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2014-11-21 01:41:17 -0600 asked a question Failed to load plugin libhector_gazebo_ros_imu.so

Hello! I'm using gazebo-2.2 with ros indigo and simulating our robot. But I have some problem with using IMU in my robot.

This is the source of IMU in my urdf.

image description

<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu"> <imu> <noise> <type>gaussian</type> <rate> <mean>0.0</mean> <stddev>2e-4</stddev> <bias_mean>0.0000075</bias_mean> <bias_stddev>0.0000008</bias_stddev> </rate> <accel> <mean>0.0</mean> <stddev>1.7e-2</stddev> <bias_mean>0.1</bias_mean> <bias_stddev>0.001</bias_stddev> </accel> </noise> </imu> <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so"> <robotNamespace>/infant2</robotNamespace> <frameName>imu_b</frameName> <bodyName>imu_link</bodyName> <topicName>imu_bottom/data</topicName> <alwaysOn>true</alwaysOn> <updateRate>50.0</updateRate> </plugin> </sensor> </gazebo>

but when I launch roslaunch myrobot_description myrobot.launch this error occurs.

Error [Plugin.hh:156] Failed to load plugin libhectorgazeborosimu.so: libhectorgazeborosimu.so: cannot open shared object file: No such file or directory

Also I already edited my ~/.bashrc and added

export GAZEBO_PLUGIN_PATH=~/my_ws:/opt/ros/indigo:${GAZEBO_PLUGIN_PATH}
export GAZEBO_MODEL_PATH=~/my_ws:/opt/ros/indigo:${GAZEBO_MODEL_PATH}
export GAZEBO_RESOURCE_PATH=~/my_ws:/opt/ros/indigo:${GAZEBO_RESOURCE_PATH}

does anybody knows how to solve ?

thank you for your regard.

Ryo.

I have tried with "libgazeborosimu.so" too . but other error occurs.

Error [Sensor.cc:236] Sensor[imu_sensor] is attempting to load a plugin, but detected an incorrect plugin type. Plugin filename[libgazebo_ros_imu.so] name[imu_controller] Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details Segmentation fault (core dumped) [gazebo-1] process has died [pid 25298, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver /home/amsl-ama/AMSL_catkin_ws/src/gazebo_ros_demos/rrbot_gazebo/worlds/rrbot.world __name:=gazebo __log:=/home/amsl-ama/.ros/log/87828712-67af-11e4-81ae-3c0754596049/gazebo-1.log]. log file: /home/amsl-ama/.ros/log/87828712-67af-11e4-81ae-3c0754596049/gazebo-1*.log

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2014-10-31 01:33:28 -0600 answered a question [ERROR]could not find joint_state_controller

I think i solved the problem.

the problem was rrbot.xacro

in the <transmission>state

replace

<joint name="joint1"/>

with

<joint name="joint1"> <hardwareInterface>EffortJointInterface</hardwareInterface> </joint>

and all error was cleared

thanks for your help.

RYO

2014-10-30 02:26:15 -0600 commented answer [ERROR]could not find joint_state_controller

thank you for your comment. yes.it was the latest version.

i tried sudo apt-get update sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

so,maybe othe controllers are the latest too.

but another error occured which i added on the top.

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2014-10-26 03:27:36 -0600 asked a question [ERROR]could not find joint_state_controller

hi, this is my first time here. i'm using indigo and gazebo2.2 in ubuntu14.04 to simulate our robot.

when i was following the tutorils,had a problem with this page.

it says to launch these two,to control the rrbot.

roslaunch rrbot_gazebo rrbot_world.launch roslaunch rrbot_control rrbot_control.launch

but when i launch roslaunch rrbot_control rrbot_control.launch this error occcurs.

[ERROR] [1414305408.351300373, 6.335000000]: Could not load class jointstatecontroller/JointStateController: Could not find library corresponding to plugin jointstatecontroller/JointStateController. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.

i have no idea to solve this.

thanks ,Ryo.

PS roscontrollers package cause other catkinmake problem, so i tried this

sudo apt-get update sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

but another error occurs

[ERROR] [1414652580.407543556, 4.281000000]: Exception thrown while initializing controller joint1positioncontroller. Could not find resource 'joint1' in 'hardwareinterface::EffortJointInterface'. Could not find resource 'joint2' in 'hardwareinterface::EffortJointInterface'. I checked rrbot_control.yamland rrbot.xacro, but of course there was a state about joint1 and joint2.

Was anything wrong? what should i do next?

thanks RYO