Error while using gazebo_ros_diff_drive plugin

asked 2018-11-20 05:48:44 -0600

trishantroy gravatar image

updated 2018-11-20 11:49:48 -0600

Hey, I am using a Pioneer_2DX bot in my simulation. I want to control the bot. So, I tried using the gazebo_ros_diff_drive. I am getting "missing default is ture" error while launch model with plugin.

How to resolve this issue?

Thanks in advance.

(I am sorry for the formatting, I don't know how to format the following)

trishant@Eurus-Holmes:~/syscon_ws$ roslaunch gazebo_tutorials hello.launch
... logging to /home/trishant/.ros/log/f5d56ef6-ec4d-11e8-a6f4-2c6e8522ef61/roslaunch-Eurus-Holmes-13958.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://Eurus-Holmes:42227/
SUMMARY

PARAMETERS

    /rosdistro: kinetic
    /rosversion: 1.12.14
    /use_sim_time: True

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

auto-starting new master
process[master]: started with pid [13968]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f5d56ef6-ec4d-11e8-a6f4-2c6e8522ef61
process[rosout-1]: started with pid [13981]
started core service [/rosout]
process[gazebo-2]: started with pid [13987]
process[gazebo_gui-3]: started with pid [14002]
[ INFO] [1542668022.789132024]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1542668022.789766111]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1542668022.849698574]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1542668022.851007024]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1542668023.227224121]: Hello World!
[ INFO] [1542668023.241100122]: DiffDrive missing , defaults is pioneer2dx
[ INFO] [1542668023.241195006]: Starting plugin DiffDrive(ns = pioneer2dx/)
[ INFO] [1542668023.241262939]: DiffDrive(ns = pioneer2dx/): = na
[ INFO] [1542668023.242282809]: DiffDrive(ns = pioneer2dx/): <tf_prefix> = pioneer2dx
[ WARN] [1542668023.242521021]: DiffDrive(ns = pioneer2dx/): missing default is ture
[ INFO] [1542668023.243918919]: DiffDrive(ns = pioneer2dx/): Try to subscribe to cmd_vel
[ INFO] [1542668023.246940416]: DiffDrive(ns = pioneer2dx/): Subscribe to cmd_vel
[ INFO] [1542668023.247718245]: DiffDrive(ns = pioneer2dx/): Advertise odom on odom
[ INFO] [1542668023.271091518, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1542668023.345188425, 0.083000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1542668023.349224386, 0.086000000]: Physics dynamic reconfigure ready.
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Comments

Formatting tip: prefix code blocks with 4 spaces ;)

chapulina gravatar imagechapulina ( 2018-11-20 11:50:10 -0600 )edit

It looks like the `ture` is `true` misspelled. Are you observing a bad behaviour of the plugin?

chapulina gravatar imagechapulina ( 2018-11-20 11:54:59 -0600 )edit

Thanks for the formatting tip. I don't know why there is a spelling mistake. I added <publishodomtf>true</publishodomtf> in the model file of pioneer2dx. So now, the warning is not coming. But I am facing another issue that when I publish [1 0 0 0 0 0] in the /pioneer2dx/cmd_vel, the bot starts moving but its trajectory is not a straight line. It is a spiral like trajectory. Do you know why this may be happening? Also, is the thing that I did to solve the issue valid?

trishantroy gravatar imagetrishantroy ( 2018-11-20 16:06:22 -0600 )edit