load joints for transmission 'wheel_trans_fl'.
[ERROR] [1430817908.898667628, 0.341000000]: No valid hardware interface element found in joint 'wheel_joint_fr'.
[ERROR] [1430817908.898680961, 0.341000000]: Failed to load joints for transmission 'wheel_trans_fr'.
[ERROR] [1430817908.898694953, 0.341000000]: No valid hardware interface element found in joint 'wheel_joint_bl'.
[ERROR] [1430817908.898715039, 0.341000000]: Failed to load joints for transmission 'wheel_trans_bl'.
[ERROR] [1430817908.898738089, 0.341000000]: No valid hardware interface element found in joint 'wheel_joint_br'.
[ERROR] [1430817908.898760373, 0.341000000]: Failed to load joints for transmission 'wheel_trans_br'.
[ERROR] [1430817908.898782996, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_1'.
[ERROR] [1430817908.898806452, 0.341000000]: Failed to load joints for transmission 'arm_trans_1'.
[ERROR] [1430817908.898833760, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_2'.
[ERROR] [1430817908.898858920, 0.341000000]: Failed to load joints for transmission 'arm_trans_2'.
[ERROR] [1430817908.898884508, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_3'.
[ERROR] [1430817908.898908237, 0.341000000]: Failed to load joints for transmission 'arm_trans_3'.
[ERROR] [1430817908.898929976, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_4'.
[ERROR] [1430817908.898951283, 0.341000000]: Failed to load joints for transmission 'arm_trans_4'.
[ERROR] [1430817908.898967109, 0.341000000]: No valid hardware interface element found in joint 'arm_joint_5'.
[ERROR] [1430817908.898985873, 0.341000000]: Failed to load joints for transmission 'arm_trans_5'.
[ERROR] [1430817908.899011299, 0.341000000]: No valid hardware interface element found in joint 'gripper_finger_joint_l'.
[ERROR] [1430817908.899032622, 0.341000000]: Failed to load joints for transmission 'gripper_finger_l_trans'.
[ERROR] [1430817908.899054743, 0.341000000]: No valid hardware interface element found in joint 'gripper_finger_joint_r'.
[ERROR] [1430817908.899074690, 0.341000000]: Failed to load joints for transmission 'gripper_finger_r_trans'.
[ INFO] [1430817908.971122081, 0.341000000]: Loaded gazebo_ros_control.

youbot_control

[INFO] [WallTime: 1430819196.735777] [0.000000] Controller Spawner: Waiting for service /youbot/controller_manager/load_controller
[INFO] [WallTime: 1430819196.736601] [0.000000] Controller Spawner: Waiting for service /youbot/controller_manager/switch_controller
[INFO] [WallTime: 1430819196.737389] [0.000000] Controller Spawner: Waiting for service /youbot/controller_manager/unload_controller
[INFO] [WallTime: 1430819196.738192] [0.000000] Loading controller: arm_joint_1_position_controller
[ERROR] [WallTime: 1430819197.741166] [1287.219000] Failed to load arm_joint_1_position_controller
[INFO] [WallTime: 1430819197.741462] [1287.220000] Loading controller: arm_joint_2_position_controller
[ERROR] [WallTime: 1430819198.744250] [1288.221000] Failed to load arm_joint_2_position_controller
[INFO] [WallTime: 1430819198.744506] [1288.221000] Loading controller: arm_joint_3_position_controller
[ERROR] [WallTime: 1430819199.746742] [1289.222000] Failed to load arm_joint_3_position_controller
[INFO] [WallTime: 1430819199.747152] [1289.223000] Loading controller: arm_joint_4_position_controller
[ERROR] [WallTime: 1430819200.750289] [1290.225000] Failed to load arm_joint_4_position_controller
[INFO] [WallTime: 1430819200.750508] [1290.225000] Loading controller: arm_joint_5_position_controller
[ERROR] [WallTime: 1430819201.753576] [1291.227000] Failed to load arm_joint_5_position_controller
[INFO] [WallTime: 1430819201.753817] [1291.227000] Loading controller: gripper_finger_joint_l_position_controller
[ERROR] [WallTime: 1430819202.756541] [1292.227000] Failed to load gripper_finger_joint_l_position_controller
[INFO] [WallTime: 1430819202.756815] [1292.228000] Loading controller: gripper_finger_joint_r_position_controller
[ERROR] [WallTime: 1430819203.759825] [1293.229000] Failed to load gripper_finger_joint_r_position_controller
[INFO] [WallTime: 1430819203.760097] [1293.229000] Controller Spawner: Loaded controllers: 
[INFO] [WallTime: 1430819203.762340] [1293.232000] Started controllers: 

teleop

/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:161: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj1 = rospy.Publisher(NS+TOPIC_J1_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:162: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj2 = rospy.Publisher(NS+TOPIC_J2_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:163: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj3 = rospy.Publisher(NS+TOPIC_J3_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:164: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj4 = rospy.Publisher(NS+TOPIC_J4_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:165: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubj5 = rospy.Publisher(NS+TOPIC_J5_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:167: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubfl = rospy.Publisher(NS+TOPIC_FL_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:168: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubfr = rospy.Publisher(NS+TOPIC_FR_CMD, Float64)
/home/pandora/catkin_kn_youbot/src/youbot_ros_tools/youbot_teleop/scripts/youbot_teleop.py:170: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pubb = rospy.Publisher(NS+TOPIC_BASE_PLANAR, Twist)

Write documentation for 2d navigation module

OpenGL Warning: Failed to connect to host. Make sure 3D acceleration is enabled for this VM.

Anybody here running ROS hydro on a virtual machine and have this error when you do roslaunch youbot_gazebo youbot.launch, error says :-
OpenGL Warning: Failed to connect to host. Make sure 3D acceleration is enabled for this VM.
Any suggestions on how to fix this ?

The wiki is not activated

Could you activate it?

I'd like to create a page with a recollection of the main commands.

Thanks.

transform from youbot/base_link

First of all, thank you for this great package
Everything for me works ok, but trying the move_base.launch, I got
Waiting on transform from youbot/base_link to map to become available before running costmap, tf error
I didn't get any error launching the .launch file
Thank you for your support
Raffa

Move the youbot using its wheels

At the moment, the robot is floating on the ground using the libgazebo_ros_planar_move.so gazebo plugin.

The structure for the wheels, anyway, is ready to be used, and code from the original repository can maybe be used to move the robot using its own wheels.

Check for collisions in the model

It seems like the selfcollision property is not correctly set in all of the links in the model.

Switch from master branch to groovy-devel, then branch out to hydro-devel

Following directives from the releasing guide, it would be better to rename the branches as from title.

Description conflict - Indigo

Just that this is written down somewhere:

When using Indigo, don't install the (newly added) ros-indigo-youbot-description when using this repo. They use a different setup but ros/gazebo somehow mix them.

Topic names overridden with multiple robots

The topic namespace /youbot is used. The namespace should be set to be the name of the robot as passed from command line.

As a side problem, the teleop program will have to receive the robot name as a parameter.

Error is

[ERROR] [1379063684.195716525, 0.422000000]: Tried to advertise a service that is already advertised in this node [/youbot/controller_manager/reload_controller_libraries]

Fix caster joints

Change the caster joints to fixed so that they cannot move.

Publish all sensors in the youbot namespace

Odometry and the Laser sensors information are not published in the youbot namespace.

Correct joints behaviour

No parameter tuning has been done on the PIDs for the arm' joints.
j4 is probably the most problematic.

Below is an image representing the change in j3's position that (unexpectedly) triggers a change in j4's position. It takes an incredibly long time to be corrected.

youbot_teleop: gripper_close does not close the gripper completely

gripper_close is supposed to stick the finger together