building a map in simulation

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building a map in simulation

nitinDhiman
Hello friends,

I have boxturtle installed on Debaian Squeeze using binaries provided at http://code.ros.org/packages/ros/ubuntu/pool/main/r/ . All boxturtle debs are installed.

I am trying to run tutorial http://www.ros.org/wiki/pr2_simulator/Tutorials/BuildingAMapInSimulation . But I do not have few packages for running simulation tutorials like pr2_gazeebo_wg, pr2_2dnav_gazebo etc. which are required for running pr2_simulator tutorials http://www.ros.org/wiki/pr2_simulator/Tutorials .
I searched for packages at  https://code.ros.org/svn/wg-ros-pkg/stacks but I could not locate. Am I searching correct place.

Thanks for help.
regards
Nitin
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Re: building a map in simulation

Enea Scioni
Hi,
Looking around "browse software", there you can find every packages that you need!
For istance, looking on it I found tha pr2_gazebo_wg is here: https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/wg_robots_gazebo/pr2_gazebo_wg/

Enea Scioni
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Re: building a map in simulation

nitinDhiman
Thanks Enea Scioni,
I did looking around but it look like I was not doing good enough :)

nitin
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Re: building a map in simulation

nitinDhiman
Hi,
During compilation of tutorial one dependency for package "ros_experimental_trunk" could not be resolved.

After ignoring this and launching map_building_demo.launch, gazebo starts. But PR2 is not visible properly. Only gripper and some shadow is visible. Rviz do not starts on its own.
I am getting following errors:
ignoring link without visual tag: narrow_stereo_gazebo_l_stereo_camera_optical_frame
ignoring link without visual tag: narrow_stereo_gazebo_r_stereo_camera_optical_frame
ignoring link without visual tag: narrow_stereo_optical_frame
ignoring link without visual tag: wide_stereo_gazebo_l_stereo_camera_optical_frame
ignoring link without visual tag: wide_stereo_gazebo_r_stereo_camera_optical_frame
ignoring link without visual tag: wide_stereo_optical_frame
ignoring link without visual tag: l_forearm_cam_optical_frame
[INFO] 1279104879.059226: Waiting for controller manager to start
ignoring link without visual tag: l_gripper_led_frame
ignoring link without visual tag: r_forearm_cam_optical_frame
ignoring link without visual tag: r_gripper_led_frame
[ INFO] 0.000000000: waiting for gazebo factory, usually launched by 'roslaunch `rospack find gazebo`/launch/empty_world.launch'
Gazebo successfully initialized
[ INFO] 0.001000000: Callback thread id=0xa410768
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 148608) Bad address .
[pr2_gazebo_model-3] process has finished cleanly.
log file: /home/nitin/.ros/log/30815278-8f36-11df-aeb5-00248119e15c/pr2_gazebo_model-3*.log
[ WARN] 5.466000000: WARNING: gazebo_ros_laser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 187: (0 19008) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 280: (0 19008) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 280: (0 19008) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 280: (0 19008) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0 200832) Bad address .
[ INFO] 5.466000000: [stereo_image_proc] Reconfigure request received
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 326: (0 73728) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 333: (0 29184) Bad address .
[ INFO] 5.466000000: [stereo_image_proc] Reconfigure request received
BAYER_BGGR8 not supported, using default Ogre::PF_R8G8B8
BAYER_BGGR8 not supported, using default Ogre::PF_R8G8B8
[ INFO] 5.466000000: trigger_mode trigger_mode streaming
[ INFO] 5.466000000: [stereo_image_proc] Reconfigure request received

VERTEX_NORMAL_SET: Recomputed 480 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 326: (0 75456) Bad address .

VERTEX_NORMAL_SET: Recomputed 960 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 359: (0 59904) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 365: (0 49152) Bad address .

VERTEX_NORMAL_SET: Recomputed 300 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 373: (0 58944) Bad address .

VERTEX_NORMAL_SET: Recomputed 600 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 381: (0 34560) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 381: (0 49152) Bad address .

VERTEX_NORMAL_SET: Recomputed 468 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 326: (0 72000) Bad address .

VERTEX_NORMAL_SET: Recomputed 240 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 405: (0 29952) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 413: (0 12288) Bad address .

STLA_READ - Fatal error!
  Unrecognized first word on line.

VERTEX_NORMAL_SET: Recomputed 516 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 423: (0 16512) Bad address .

STLA_READ - Fatal error!
  Unrecognized first word on line.

VERTEX_NORMAL_SET: Recomputed 660 face vertex normals.

FACE_NORMAL_AVE: Recomputed 220 face normals
  by averaging face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 423: (0 21120) Bad address .

STLA_READ - Fatal error!
  Unrecognized first word on line.

VERTEX_NORMAL_SET: Recomputed 414 face vertex normals.

FACE_NORMAL_AVE: Recomputed 138 face normals
  by averaging face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 326: (0 85248) Bad address .

STLA_READ - Fatal error!
  Unrecognized first word on line.

VERTEX_NORMAL_SET: Recomputed 660 face vertex normals.

FACE_NORMAL_AVE: Recomputed 220 face normals
  by averaging face vertex normals.

STLA_READ - Fatal error!
  Unrecognized first word on line.
.
.
.


Are these due to improper graphics card installations? Stage tutorial ran without any issue.

thanks
nitin
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Re: building a map in simulation

John Hsu
Hi Nitin,
The map building demo you checked out was the trunk version of wg_robots_gazebo, which currently works with cturtle only.  For boxturtle, use pr2_gazebo_wg (was pr2_alpha_gazebo) from this stack:
https://code.ros.org/svn/wg-ros-pkg/branches/trunk_boxturtle/stacks/wg_robots_gazebo
The dependency on ros_experimental_trunk can be safely ignored.  It is used for some experimental logging functionality for regression testing only.
John



On Wed, Jul 14, 2010 at 4:03 AM, nitinDhiman <[hidden email]> wrote:

Hi,
During compilation of tutorial one dependency for package
"ros_experimental_trunk" could not be resolved.

After ignoring this and launching map_building_demo.launch, gazebo starts.
But PR2 is not visible properly. Only gripper and some shadow is visible.
Rviz do not starts on its own.
I am getting following errors:
ignoring link without visual tag:
narrow_stereo_gazebo_l_stereo_camera_optical_frame
ignoring link without visual tag:
narrow_stereo_gazebo_r_stereo_camera_optical_frame
ignoring link without visual tag: narrow_stereo_optical_frame
ignoring link without visual tag:
wide_stereo_gazebo_l_stereo_camera_optical_frame
ignoring link without visual tag:
wide_stereo_gazebo_r_stereo_camera_optical_frame
ignoring link without visual tag: wide_stereo_optical_frame
ignoring link without visual tag: l_forearm_cam_optical_frame
[INFO] 1279104879.059226: Waiting for controller manager to start
ignoring link without visual tag: l_gripper_led_frame
ignoring link without visual tag: r_forearm_cam_optical_frame
ignoring link without visual tag: r_gripper_led_frame
[ INFO] 0.000000000: waiting for gazebo factory, usually launched by
'roslaunch `rospack find gazebo`/launch/empty_world.launch'
Gazebo successfully initialized
[ INFO] 0.001000000: Callback thread id=0xa410768
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
148608) Bad address .
[pr2_gazebo_model-3] process has finished cleanly.
log file:
/home/nitin/.ros/log/30815278-8f36-11df-aeb5-00248119e15c/pr2_gazebo_model-3*.log
[ WARN] 5.466000000: WARNING: gazebo_ros_laser plugin artifically sets
minimum intensity to 101.000000 due to cutoff in hokuyo filters.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 187: (0
19008) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 280: (0
19008) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 280: (0
19008) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 280: (0
19008) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
132480) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 184: (0
200832) Bad address .
[ INFO] 5.466000000: [stereo_image_proc] Reconfigure request received
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 326: (0
73728) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 333: (0
29184) Bad address .
[ INFO] 5.466000000: [stereo_image_proc] Reconfigure request received
BAYER_BGGR8 not supported, using default Ogre::PF_R8G8B8
BAYER_BGGR8 not supported, using default Ogre::PF_R8G8B8
[ INFO] 5.466000000: trigger_mode trigger_mode streaming
[ INFO] 5.466000000: [stereo_image_proc] Reconfigure request received

VERTEX_NORMAL_SET: Recomputed 480 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 326: (0
75456) Bad address .

VERTEX_NORMAL_SET: Recomputed 960 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 359: (0
59904) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 365: (0
49152) Bad address .

VERTEX_NORMAL_SET: Recomputed 300 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 373: (0
58944) Bad address .

VERTEX_NORMAL_SET: Recomputed 600 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 381: (0
34560) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 381: (0
49152) Bad address .

VERTEX_NORMAL_SET: Recomputed 468 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 326: (0
72000) Bad address .

VERTEX_NORMAL_SET: Recomputed 240 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 405: (0
29952) Bad address .
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 413: (0
12288) Bad address .

STLA_READ - Fatal error!
 Unrecognized first word on line.

VERTEX_NORMAL_SET: Recomputed 516 face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 423: (0
16512) Bad address .

STLA_READ - Fatal error!
 Unrecognized first word on line.

VERTEX_NORMAL_SET: Recomputed 660 face vertex normals.

FACE_NORMAL_AVE: Recomputed 220 face normals
 by averaging face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 423: (0
21120) Bad address .

STLA_READ - Fatal error!
 Unrecognized first word on line.

VERTEX_NORMAL_SET: Recomputed 414 face vertex normals.

FACE_NORMAL_AVE: Recomputed 138 face normals
 by averaging face vertex normals.
../../intel/intel_bufmgr_gem.c:1061: Error writing data to buffer 326: (0
85248) Bad address .

STLA_READ - Fatal error!
 Unrecognized first word on line.

VERTEX_NORMAL_SET: Recomputed 660 face vertex normals.

FACE_NORMAL_AVE: Recomputed 220 face normals
 by averaging face vertex normals.

STLA_READ - Fatal error!
 Unrecognized first word on line.
.
.
.


Are these due to improper graphics card installations? Stage tutorial ran
without any issue.

thanks
nitin
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Re: building a map in simulation

nitinDhiman
Hi Johh,
Thanks for correcting me.
I tried compiling after downloading  from mentioned link.  But I am not ablet to find one dependency 'arm_navigation_pr2_app'. It is not present in trunk_boxturtle. I am getting following messgae :

nitin@tangri:/opt/ros/boxturtle/wg-ros-pkg/trunk_boxturtle$ rosmake gmapping pr2_gazebo_wg pr2_teleop rviz 2dnav_pr2
[ rosmake ] Packages requested are: ['gmapping', 'pr2_gazebo_wg', 'pr2_teleop', 'rviz', '2dnav_pr2']
[ rosmake ] Logging to directory
[ rosmake ] /home/nitin/.ros/rosmake/rosmake_output-20100715-111205
[ rosmake ] Expanded args ['gmapping', 'pr2_gazebo_wg', 'pr2_teleop', 'rviz', '2dnav_pr2'] to:
['gmapping', 'pr2_gazebo_wg', 'pr2_teleop', 'rviz', '2dnav_pr2']
[ rosmake ] Checking rosdeps compliance for packages gmapping, pr2_gazebo_wg, pr2_teleop, rviz, 2dnav_pr2.  This may take a few seconds.
[rospack] woah! expanding the dependency tree made it blow up.
 There must be a circular dependency somewhere.
[rosstack] circular dependency
[rosstack] couldn't find dependency [arm_navigation_pr2_app] of [wg_robots_gazebo]
[rosstack] missing dependency
.
.
.[ rosmake ] [ 140 of 144  Completed ]
[rosmake-1] >>> explore_wg >>> [ make ]
[ rosmake ] [ 141 of 144  Completed ]
[rosmake-0] >>> move_base >>> [ make ]
[rosmake-0] <<< move_base <<< ROS_NOBUILD in package move_base

[rosmake-1] <<< explore_wg <<< [PASS] [ 0.70 seconds ]
[ rosmake ] [ 143 of 144  Completed ]
[rosmake-1] >>> 2dnav_pr2 >>> [ make ]
[rosmake-1] <<< 2dnav_pr2 <<< [PASS] [ 1.01 seconds ]
[ rosmake ] Summary output to directory
[ rosmake ] /home/nitin/.ros/rosmake/rosmake_output-20100715-111205


On trying " roslaunch pr2_gazebo_wg map_building_demo.launch", Gazebo starts but it immediately crashes. Following is the part of console output::

ignoring link without visual tag: wide_stereo_gazebo_l_stereo_camera_optical_frame
ignoring link without visual tag: wide_stereo_gazebo_r_stereo_camera_optical_frame
ignoring link without visual tag: wide_stereo_optical_frame
[INFO] 1279172476.033854: Waiting for controller manager to start
ignoring link without visual tag: l_forearm_cam_optical_frame
XRequest.136: BadDrawable (invalid Pixmap or Window parameter) 0x4c00002
ignoring link without visual tag: l_gripper_led_frame
ignoring link without visual tag: r_forearm_cam_optical_frame
ignoring link without visual tag: r_gripper_led_frame
[ INFO] 0.000000000: waiting for gazebo factory, usually launched by 'roslaunch `rospack find gazebo`/launch/empty_world.launch'
directory [/tmp/gazebo-nitin-0] already exists (previous crash?)
but the owner gazebo server (pid=4276) is not running.
deleting the old information of the directory [/tmp/gazebo-nitin-0]
Gazebo successfully initialized
[ INFO] 0.001000000: Callback thread id=0x8a8c7a0
[gazebo-2] process has died [pid 7434, exit code -11].
log files: /home/nitin/.ros/log/937949a6-8fd3-11df-af9d-00248119e15c/gazebo-2*.log
[ERROR] 0.023000000: File [/opt/ros/boxturtle/wg-ros-pkg/trunk_boxturtle/stacks/wg_robots_gazebo/pr2_gazebo_wg/rviz/map.vcg] does not exist
[ INFO] 0.028000000: [stereo_image_proc] Reconfigure request received
[ INFO] 0.028000000: [stereo_image_proc] Reconfigure request received
[ INFO] 0.026000000: [stereo_image_proc] Reconfigure request received
terminate called after throwing an instance of 'std::string'
[pr2_gazebo_model-3] process has died [pid 7435, exit code -6].
log files: /home/nitin/.ros/log/937949a6-8fd3-11df-af9d-00248119e15c/pr2_gazebo_model-3*


One more thing I would like to know is " Is there a known better way to find location of dependent packages?". I spent a lot of time in figuring out these.

regards
Nitin

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Re: building a map in simulation

John Hsu
Yeah, these are unreleased stacks, and stack dependencies has not been fully mapped out.  Nevertheless, if you have all the dependent packages compiled, the demo should work.  A problem I see in your log is:
XRequest.136: BadDrawable (invalid Pixmap or Window parameter) 0x4c00002
this most likely means the graphics card and driver might not provide necessary 3d accelerations for gazebo to function properly.  You might want to take a look at this page for reference.

John

On Wed, Jul 14, 2010 at 10:44 PM, nitinDhiman <[hidden email]> wrote:

Hi Johh,
Thanks for correcting me.
I tried compiling after downloading  from mentioned link.  But I am not
ablet to find one dependency 'arm_navigation_pr2_app'. It is not present in
trunk_boxturtle. I am getting following messgae :

nitin@tangri:/opt/ros/boxturtle/wg-ros-pkg/trunk_boxturtle$ rosmake gmapping
pr2_gazebo_wg pr2_teleop rviz 2dnav_pr2
[ rosmake ] Packages requested are: ['gmapping', 'pr2_gazebo_wg',
'pr2_teleop', 'rviz', '2dnav_pr2']
[ rosmake ] Logging to directory
[ rosmake ] /home/nitin/.ros/rosmake/rosmake_output-20100715-111205
[ rosmake ] Expanded args ['gmapping', 'pr2_gazebo_wg', 'pr2_teleop',
'rviz', '2dnav_pr2'] to:
['gmapping', 'pr2_gazebo_wg', 'pr2_teleop', 'rviz', '2dnav_pr2']
[ rosmake ] Checking rosdeps compliance for packages gmapping,
pr2_gazebo_wg, pr2_teleop, rviz, 2dnav_pr2.  This may take a few seconds.
[rospack] woah! expanding the dependency tree made it blow up.
 There must be a circular dependency somewhere.
[rosstack] circular dependency
[rosstack] couldn't find dependency [arm_navigation_pr2_app] of
[wg_robots_gazebo]
[rosstack] missing dependency
.
.
.[ rosmake ] [ 140 of 144  Completed ]
[rosmake-1] >>> explore_wg >>> [ make ]
[ rosmake ] [ 141 of 144  Completed ]
[rosmake-0] >>> move_base >>> [ make ]
[rosmake-0] <<< move_base <<< ROS_NOBUILD in package move_base

[rosmake-1] <<< explore_wg <<< [PASS] [ 0.70 seconds ]
[ rosmake ] [ 143 of 144  Completed ]
[rosmake-1] >>> 2dnav_pr2 >>> [ make ]
[rosmake-1] <<< 2dnav_pr2 <<< [PASS] [ 1.01 seconds ]
[ rosmake ] Summary output to directory
[ rosmake ] /home/nitin/.ros/rosmake/rosmake_output-20100715-111205


On trying " roslaunch pr2_gazebo_wg map_building_demo.launch", Gazebo starts
but it immediately crashes. Following is the part of console output::

ignoring link without visual tag:
wide_stereo_gazebo_l_stereo_camera_optical_frame
ignoring link without visual tag:
wide_stereo_gazebo_r_stereo_camera_optical_frame
ignoring link without visual tag: wide_stereo_optical_frame
[INFO] 1279172476.033854: Waiting for controller manager to start
ignoring link without visual tag: l_forearm_cam_optical_frame
XRequest.136: BadDrawable (invalid Pixmap or Window parameter) 0x4c00002
ignoring link without visual tag: l_gripper_led_frame
ignoring link without visual tag: r_forearm_cam_optical_frame
ignoring link without visual tag: r_gripper_led_frame
[ INFO] 0.000000000: waiting for gazebo factory, usually launched by
'roslaunch `rospack find gazebo`/launch/empty_world.launch'
directory [/tmp/gazebo-nitin-0] already exists (previous crash?)
but the owner gazebo server (pid=4276) is not running.
deleting the old information of the directory [/tmp/gazebo-nitin-0]
Gazebo successfully initialized
[ INFO] 0.001000000: Callback thread id=0x8a8c7a0
[gazebo-2] process has died [pid 7434, exit code -11].
log files:
/home/nitin/.ros/log/937949a6-8fd3-11df-af9d-00248119e15c/gazebo-2*.log
[ERROR] 0.023000000: File
[/opt/ros/boxturtle/wg-ros-pkg/trunk_boxturtle/stacks/wg_robots_gazebo/pr2_gazebo_wg/rviz/map.vcg]
does not exist
[ INFO] 0.028000000: [stereo_image_proc] Reconfigure request received
[ INFO] 0.028000000: [stereo_image_proc] Reconfigure request received
[ INFO] 0.026000000: [stereo_image_proc] Reconfigure request received
terminate called after throwing an instance of 'std::string'
[pr2_gazebo_model-3] process has died [pid 7435, exit code -6].
log files:
/home/nitin/.ros/log/937949a6-8fd3-11df-af9d-00248119e15c/pr2_gazebo_model-3*


One more thing I would like to know is " Is there a known better way to find
location of dependent packages?". I spent a lot of time in figuring out
these.

regards
Nitin


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Re: building a map in simulation

nitinDhiman
Hi,
After abandoning my effort of compiling it successfully in boxturtle and successfully doing it in Cturtle, first proper visualization of PR2 happened in Gazebo :)

But there is again something to do. As mentioned in tutorial, rviz shall start itself as mentioned in tutorial and map_building_demo.launch also says so. But it is not auto launching!

 

But pr2_gazebo_wg do not have map.vcg file. I tried in trunk_cturtle, trunk_boxturtle and trunk stacks. Is there any other place where I can download this file from ?


Following is the output of console:

No handlers could be found for logger "rosout"
[ERROR] 1279178380.044454: This version of tuckarm is deprecated. Use tuck_arms.py instead. See the wiki at <http://www.ros.org/wiki/pr2_tuckarm>
[rospack] warning: trailing slash found in ROS_PACKAGE_PATH
[INFO] 1279178380.212968: Waiting for controller manager to start
directory [/tmp/gazebo-nitin-0] already exists (previous crash?)
but the owner gazebo server (pid=22380) is not running.
deleting the old information of the directory [/tmp/gazebo-nitin-0]
Unable to read value with key[attenuation] and value[1 0.0 1.0 0.4]
Gazebo successfully initialized
[pr2_gazebo_model-3] process has finished cleanly.
log file: /home/nitin/.ros/log/5268fd7c-8fe1-11df-b1d1-00248119e15c/pr2_gazebo_model-3*.log
[ WARN] [6.652000000]: WARNING: gazebo_ros_laser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters.
[ INFO] [6.652000000]: trigger_mode trigger_mode streaming
[ WARN] [6.652000000]: WARNING: gazebo_ros_laser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters.
[ INFO] [6.652000000]: starting gazebo_ros_controller_manager plugin in ns: /
[ WARN] [6.652000000]: gazebo controller manager plugin is waiting for urdf: robot_description on the param server.
[ INFO] [6.652000000]: gazebo controller manager got pr2.xml from param server, parsing it...
[rospack] warning: trailing slash found in ROS_PACKAGE_PATH
[ INFO] [6.652000000]: Callback thread id=0x971397a0
[ INFO] [6.666000000]: Initializing Imu sensor
[ INFO] [6.685000000]: Imu sensor activated
[INFO] 1279178384.821607: Tucking both left and right arm
[rospack] warning: trailing slash found in ROS_PACKAGE_PATH
[ WARN] [8.507000000]: Deprecation Warning: No '/' detected in FilterType, Please update to 1.2 plugin syntax.
[ WARN] [8.507000000]: Replaced TransferFunctionFilterDouble with filters/TransferFunctionFilterDouble
[ INFO] [8.509000000]: Trajectory:: interpolation type linear
[ INFO] [8.509000000]: LaserScannerTrajController: Periodic Command set. Duration=1.0000 sec
[ INFO] [8.520000000]: Successfully spawned
[INFO] 1279178389.745870: Loaded controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller
[INFO] 1279178389.794875: Started controllers: base_controller, base_odometry, head_traj_controller, laser_tilt_controller, torso_controller, r_gripper_controller, l_gripper_controller, r_arm_controller, l_arm_controller
[ INFO] [9.545000000]: Initializing Odom sensor
[ INFO] [9.563000000]: Odom sensor activated
[ INFO] [9.591000000]: Kalman filter initialized with odom measurement
Laser Pose= 2.1465e-07 2.3657e-11 3.88691e-06

Thanks and regards
nItin
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Re: building a map in simulation

John Hsu
sorry, that's my fault, the tutorial has fallen out of date.  I've reenabled rviz in the package if you svn up in pr2_gazebo_wg.
John


On Thu, Jul 15, 2010 at 1:44 AM, nitinDhiman <[hidden email]> wrote:

Hi,
After abandoning my effort of compiling it successfully in boxturtle and
successfully doing it in Cturtle, first proper visualization of PR2 happened
in Gazebo :)

But there is again something to do. As mentioned in tutorial, rviz shall
start itself as mentioned in tutorial and map_building_demo.launch also says
so. But it is not auto launching!

 <!-- for visualization
 <node pkg="rviz" type="rviz" name="rviz" args="-d $(find
pr2_gazebo_wg)/rviz/map.vcg"/>
 -->

But pr2_gazebo_wg do not have map.vcg file. I tried in trunk_cturtle,
trunk_boxturtle and trunk stacks. Is there any other place where I can
download this file from ?


Following is the output of console:

No handlers could be found for logger "rosout"
[ERROR] 1279178380.044454: This version of tuckarm is deprecated. Use
tuck_arms.py instead. See the wiki at <http://www.ros.org/wiki/pr2_tuckarm>
[rospack] warning: trailing slash found in ROS_PACKAGE_PATH
[INFO] 1279178380.212968: Waiting for controller manager to start
directory [/tmp/gazebo-nitin-0] already exists (previous crash?)
but the owner gazebo server (pid=22380) is not running.
deleting the old information of the directory [/tmp/gazebo-nitin-0]
Unable to read value with key[attenuation] and value[1 0.0 1.0 0.4]
Gazebo successfully initialized
[pr2_gazebo_model-3] process has finished cleanly.
log file:
/home/nitin/.ros/log/5268fd7c-8fe1-11df-b1d1-00248119e15c/pr2_gazebo_model-3*.log
[ WARN] [6.652000000]: WARNING: gazebo_ros_laser plugin artifically sets
minimum intensity to 101.000000 due to cutoff in hokuyo filters.
[ INFO] [6.652000000]: trigger_mode trigger_mode streaming
[ WARN] [6.652000000]: WARNING: gazebo_ros_laser plugin artifically sets
minimum intensity to 101.000000 due to cutoff in hokuyo filters.
[ INFO] [6.652000000]: starting gazebo_ros_controller_manager plugin in ns:
/
[ WARN] [6.652000000]: gazebo controller manager plugin is waiting for urdf:
robot_description on the param server.
[ INFO] [6.652000000]: gazebo controller manager got pr2.xml from param
server, parsing it...
[rospack] warning: trailing slash found in ROS_PACKAGE_PATH
[ INFO] [6.652000000]: Callback thread id=0x971397a0
[ INFO] [6.666000000]: Initializing Imu sensor
[ INFO] [6.685000000]: Imu sensor activated
[INFO] 1279178384.821607: Tucking both left and right arm
[rospack] warning: trailing slash found in ROS_PACKAGE_PATH
[ WARN] [8.507000000]: Deprecation Warning: No '/' detected in FilterType,
Please update to 1.2 plugin syntax.
[ WARN] [8.507000000]: Replaced TransferFunctionFilterDouble with
filters/TransferFunctionFilterDouble
[ INFO] [8.509000000]: Trajectory:: interpolation type linear
[ INFO] [8.509000000]: LaserScannerTrajController: Periodic Command set.
Duration=1.0000 sec
[ INFO] [8.520000000]: Successfully spawned
[INFO] 1279178389.745870: Loaded controllers: base_controller,
base_odometry, head_traj_controller, laser_tilt_controller,
torso_controller, r_gripper_controller, l_gripper_controller,
r_arm_controller, l_arm_controller
[INFO] 1279178389.794875: Started controllers: base_controller,
base_odometry, head_traj_controller, laser_tilt_controller,
torso_controller, r_gripper_controller, l_gripper_controller,
r_arm_controller, l_arm_controller
[ INFO] [9.545000000]: Initializing Odom sensor
[ INFO] [9.563000000]: Odom sensor activated
[ INFO] [9.591000000]: Kalman filter initialized with odom measurement
Laser Pose= 2.1465e-07 2.3657e-11 3.88691e-06

Thanks and regards
nItin

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