Hi,
First of all, thanks for the project and its documentation! it's really helpful for my uni project.
I used it for a bit and modified the pid code without any problems, but when I added a sensor to the model i got some problems running it.
I tried to revert to your initial project but now when i launch it the quad doesn't appear in gazebo. Do you have any idea why this would happen?
this is what i get when i launch it:
... logging to /home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/roslaunch-charles-19467.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://charles:39895/
SUMMARY
PARAMETERS
- /Kwad/joint_motor_controller/gains/joint_back_left_prop/d: 1000
- /Kwad/joint_motor_controller/gains/joint_back_left_prop/i: 1
- /Kwad/joint_motor_controller/gains/joint_back_left_prop/p: 10000
- /Kwad/joint_motor_controller/gains/joint_back_right_prop/d: 1000
- /Kwad/joint_motor_controller/gains/joint_back_right_prop/i: 1
- /Kwad/joint_motor_controller/gains/joint_back_right_prop/p: 10000
- /Kwad/joint_motor_controller/gains/joint_front_left_prop/d: 1000
- /Kwad/joint_motor_controller/gains/joint_front_left_prop/i: 1
- /Kwad/joint_motor_controller/gains/joint_front_left_prop/p: 10000
- /Kwad/joint_motor_controller/gains/joint_front_right_prop/d: 1000
- /Kwad/joint_motor_controller/gains/joint_front_right_prop/i: 1
- /Kwad/joint_motor_controller/gains/joint_front_right_prop/p: 10000
- /Kwad/joint_motor_controller/joints: ['joint_front_rig...
- /Kwad/joint_motor_controller/type: velocity_controll...
- /Kwad/joint_state_controller/publish_rate: 50
- /Kwad/joint_state_controller/type: joint_state_contr...
- /Kwad/robot_description: <?xml version="1....
- /Kwad/robot_state_publisher/publish_frequency: 5.0
- /gazebo/enable_ros_network: True
- /rosdistro: melodic
- /rosversion: 1.14.9
- /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
/Kwad/
control_spawner (controller_manager/spawner)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_urdf (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [19480]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to da08810e-1a18-11eb-bfae-34cff60a0d3e
process[rosout-1]: started with pid [19491]
started core service [/rosout]
process[gazebo-2]: started with pid [19498]
process[gazebo_gui-3]: started with pid [19503]
process[Kwad/spawn_urdf-4]: started with pid [19508]
process[Kwad/control_spawner-5]: started with pid [19509]
process[Kwad/robot_state_publisher-6]: started with pid [19510]
[ WARN] [1603997961.207642796]: The root link base_link1 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[gazebo-2] process has died [pid 19498, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/charlo1998/danger_ws/src/fly_bot/worlds/Kwad.world __name:=gazebo __log:=/home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/gazebo-2.log].
log file: /home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/gazebo-2*.log
[ INFO] [1603997961.430300347]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1603997961.431259197]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1603997961.432373, 0.000000]: Controller Spawner: Waiting for service /Kwad/controller_manager/load_controller
[INFO] [1603997961.708744, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1603997961.714817, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[Err] [REST.cc:205] Error in REST request
libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[WARN] [1603997991.534830, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[Kwad/control_spawner-5] process has finished cleanly
log file: /home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/Kwad-control_spawner-5*.log
Hi,
First of all, thanks for the project and its documentation! it's really helpful for my uni project.
I used it for a bit and modified the pid code without any problems, but when I added a sensor to the model i got some problems running it.
I tried to revert to your initial project but now when i launch it the quad doesn't appear in gazebo. Do you have any idea why this would happen?
this is what i get when i launch it:
... logging to /home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/roslaunch-charles-19467.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://charles:39895/
SUMMARY
PARAMETERS
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
/Kwad/
control_spawner (controller_manager/spawner)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_urdf (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [19480]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to da08810e-1a18-11eb-bfae-34cff60a0d3e
process[rosout-1]: started with pid [19491]
started core service [/rosout]
process[gazebo-2]: started with pid [19498]
process[gazebo_gui-3]: started with pid [19503]
process[Kwad/spawn_urdf-4]: started with pid [19508]
process[Kwad/control_spawner-5]: started with pid [19509]
process[Kwad/robot_state_publisher-6]: started with pid [19510]
[ WARN] [1603997961.207642796]: The root link base_link1 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[gazebo-2] process has died [pid 19498, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/charlo1998/danger_ws/src/fly_bot/worlds/Kwad.world __name:=gazebo __log:=/home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/gazebo-2.log].
log file: /home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/gazebo-2*.log
[ INFO] [1603997961.430300347]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1603997961.431259197]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1603997961.432373, 0.000000]: Controller Spawner: Waiting for service /Kwad/controller_manager/load_controller
[INFO] [1603997961.708744, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1603997961.714817, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[Err] [REST.cc:205] Error in REST request
libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[WARN] [1603997991.534830, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[Kwad/control_spawner-5] process has finished cleanly
log file: /home/charlo1998/.ros/log/da08810e-1a18-11eb-bfae-34cff60a0d3e/Kwad-control_spawner-5*.log