No p gain specified for pid.
So I tried launching my robot in gazebo world and i could see my robot arm but could not find the end effector and when i try to click on any plugins the gazebo closing off sudently. People told me to add a .yml file
gazebo_ros_control/pid_gains:
shoulder_pan_joint: {p: 100.0, i: 0.01, d: 10.0}
shoulder_lift_joint: {p: 100.0, i: 0.01, d: 10.0}
elbow_joint: {p: 100.0, i: 0.01, d: 10.0}
wrist_1_joint: {p: 100.0, i: 0.01, d: 10.0}
wrist_2_joint: {p: 100.0, i: 0.01, d: 10.0}
wrist_3_joint: {p: 100.0, i: 0.01, d: 10.0}
and i added the above,
[controller_spawner-4] process has died [pid 18617, exit code 2, cmd /opt/ros/melodic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/akash/.ros/log/7a4b985a-ea0b-11eb-a6b5-7c67a2e59a25/controller_spawner-4.log].
log file: /home/akash/.ros/log/7a4b985a-ea0b-11eb-a6b5-7c67a2e59a25/controller_spawner-4*.log
[ INFO] [1626867488.573071456]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1626867488.579089609]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1626867488.836513846]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1626867488.890592907, 0.020000000]: Physics dynamic reconfigure ready.
[INFO] [1626867489.039121, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1626867489.056799, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1626867489.064258, 0.186000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1626867489.366671, 0.325000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1626867489.615558431, 0.325000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1626867489.619115323, 0.325000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/akash/.ros/log/7a4b985a-ea0b-11eb-a6b5-7c67a2e59a25/spawn_gazebo_model-3*.log
[ INFO] [1626867489.736882435, 0.325000000]: Loading gazebo_ros_control plugin
[ INFO] [1626867489.737195933, 0.325000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1626867489.738163986, 0.325000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ WARN] [1626867489.860372812, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_1_joint'.
[ERROR] [1626867489.862396772, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_1_joint
[ WARN] [1626867489.862942465, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_2_joint'.
[ERROR] [1626867489.867874675, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_2_joint
[ WARN] [1626867489.867934525, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'elbow_1_joint'.
[ERROR] [1626867489.868804177, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/elbow_1_joint
[ WARN] [1626867489.868847889, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_1_joint'.
[ERROR] [1626867489.869519502, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ WARN] [1626867489.869559452, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_2_joint'.
[ERROR] [1626867489.870294428, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ WARN] [1626867489.870363581, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_3_joint'.
[ERROR] [1626867489.871283295, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
[ WARN] [1626867489.871528046, 0.325000000]: Replacing previously registered handle 'shoulder_1_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.873183499, 0.325000000]: Replacing previously registered handle 'shoulder_2_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.874314524, 0.325000000]: Replacing previously registered handle 'elbow_1_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.874731317, 0.325000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.875121668, 0.325000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.875517661, 0.325000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::JointStateInterface'.
[ INFO] [1626867489.889006554, 0.325000000]: Loaded gazebo_ros_control.
[ INFO] [1626867489.889271474, 0.325000000]: Loading gazebo_ros_control plugin
[ INFO] [1626867489.889347598, 0.325000000]: Starting gazebo_ros_control plugin in namespace: /
[ WARN] [1626867489.994353755, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_1_joint'.
[ERROR] [1626867489.995458419, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_1_joint
[ WARN] [1626867489.995498510, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'shoulder_2_joint'.
[ERROR] [1626867489.996196489, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_2_joint
[ WARN] [1626867489.996229909, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'elbow_1_joint'.
[ERROR] [1626867489.996774660, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/elbow_1_joint
[ WARN] [1626867489.996803484, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_1_joint'.
[ERROR] [1626867489.997312443, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ WARN] [1626867489.997339923, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_2_joint'.
[ERROR] [1626867489.997909862, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ WARN] [1626867489.997937682, 0.325000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'wrist_3_joint'.
[ERROR] [1626867489.998486752, 0.325000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
[ WARN] [1626867489.998514968, 0.325000000]: Replacing previously registered handle 'shoulder_1_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.998806933, 0.325000000]: Replacing previously registered handle 'shoulder_2_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.999209801, 0.325000000]: Replacing previously registered handle 'elbow_1_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.999479216, 0.325000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.999723511, 0.325000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1626867489.999999817, 0.325000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::JointStateInterface'.
[ERROR] [1626867490.001496042, 0.325000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controllers]
[ERROR] [1626867490.001532813, 0.325000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controller_types]
[ERROR] [1626867490.001562626, 0.325000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/load_controller]
[ERROR] [1626867490.001592735, 0.325000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/unload_controller]
[ERROR] [1626867490.001618805, 0.325000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/switch_controller]
[ERROR] [1626867490.001649365, 0.325000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/reload_controller_libraries]
Asked by akash12124234 on 2021-07-21 06:57:16 UTC
Comments
There are clear warning about using deprecated syntax, I would recommend to first fix this. Another thing, do you have any particular reason why to use Gazebo 2?There is already Gazebo 11 and Ignition available, which people actively use now. I doubt many people still use old versions of Gazebo and thus will probably not help you. And if you use controller, which sets joint position/velocity directly, PID parameters cannot be set and you get the error...
Asked by m.bahno on 2021-08-31 02:45:04 UTC