Error loading tilting laser controller for PR2 in Gazebo, Groovy

asked 2013-10-20 01:46:42 -0500

AlbertK gravatar image

I want to test the navigation slam app for PR2 on Gazebo. Therefore I first roslaunch pr2gazebo pr2empty_world.launch to open up the simulator with PR2.

When launching it, I got the following errors on the terminal:

[ERROR] [1382191293.096387452, 0.460000000]: Skipping XML Document "/home/albert/code/groovy/overlay/src/catkinize/examples/filters/default_plugins.xml" which had no Root Element.  This likely means the XML is malformed or missing.
[ERROR] [1382191293.107662436, 0.465000000]: Couldn't find filter of type filters/TransferFunctionFilterDouble
[ERROR] [1382191293.107824814, 0.465000000]: LaserTiltController: Error initializing filter chain
[ERROR] [1382191293.107862890, 0.465000000]: Error Loading LaserScannerTrajController Params
[ERROR] [1382191293.108262955, 0.465000000]: Initializing controller 'laser_tilt_controller' failed

and

[ERROR] [WallTime: 1382191294.109568] [0.935000] Failed to load laser_tilt_controller

As I learn from the experience of running navigation on ROS Fuerte, it will need the tilting laser to scan the environment for obstacle avoidance. I wonder if this is the reason that cause the navigation to not work properly.

As expected, I can't make the tilting laser start "tilting" using:

rosrun pr2_mechanism_controllers send_periodic_cmd.py laser_tilt_controller linear 4 0.5 0.0

What might the error come from and how to solve it? Thanks~

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Comments

I would say that for some reason is not being able to find the filter TransferFunctionFilterDouble and this is making it to fail. What version of ros are you using? Is the ros-$DISTRO-filters package installed?

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2013-10-29 12:15:34 -0500 )edit