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[UUV Simulator] Including robot into a Gazebo world

asked 2018-05-11 13:05:41 -0500

hbaqueiro gravatar image

updated 2018-05-14 08:58:59 -0500

Hey everyone,

(I'm a beginner to ROS, Gazebo and UUV Simulator) I am doing the tutorial of UUV Simulator and in the section "Configuring the thruster manager for a new vehicle" I am getting the following error when I try to include my vehicle into the world:

baqueiro@baqueiro-Latitude-E6430:~/catkin_ws$ roslaunch baqtronic_description upload.launch 
... logging to /home/baqueiro/.ros/log/136ecaac-5522-11e8-9ca6-f01faf1d30a4/roslaunch-baqueiro-Latitude-E6430-12866.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
XML parsing error: not well-formed (invalid token): line 4, column 8
when processing file: /home/baqueiro/catkin_ws/src/baqtronic_description/urdf/snippets.xacro
included from: /home/baqueiro/catkin_ws/src/baqtronic_description/urdf/base.xacro
included from: /home/baqueiro/catkin_ws/src/baqtronic_description/robots/default.xacro

Check that:
 - Your XML is well-formed
 - You have the xacro xmlns declaration: xmlns:xacro="http://www.ros.org/wiki/xacro"
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/xacro.py '/home/baqueiro/catkin_ws/src/baqtronic_description/robots/default.xacro' debug:=0 namespace:=baqtronic] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro.py '$(find baqtronic_description)/robots/$(arg mode).xacro' debug:=$(arg debug) namespace:=$(arg namespace)" name="robot_description"/>
The traceback for the exception was written to the log file

I'm using ROS Kinetic and Gazebo 9. Can anyone help me? Thanks in advance :)

Edit: Below my snippets.xacro:

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:property name="prop_mesh_file" value="file://$(find baqtronic_description)/meshes/propeller.dae"/>

<xacro:macro name="thruster_macro" params="robot_namespace thruster_id *origin">

<!--
Dummy link as place holder for the thruster frame,
since thrusters can often be inside the collision geometry
of the vehicle and may cause internal collisions if set otherwise
-->
<link name="${robot_namespace}/thruster_${thruster_id}">

  <visual>
    <geometry>
      <mesh filename="${prop_mesh_file}" scale="1 1 1" />
    </geometry>
  </visual>

  <inertial>
    <mass value="0.001" />
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <inertia ixx="0.000000017" ixy="0.0" ixz="0.0"
           iyy="0.000000017" iyz="0.0"
           izz="0.000000017" />
  </inertial>
</link>

<!-- Joint between thruster link and vehicle base link -->
<joint name="${robot_namespace}/thruster_${thruster_id}_joint" type="continuous">
  <xacro:insert_block name="origin" />
  <axis xyz="1 0 0" />
  <parent link="${robot_namespace}/base_link" />
  <child link="${robot_namespace}/thruster_${thruster_id}" />
</joint>

<gazebo>
  <!-- Thruster ROS plugin -->
  <plugin name="${robot_namespace}_${thruster_id}_thruster_model" filename="libthruster_ros_plugin.so">
    <!-- Name of the thruster link -->
    <linkName>${robot_namespace}/thruster_${thruster_id}</linkName>

    <!-- Name of the joint between thruster and vehicle base link -->
    <jointName>${robot_namespace}/thruster_${thruster_id}_joint</jointName>

    <!-- Make the thruster aware of its id -->
    <thrusterID>${thruster_id}</thrusterID>

    <!-- Gain of the input command signal -->
    <gain>1</gain>

    <!-- Maximum allowed input value for the input signal for thruster unit -->
    <clampMax>0</clampMax>

    <!-- Minimum allowed value for the input signal for thruster unit -->
    <clampMin>0</clampMin>

    <!-- Minimum and maximum thrust ...
(more)
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Comments

Could you add your snippets.xacro file to the question?

Raskkii gravatar imageRaskkii ( 2018-05-14 02:12:08 -0500 )edit

I've edited the question to add the snippets.xacro

hbaqueiro gravatar imagehbaqueiro ( 2018-05-14 08:57:43 -0500 )edit

1 Answer

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answered 2018-05-14 09:05:44 -0500

Raskkii gravatar image

updated 2018-05-14 09:11:04 -0500

You've included your prop_mesh_file incorrectly. So do the following change:

<xacro:property name="prop_mesh_file" value="file://$(find baqtronic_description)/meshes/propeller.dae"/>

Change it to:

<xacro:property name="prop_mesh_file" value="package://baqtronic_description/meshes/propeller.dae"/>

EDIT:

I think the $(find.. should work too, it's just the file:// that breaks it, it's not needed at all. So you can also try:

<xacro:property name="prop_mesh_file" value="$(find baqtronic_description)/meshes/propeller.dae"/>
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Comments

They don't work. It turns out that the file baqtronic_description/meshes/propeller.dae doesn't exist. It is not created by the command rosrun uuv_assistants create_new_robot_model --robot_name baqtronic. The folder structure is as shown in the tutorial: https://uuvsimulator.github.io/tutorials/create_new_vehicle.html Do you have other thoughts?

hbaqueiro gravatar imagehbaqueiro ( 2018-05-14 10:56:05 -0500 )edit

In that case you need to obtain (or create) the mesh file yourself. Take note that the mesh is only used for the visual so it doesn't affect the physics in any way, meaning the visual doesn't even have to look good if that's not important to you. So technically you could just insert a simple cylinder in that visual slot without needing any .dae file. Here's a .dae file i found though: https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_descriptions/models/rexrov/mesh/prop.dae

Raskkii gravatar imageRaskkii ( 2018-07-17 07:28:27 -0500 )edit
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Asked: 2018-05-11 13:05:41 -0500

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Last updated: May 14