Gazebo 1.5 pr2_empty_world.launch supposed to work?

asked 2013-09-26 07:23:38 -0500

Davinci gravatar image

Is the PR2 simulation under ROS Groovy with Gazebo 1.5 supposed to work? Or do you need to update the whole PR2 to sdf (and possibly fix other stuff)? I am trying to simulate the PR2 with Moveit. If I load a PR2 from the gui it works but then the controllers are not loaded.

Gazebo multi-robot simulator, version 1.5.0
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.5.0
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[pr2_mechanism_diagnostics-6]: started with pid [29058]
Warning [parser.cc:361] Converting a deprecated SDF source[/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/empty.world].
Set SDF value
  Version[1.2] to Version[1.3]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Msg Waiting for master
[ INFO] [1380197556.034175293]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 145.94.196.92
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 145.94.196.92
process[fake_joint_calibration-7]: started with pid [29097]
loading model xml from ros parameter
INFO] [WallTime: 1380197556.609971] [0.000000] waiting for service /gazebo/spawn_urdf_model
process[wide_stereo/wide_stereo_proc-8]: started with pid [29112]
process[narrow_stereo/narrow_stereo_proc-9]: started with pid [29146]
Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin
Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin
Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin
process[narrow_stereo_textured/narrow_stereo_textured_proc-10]: started with pid [29245]
process[left_image_raw_relay-11]: started with pid [29332]
[ INFO] [1380197559.146970297]: joint trajectory plugin missing <updateRate>, defaults to 0.0 (as fast as possible)
Error [Events.hh:141] Events::ConnectWorldUpdateStart is deprecated in v 1.5.0. Please use Events::ConnectWorldUpdateBegin
process[right_image_raw_relay-12]: started with pid [29523]
process[left_camera_info_relay-13]: started with pid [29644]
process[right_camera_info_relay-14]: started with pid [29803]
process[r_forearm_cam/image_proc-15]: started with pid [29932]
Warning [InsertModelWidget.cc:242] The manifest.xml for a Gazebo model is deprecated. Please rename manifest.xml to model.config for model "/home/lennart/.gazebo/models/ar_arm"
Error [InsertModelWidget.cc:252] model.config file is missing in directory["/home/lennart/.gazebo/models/checkerboard"]
Warning [InsertModelWidget.cc:228] Invalid filename or directory["/home/lennart/.gazebo/models/checkerboard.model"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GAZEBO_MODEL_PATH because the file structure may be modified by Gazebo.
Warning [InsertModelWidget.cc:242] The manifest.xml for a Gazebo model is deprecated. Please rename manifest.xml to model.config for model "/home/lennart/.gazebo/models/create"
Warning [InsertModelWidget.cc:242] The manifest.xml for a Gazebo model is deprecated. Please rename manifest.xml to model.config for model "/home/lennart/.gazebo/models/kinect"
Warning ...
(more)
edit retag flag offensive close merge delete