Couldn't normally load urdf.xacro flie

asked 2016-03-16 18:47:03 -0600

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I am learning a work@robocup project which is based on youbot robot. Firstly, I want to launch and learn its simulation components because we don't have a real youbot now. But When I launch the bringup launch file, it loads the Youbot 3D simulation model the following errors came up and the gazebo couldn't be launched.

[gazebo_world_model-3] process has finished cleanly
log file: /home/scopus/.ros/log/f9ea74a4-eb20-11e5-8e03-e8b1fc04332d/gazebo_world_model-3*.log
[ INFO] [1458096267.069024926, 0.996000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1458096267.069075823, 0.996000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1458096267.085910785, 0.996000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1458096267.143189712, 0.996000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1458096267.143231697, 0.996000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1458096267.144223155, 0.996000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1458096267.480838331, 0.996000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ WARN] [1458096267.480936357, 0.996000000]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[ INFO] [1458096267.483121017, 0.996000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ WARN] [1458096267.483216454, 0.996000000]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[INFO] [WallTime: 1458096267.499750] [0.996000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1458096267.509514890, 0.996000000]: Physics dynamic reconfigure ready.
[ INFO] [1458096267.593282008, 0.996000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1458096267.629097772, 0.996000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_robot-4] process has finished cleanly
log file: /home/scopus/.ros/log/f9ea74a4-eb20-11e5-8e03-e8b1fc04332d/spawn_robot-4*.log
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[WARN] [WallTime: 1458096293.541458] [0.996000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [WallTime: 1458096293.541597] [0.996000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [WallTime: 1458096293.542175] [0.996000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [WallTime: 1458096293.596541] [0.996000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[joint_state_controller_spawner-5] process has finished cleanly
log file: /home/scopus/.ros/log/f9ea74a4-eb20-11e5-8e03-e8b1fc04332d/joint_state_controller_spawner-5*.log
[base_controller_spawner-7] process has finished cleanly
log file: /home/scopus/.ros/log/f9ea74a4-eb20-11e5-8e03-e8b1fc04332d/base_controller_spawner-7*.log
[arm_1_arm_controller_spawner-8] process has finished cleanly
log file: /home/scopus/.ros/log/f9ea74a4-eb20-11e5-8e03-e8b1fc04332d/arm_1_arm_controller_spawner-8*.log
[arm_1_gripper_controller_spawner-9] process has finished cleanly
log file: /home/scopus/.ros/log/f9ea74a4-eb20-11e5-8e03-e8b1fc04332d/arm_1_gripper_controller_spawner-9*.log
Aborted (core dumped)
[gazebo-2] process has died [pid 3151, exit code 134, cmd /opt/ros/hydro/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/scopus/.ros/log/f9ea74a4-eb20-11e5-8e03-e8b1fc04332d/gazebo-2.log].
log file: /home/scopus/.ros/log/f9ea74a4-eb20-11e5-8e03-e8b1fc04332d/gazebo-2*.log

I find that this is because the robot.urdf.xacro file under mir_hardware_config can't be load(or parsed) normally. Because I have tried to launch other simulation packages about youbot, it is ok for launching them, also the urdf file in those launch files.

I am working under Hydro using gazebo-1.9.6. Hopefully get great advices! Thanks!

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