# Revision history [back]

### Gazebo 1.9 + ROS Hydro + Moveit-PR2 = Cant control Gazebo with Moveit

Ive been following every tutorial out there to try and manipulate the PR2 Robot at Gazebo with Moveit, but Im still not able to do it!

Right now Im using Ubuntu 12.04.2 LTS ( Precise Pangolin) with debian packages (although Ive tried building from source aswell) and installation went just fine.

Gazebo, ROS and Moveit are working separetly, but when combined I get the following erros:

At RViz:

At Gazebo:

Error [Plugin.hh:127] Failed to load plugin libgazebo_ros_controller_manager.so: libgazebo_ros_controller_manager.so: cannot open shared object file: No such file or directory

Error [Plugin.hh:127] Failed to load plugin libgazebo_ros_power_monitor.so: libgazebo_ros_power_monitor.so: cannot open shared object file: No such file or directory

I have no idea why the plugin fails to load. The gazebo_ros_pkgs and ros-hydro-gazebo-ros-control installed should be installed.

Those were the tutorials that I followed:

1 - Installing ROS: http://wiki.ros.org/hydro/Installation/Ubuntu

2 - Installing MoveIt: http://moveit.ros.org/install/

3 - Setting PR2 at MoveIt: http://moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start

4 - Testing PR2 at Rviz: http://moveit.ros.org/wiki/PR2/Rviz_Plugin/Quick_Start

5 - Installing Gazebo 1.9: http://gazebosim.org/wiki/1.9/install

6 - Installing Gazebo_Ros_Packages: http://gazebosim.org/wiki/Tutorials/1.9/Installing_gazebo_ros_Packages

7 - Spawning PR2 at Gazebo: http://gazebosim.org/wiki/Tutorials/1.9/Using_roslaunch_Files_to_Spawn_Models

8 - Controlling PR2 at Gazebo with Moveit: http://moveit.ros.org/wiki/PR2/Gazebo/Quick_Start (which states: Note: This tutorial refers to a previous version of Gazebo that is no longer fully supported. In the future this tutorial needs to be updated to use the new gazebo_ros_pkgs interface.)

I also tried this tutorial: http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo

But since Im new to Linux and ROS, I didnt understand all of it so Im not sure if the changes made are correct.

For example: In the topic "Add the gazebo_ros_control plugin", it tells me to change my URDF file. Since I only had a xacro.urdf file, I had to convert it to URDF and add the new line.

This is the command used to run Gazebo_Ros with the new URDF file: rosrun gazebo_ros spawn_model -file rospack find pr2_description/urdf/pr2.urdf -urdf -z 2 -model pr2 (the URDF path is /opt/ros/hydro/share/pr2_description/urdf)

This is the resulting URDF already changed (changes are at lines 20-22): https://www.dropbox.com/s/rv5kmm7ljcersva/pr2.urdf

Actually, thats probably the only change Ive made since the examples are made for the RRBOT and I have no idea what to put for the PR2.

So, can anyone help me out? What am I missing? What am I doing wrong? Thank you all for reading it till the end and posting something =) If there is anything else I can upload, just let me know and it will be here as soon as I see the request.

### Gazebo 1.9 + ROS Hydro + Moveit-PR2 = Cant control Gazebo with Moveit

Ive been following every tutorial out there to try and manipulate the PR2 Robot at Gazebo with Moveit, but Im still not able to do it!

Right now Im using Ubuntu 12.04.2 LTS ( Precise Pangolin) with debian packages (although Ive tried building from source aswell) and installation went just fine.

Gazebo, ROS and Moveit are working separetly, but when combined I get the following erros:

At RViz:

At Gazebo:

Error [Plugin.hh:127] Failed to load plugin libgazebo_ros_controller_manager.so: libgazebo_ros_controller_manager.so: cannot open shared object file: No such file or directory

Error [Plugin.hh:127] Failed to load plugin libgazebo_ros_power_monitor.so: libgazebo_ros_power_monitor.so: cannot open shared object file: No such file or directory

I have no idea why the plugin fails to load. The gazebo_ros_pkgs and ros-hydro-gazebo-ros-control installed should be installed.

Those were the tutorials that I followed:

1 - Installing ROS: http://wiki.ros.org/hydro/Installation/Ubuntu

2 - Installing MoveIt: http://moveit.ros.org/install/

3 - Setting PR2 at MoveIt: http://moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start

4 - Testing PR2 at Rviz: http://moveit.ros.org/wiki/PR2/Rviz_Plugin/Quick_Start

5 - Installing Gazebo 1.9: http://gazebosim.org/wiki/1.9/install

6 - Installing Gazebo_Ros_Packages: http://gazebosim.org/wiki/Tutorials/1.9/Installing_gazebo_ros_Packages

7 - Spawning PR2 at Gazebo: http://gazebosim.org/wiki/Tutorials/1.9/Using_roslaunch_Files_to_Spawn_Models

8 - Controlling PR2 at Gazebo with Moveit: http://moveit.ros.org/wiki/PR2/Gazebo/Quick_Start (which states: Note: This tutorial refers to a previous version of Gazebo that is no longer fully supported. In the future this tutorial needs to be updated to use the new gazebo_ros_pkgs interface.)

I also tried this tutorial: http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo

But since Im new to Linux and ROS, I didnt understand all of it so Im not sure if the changes made are correct.

For example: In the topic "Add the gazebo_ros_control plugin", it tells me to change my URDF file. Since I only had a xacro.urdf file, I had to convert it to URDF and add the new line.

This is the command used to run Gazebo_Ros with the new URDF file: rosrun gazebo_ros spawn_model -file rospack find pr2_description/urdf/pr2.urdf -urdf -z 2 -model pr2 (the URDF path is /opt/ros/hydro/share/pr2_description/urdf)

This is the resulting URDF already changed (changes are at lines 20-22): https://www.dropbox.com/s/rv5kmm7ljcersva/pr2.urdf

Actually, thats probably the only change Ive made since the examples are made for the RRBOT and I have no idea what to put for the PR2.This is the pr2_control created from the last tutorial: https://www.dropbox.com/s/l46dad75k0pf9zh/pr2_control.zip

Is it correct? Did I miss something?

When running it with: export ROS_PACKAGE_PATH=$PWD:$ROS_PACKAGE_PATH and roslaunch pr2_control pr2_control.launch, I get the following Warning Messages:

[WARN] [WallTime: 1390915840.157526] [221.847000] Controller Spawner couldn't find the expected controller_manager ROS interface.

And then the process is finished automatically.

So, can anyone help me out? What am I missing? What am I doing wrong? Thank you all for reading it till the end and posting something =) If there is anything else I can upload, just let me know and it will be here as soon as I see the request.

### Gazebo 1.9 + ROS Hydro + Moveit-PR2 = Cant control Gazebo with Moveit

Ive been following every tutorial out there to try and manipulate the PR2 Robot at Gazebo with Moveit, but Im still not able to do it!

Right now Im using Ubuntu 12.04.2 LTS ( Precise Pangolin) with debian packages (although Ive tried building from source aswell) and installation went just fine.

Gazebo, ROS and Moveit are working separetly, but when combined I get the following erros:

At RViz: __

__

At Gazebo:

Error [Plugin.hh:127] Failed to load plugin libgazebo_ros_controller_manager.so: libgazebo_ros_controller_manager.so: cannot open shared object file: No such file or directory

Error [Plugin.hh:127] Failed to load plugin libgazebo_ros_power_monitor.so: libgazebo_ros_power_monitor.so: cannot open shared object file: No such file or directory

I have no idea why the plugin fails to load. The gazebo_ros_pkgs and ros-hydro-gazebo-ros-control installed should be installed.

Those were the tutorials that I followed:

1 - Installing ROS: http://wiki.ros.org/hydro/Installation/Ubuntu

2 - Installing MoveIt: http://moveit.ros.org/install/

3 - Setting PR2 at MoveIt: http://moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start

4 - Testing PR2 at Rviz: http://moveit.ros.org/wiki/PR2/Rviz_Plugin/Quick_Start

5 - Installing Gazebo 1.9: http://gazebosim.org/wiki/1.9/install

6 - Installing Gazebo_Ros_Packages: http://gazebosim.org/wiki/Tutorials/1.9/Installing_gazebo_ros_Packages

7 - Spawning PR2 at Gazebo: http://gazebosim.org/wiki/Tutorials/1.9/Using_roslaunch_Files_to_Spawn_Models

8 - Controlling PR2 at Gazebo with Moveit: http://moveit.ros.org/wiki/PR2/Gazebo/Quick_Start (which states: Note: This tutorial refers to a previous version of Gazebo that is no longer fully supported. In the future this tutorial needs to be updated to use the new gazebo_ros_pkgs interface.)

I also tried this tutorial: http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo

But since Im new to Linux and ROS, I didnt understand all of it so Im not sure if the changes made are correct.

For example: In the topic "Add the gazebo_ros_control plugin", it tells me to change my URDF file. Since I only had a xacro.urdf file, I had to convert it to URDF and add the new line.

This is the command used to run Gazebo_Ros with the new URDF file: rosrun gazebo_ros spawn_model -file rospack find pr2_description/urdf/pr2.urdf -urdf -z 2 -model pr2 (the URDF path is /opt/ros/hydro/share/pr2_description/urdf)

This is the resulting URDF already changed (changes are at lines 20-22): https://www.dropbox.com/s/rv5kmm7ljcersva/pr2.urdf

This is the pr2_control created from the last tutorial: https://www.dropbox.com/s/l46dad75k0pf9zh/pr2_control.zip

Is it correct? Did I miss something?

When running it with: export ROS_PACKAGE_PATH=$PWD:$ROS_PACKAGE_PATH and roslaunch pr2_control pr2_control.launch, I get the following Warning Messages:

[WARN] [WallTime: 1390915840.157526] [221.847000] Controller Spawner couldn't find the expected controller_manager ROS interface.

And then the process is finished automatically.

So, can anyone help me out? What am I missing? What am I doing wrong? Thank you all for reading it till the end and posting something =) If there is anything else I can upload, just let me know and it will be here as soon as I see the request.