Open
Description
Observed Behavior
After following the Build Dave Environment page in the wiki Installation instructions (native, non-Docker install), my build had unmet dependencies. Specifically, when running roslaunch dave_demo_launch dave_demo.launch, the gripper_controller node died because of an unmet dependency for kdl_parser_py.
Workaround
Running the automagical dependency-installation command rosdep install --from-paths src --ignore-src -r -y resolved this issue because the kdl_parser_py dependency had been declared in a package.xml file.
Proposed Fix
Is it alright if I add the above rosdep command to the installation wiki entry? I'm fairly new to ROS so I'm not sure if another method is preferred, or if the command is omitted for another reason.
Terminal output
tim@tim-UBUNTU:~/.../dave/uuv_ws$ roslaunch dave_demo_launch dave_demo.launch
... logging to /home/tim/.ros/log/5670a816-8642-11ec-b29b-cd2fa65a7644/roslaunch-tim-UBUNTU-2707819.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
redefining global symbol: range
when instantiating macro: pressure_plugin_macro (/home/tim/Research/dave/uuv_ws/src/uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/pressure_snippets.xacro)
instantiated from: default_pressure_macro (/home/tim/Research/dave/uuv_ws/src/uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/pressure_snippets.xacro)
instantiated from: rexrov_base (/home/tim/Research/dave/uuv_ws/src/dave/urdf/robots/rexrov_description/urdf/rexrov_base.xacro)
in file: /home/tim/Research/dave/uuv_ws/src/dave/urdf/robots/rexrov_description/urdf/rexrov_sensors.xacro
included from: /home/tim/Research/dave/uuv_ws/src/dave/urdf/robots/rexrov_description/urdf/rexrov_oberon7.xacro
started roslaunch server http://tim-UBUNTU:42309/
SUMMARY
========
PARAMETERS
* /gazebo/enable_ros_network: True
* /publish_world_models/meshes/east/plane: [2000, 0.1, 100]
* /publish_world_models/meshes/east/pose/position: [0, 1000, -50]
* /publish_world_models/meshes/heightmap/mesh: package://uuv_gaz...
* /publish_world_models/meshes/heightmap/model: sand_heightmap
* /publish_world_models/meshes/north/plane: [0.1, 2000, 100]
* /publish_world_models/meshes/north/pose/position: [1000, 0, -50]
* /publish_world_models/meshes/seafloor/plane: [2000, 2000, 0.1]
* /publish_world_models/meshes/seafloor/pose/position: [0, 0, -100]
* /publish_world_models/meshes/south/plane: [0.1, 2000, 100]
* /publish_world_models/meshes/south/pose/position: [-1000, 0, -50]
* /publish_world_models/meshes/west/plane: [2000, 0.1, 100]
* /publish_world_models/meshes/west/pose/position: [0, -1000, -50]
* /rexrov/acceleration_control/tf_prefix: rexrov/
* /rexrov/arms/n_arms: 1
* /rexrov/arms/names: ['oberon7']
* /rexrov/arms/oberon7/base_link: base
* /rexrov/arms/oberon7/default_configs/home/azimuth: 0
* /rexrov/arms/oberon7/default_configs/home/elbow: -1.57
* /rexrov/arms/oberon7/default_configs/home/pitch: 1.57
* /rexrov/arms/oberon7/default_configs/home/roll: 0
* /rexrov/arms/oberon7/default_configs/home/shoulder: 1.57
* /rexrov/arms/oberon7/default_configs/home/wrist: 0
* /rexrov/arms/oberon7/joint_names: ['azimuth', 'shou...
* /rexrov/arms/oberon7/tip_link: end_effector
* /rexrov/ground_truth_to_tf_rexrov/child_frame_id: /rexrov/base_link
* /rexrov/ground_truth_to_tf_rexrov/footprint_frame_id: /rexrov/base_foot...
* /rexrov/ground_truth_to_tf_rexrov/frame_id: world
* /rexrov/ground_truth_to_tf_rexrov/odometry_topic: /rexrov/pose_gt
* /rexrov/ground_truth_to_tf_rexrov/stabilized_frame_id: /rexrov/base_stab...
* /rexrov/joy_uuv_velocity_teleop/deadman_button: -1
* /rexrov/joy_uuv_velocity_teleop/exclusion_buttons: [4, 5]
* /rexrov/joy_uuv_velocity_teleop/mapping/pitch/axis: -1
* /rexrov/joy_uuv_velocity_teleop/mapping/pitch/gain: 0.0
* /rexrov/joy_uuv_velocity_teleop/mapping/roll/axis: -1
* /rexrov/joy_uuv_velocity_teleop/mapping/roll/gain: 0.0
* /rexrov/joy_uuv_velocity_teleop/mapping/x/axis: 4
* /rexrov/joy_uuv_velocity_teleop/mapping/x/gain: 0.3
* /rexrov/joy_uuv_velocity_teleop/mapping/y/axis: 3
* /rexrov/joy_uuv_velocity_teleop/mapping/y/gain: 0.3
* /rexrov/joy_uuv_velocity_teleop/mapping/yaw/axis: 0
* /rexrov/joy_uuv_velocity_teleop/mapping/yaw/gain: 0.2
* /rexrov/joy_uuv_velocity_teleop/mapping/z/axis: 1
* /rexrov/joy_uuv_velocity_teleop/mapping/z/gain: 0.3
* /rexrov/joy_uuv_velocity_teleop/type: twist
* /rexrov/joystick/autorepeat_rate: 10
* /rexrov/joystick/dev: /dev/input/js0
* /rexrov/oberon7/azimuth/controller/joint: oberon7/azimuth
* /rexrov/oberon7/azimuth/controller/pid/d: 50
* /rexrov/oberon7/azimuth/controller/pid/i: 100
* /rexrov/oberon7/azimuth/controller/pid/p: 2000
* /rexrov/oberon7/azimuth/controller/type: effort_controller...
* /rexrov/oberon7/elbow/controller/joint: oberon7/elbow
* /rexrov/oberon7/elbow/controller/pid/d: 50
* /rexrov/oberon7/elbow/controller/pid/i: 100
* /rexrov/oberon7/elbow/controller/pid/p: 2000
* /rexrov/oberon7/elbow/controller/type: effort_controller...
* /rexrov/oberon7/finger_left_joint/controller/joint: oberon7/finger_le...
* /rexrov/oberon7/finger_left_joint/controller/pid/d: 0
* /rexrov/oberon7/finger_left_joint/controller/pid/i: 0
* /rexrov/oberon7/finger_left_joint/controller/pid/p: 50.0
* /rexrov/oberon7/finger_left_joint/controller/type: effort_controller...
* /rexrov/oberon7/finger_right_joint/controller/joint: oberon7/finger_ri...
* /rexrov/oberon7/finger_right_joint/controller/pid/d: 0
* /rexrov/oberon7/finger_right_joint/controller/pid/i: 0
* /rexrov/oberon7/finger_right_joint/controller/pid/p: 50.0
* /rexrov/oberon7/finger_right_joint/controller/type: effort_controller...
* /rexrov/oberon7/gripper_controller_oberon7/close_button: 2
* /rexrov/oberon7/gripper_controller_oberon7/deadman_button: 5
* /rexrov/oberon7/gripper_controller_oberon7/exclusion_buttons: 4
* /rexrov/oberon7/gripper_controller_oberon7/gripper/base: end_effector
* /rexrov/oberon7/gripper_controller_oberon7/gripper/closed_limit: lower
* /rexrov/oberon7/gripper_controller_oberon7/gripper/control_joint: finger_left_joint
* /rexrov/oberon7/gripper_controller_oberon7/gripper/full_open_limit: upper
* /rexrov/oberon7/gripper_controller_oberon7/gripper/groups/left_finger/ee: finger_tip_left
* /rexrov/oberon7/gripper_controller_oberon7/gripper/groups/left_finger/links: ['finger_left', '...
* /rexrov/oberon7/gripper_controller_oberon7/gripper/groups/right_finger/ee: finger_tip_right
* /rexrov/oberon7/gripper_controller_oberon7/gripper/groups/right_finger/links: ['finger_right', ...
* /rexrov/oberon7/gripper_controller_oberon7/gripper/links: ['finger_left', '...
* /rexrov/oberon7/gripper_controller_oberon7/gripper/mimic_joint: finger_right_joint
* /rexrov/oberon7/gripper_controller_oberon7/gripper/mimic_joint_gain: -1
* /rexrov/oberon7/gripper_controller_oberon7/gripper/type: parallel
* /rexrov/oberon7/gripper_controller_oberon7/kd: 1
* /rexrov/oberon7/gripper_controller_oberon7/ki: 4
* /rexrov/oberon7/gripper_controller_oberon7/kp: 100
* /rexrov/oberon7/gripper_controller_oberon7/open_button: 1
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/azimuth/axis_gain: 0.01
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/azimuth/controller/d: 50
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/azimuth/controller/i: 20
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/azimuth/controller/p: 1000
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/azimuth/joint_input_axis: 3
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/azimuth/topic: /rexrov/oberon7/a...
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/elbow/axis_gain: 0.01
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/elbow/controller/d: 50
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/elbow/controller/i: 20
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/elbow/controller/p: 1000
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/elbow/joint_input_axis: 1
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/elbow/topic: /rexrov/oberon7/e...
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/pitch/axis_gain: 0.1
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/pitch/controller/d: 0
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/pitch/controller/i: 10
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/pitch/controller/p: 300
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/pitch/joint_input_axis: 7
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/pitch/topic: /rexrov/oberon7/p...
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/roll/axis_gain: 0.01
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/roll/controller/d: 20
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/roll/controller/i: 10
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/roll/controller/p: 300
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/roll/joint_input_axis: 6
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/roll/topic: /rexrov/oberon7/r...
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/shoulder/axis_gain: 0.01
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/shoulder/controller/d: 50
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/shoulder/controller/i: 20
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/shoulder/controller/p: 1000
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/shoulder/joint_input_axis: 4
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/shoulder/topic: /rexrov/oberon7/s...
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/wrist/axis_gain: 0.01
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/wrist/controller/d: 0
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/wrist/controller/i: 10
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/wrist/controller/p: 200
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/wrist/joint_input_axis: 0
* /rexrov/oberon7/joint_position_controller_oberon7/controller_config/wrist/topic: /rexrov/oberon7/w...
* /rexrov/oberon7/joint_position_controller_oberon7/deadman_button: 5
* /rexrov/oberon7/joint_position_controller_oberon7/exclusion_buttons: 4
* /rexrov/oberon7/joint_position_controller_oberon7/home_button: 7
* /rexrov/oberon7/pitch/controller/joint: oberon7/pitch
* /rexrov/oberon7/pitch/controller/pid/d: 10
* /rexrov/oberon7/pitch/controller/pid/i: 50
* /rexrov/oberon7/pitch/controller/pid/p: 1000
* /rexrov/oberon7/pitch/controller/type: effort_controller...
* /rexrov/oberon7/roll/controller/joint: oberon7/roll
* /rexrov/oberon7/roll/controller/pid/d: 10
* /rexrov/oberon7/roll/controller/pid/i: 50
* /rexrov/oberon7/roll/controller/pid/p: 1000
* /rexrov/oberon7/roll/controller/type: effort_controller...
* /rexrov/oberon7/shoulder/controller/joint: oberon7/shoulder
* /rexrov/oberon7/shoulder/controller/pid/d: 50
* /rexrov/oberon7/shoulder/controller/pid/i: 100
* /rexrov/oberon7/shoulder/controller/pid/p: 2000
* /rexrov/oberon7/shoulder/controller/type: effort_controller...
* /rexrov/oberon7/wrist/controller/joint: oberon7/wrist
* /rexrov/oberon7/wrist/controller/pid/d: 10
* /rexrov/oberon7/wrist/controller/pid/i: 30
* /rexrov/oberon7/wrist/controller/pid/p: 500
* /rexrov/oberon7/wrist/controller/type: effort_controller...
* /rexrov/pid/inertial/ixx: 525.39
* /rexrov/pid/inertial/ixy: 0
* /rexrov/pid/inertial/ixz: 0
* /rexrov/pid/inertial/iyy: 794.2
* /rexrov/pid/inertial/iyz: 0
* /rexrov/pid/inertial/izz: 691.23
* /rexrov/pid/mass: 1862.0
* /rexrov/robot_description: <?xml version="1....
* /rexrov/robot_state_publisher/robot_description: /rexrov/robot_des...
* /rexrov/thruster_allocator/tam: [[0.1597426884844...
* /rexrov/thruster_manager/base_link: base_link
* /rexrov/thruster_manager/conversion_fcn: proportional
* /rexrov/thruster_manager/conversion_fcn_params/gain: 0.00031
* /rexrov/thruster_manager/max_thrust: 2000.0
* /rexrov/thruster_manager/tf_prefix: rexrov
* /rexrov/thruster_manager/thruster_frame_base: thruster_
* /rexrov/thruster_manager/thruster_topic_prefix: thrusters/
* /rexrov/thruster_manager/thruster_topic_suffix: /input
* /rexrov/thruster_manager/timeout: -1
* /rexrov/thruster_manager/update_rate: 50
* /rexrov/velocity_control/angular_d: 1.0
* /rexrov/velocity_control/angular_i: 2.0
* /rexrov/velocity_control/angular_p: 10.0
* /rexrov/velocity_control/angular_sat: 5.0
* /rexrov/velocity_control/linear_d: 0.0
* /rexrov/velocity_control/linear_i: 2.0
* /rexrov/velocity_control/linear_p: 10.0
* /rexrov/velocity_control/linear_sat: 20.0
* /rosdistro: noetic
* /rosversion: 1.15.14
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
publish_world_models (uuv_assistants/publish_world_models.py)
spawn_grabbable_bar (gazebo_ros/spawn_model)
world_ned_frame_publisher (tf2_ros/static_transform_publisher)
/rexrov/
acceleration_control (uuv_control_cascaded_pid/AccelerationControl.py)
controller_spawner_oberon7 (controller_manager/spawner)
controller_spawner_oberon7_gripper (controller_manager/spawner)
ground_truth_to_tf_rexrov (uuv_assistants/uuv_message_to_tf)
joy_uuv_velocity_teleop (uuv_teleop/vehicle_teleop.py)
joystick (joy/joy_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
thruster_allocator (uuv_thruster_manager/thruster_allocator.py)
urdf_spawner (uuv_descriptions/spawn_model)
velocity_control (uuv_control_cascaded_pid/VelocityControl.py)
/rexrov/oberon7/
gripper_controller_oberon7 (uuv_manipulators_control/gripper_controller.py)
joint_position_controller_oberon7 (uuv_manipulators_control/joint_position_controller.py)
kinematics_service (uuv_manipulators_kinematics/kinematics_service.py)
auto-starting new master
process[master]: started with pid [2707852]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 5670a816-8642-11ec-b29b-cd2fa65a7644
process[rosout-1]: started with pid [2707875]
started core service [/rosout]
process[gazebo-2]: started with pid [2707883]
process[gazebo_gui-3]: started with pid [2707887]
process[world_ned_frame_publisher-4]: started with pid [2707891]
process[publish_world_models-5]: started with pid [2707894]
process[rexrov/urdf_spawner-6]: started with pid [2707896]
process[rexrov/robot_state_publisher-7]: started with pid [2707897]
process[rexrov/ground_truth_to_tf_rexrov-8]: started with pid [2707903]
process[rexrov/thruster_allocator-9]: started with pid [2707904]
process[rexrov/acceleration_control-10]: started with pid [2707906]
process[rexrov/velocity_control-11]: started with pid [2707912]
[ WARN] [1644038003.284519362]: The root link rexrov/base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
process[rexrov/joystick-12]: started with pid [2707917]
process[rexrov/joy_uuv_velocity_teleop-13]: started with pid [2707943]
process[rexrov/controller_spawner_oberon7-14]: started with pid [2707968]
process[rexrov/controller_spawner_oberon7_gripper-15]: started with pid [2707981]
process[rexrov/oberon7/gripper_controller_oberon7-16]: started with pid [2707994]
process[rexrov/oberon7/kinematics_service-17]: started with pid [2707996]
process[rexrov/oberon7/joint_position_controller_oberon7-18]: started with pid [2708000]
process[spawn_grabbable_bar-19]: started with pid [2708001]
[ WARN] [1644038003.448140688]: Couldn't set gain on joystick force feedback: Bad file descriptor
Start publishing vehicle footprints to RViz
Package pymap3d is not available, WGS84 coordinates cannot be used
Download pymap3d for Python 2.7 as
>> sudo pip install pymap3d==1.5.2
or for Python 3.x as
>> sudo pip install pymap3d
spawn_model script started
[INFO] [1644038003.788996, 0.000000]: Loading model xml from ros parameter
[INFO] [1644038003.795884, 0.000000]: Using the ENU coordinates to spawn the model
[INFO] [1644038003.798375, 0.000000]: Initial position wrt the world frame: (4.00, 4.00, -93.00)
[INFO] [1644038003.799626, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1644038003.837702, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1644038003.857846, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
Traceback (most recent call last):
File "/home/tim/Research/dave/uuv_ws/devel/lib/uuv_manipulators_control/joint_position_controller.py", line 15, in <module>
Traceback (most recent call last):
File "/home/tim/Research/dave/uuv_ws/devel/lib/uuv_manipulators_control/gripper_controller.py", line 15, in <module>
exec(compile(fh.read(), python_script, 'exec'), context)
File "/home/tim/Research/dave/uuv_ws/src/uuv_manipulators/uuv_manipulators_control/scripts/joint_position_controller.py", line 19, in <module>
from uuv_manipulator_interfaces import ArmInterface
exec(compile(fh.read(), python_script, 'exec'), context)
File "/home/tim/Research/dave/uuv_ws/devel/lib/python3/dist-packages/uuv_manipulator_interfaces/__init__.py", line 34, in <module>
File "/home/tim/Research/dave/uuv_ws/src/uuv_manipulators/uuv_manipulators_control/scripts/gripper_controller.py", line 18, in <module>
exec(__fh.read())
File "<string>", line 16, in <module>
from uuv_manipulator_interfaces import GripperInterface
File "/home/tim/Research/dave/uuv_ws/devel/lib/python3/dist-packages/uuv_manipulator_interfaces/__init__.py", line 34, in <module>
exec(__fh.read())
File "<string>", line 16, in <module>
File "/home/tim/Research/dave/uuv_ws/src/uuv_manipulators/uuv_manipulators_kinematics/src/uuv_manipulator_interfaces/arm.py", line 23, in <module>
File "/home/tim/Research/dave/uuv_ws/src/uuv_manipulators/uuv_manipulators_kinematics/src/uuv_manipulator_interfaces/arm.py", line 23, in <module>
from uuv_manipulator_interfaces.kin_chain import KinChainInterface
File "/home/tim/Research/dave/uuv_ws/src/uuv_manipulators/uuv_manipulators_kinematics/src/uuv_manipulator_interfaces/kin_chain.py", line 21, in <module>
from uuv_manipulator_interfaces.kin_chain import KinChainInterface
File "/home/tim/Research/dave/uuv_ws/src/uuv_manipulators/uuv_manipulators_kinematics/src/uuv_manipulator_interfaces/kin_chain.py", line 21, in <module>
from kdl_parser_py.urdf import treeFromUrdfModel
ModuleNotFoundError: No module named 'kdl_parser_py'
from kdl_parser_py.urdf import treeFromUrdfModel
ModuleNotFoundError: No module named 'kdl_parser_py'
Traceback (most recent call last):
File "/home/tim/Research/dave/uuv_ws/devel/lib/uuv_manipulators_kinematics/kinematics_service.py", line 15, in <module>
exec(compile(fh.read(), python_script, 'exec'), context)
File "/home/tim/Research/dave/uuv_ws/src/uuv_manipulators/uuv_manipulators_kinematics/scripts/kinematics_service.py", line 20, in <module>
from kdl_parser_py.urdf import treeFromUrdfModel
ModuleNotFoundError: No module named 'kdl_parser_py'
starting AccelerationControl.py
starting VelocityControl.py
[rexrov/oberon7/gripper_controller_oberon7-16] process has died [pid 2707994, exit code 1, cmd /home/tim/Research/dave/uuv_ws/devel/lib/uuv_manipulators_control/gripper_controller.py joy:=/rexrov/joy __name:=gripper_controller_oberon7 __log:=/home/tim/.ros/log/5670a816-8642-11ec-b29b-cd2fa65a7644/rexrov-oberon7-gripper_controller_oberon7-16.log].
log file: /home/tim/.ros/log/5670a816-8642-11ec-b29b-cd2fa65a7644/rexrov-oberon7-gripper_controller_oberon7-16*.log
[rexrov/oberon7/kinematics_service-17] process has died [pid 2707996, exit code 1, cmd /home/tim/Research/dave/uuv_ws/devel/lib/uuv_manipulators_kinematics/kinematics_service.py __name:=kinematics_service __log:=/home/tim/.ros/log/5670a816-8642-11ec-b29b-cd2fa65a7644/rexrov-oberon7-kinematics_service-17.log].
log file: /home/tim/.ros/log/5670a816-8642-11ec-b29b-cd2fa65a7644/rexrov-oberon7-kinematics_service-17*.log
[rexrov/oberon7/joint_position_controller_oberon7-18] process has died [pid 2708000, exit code 1, cmd /home/tim/Research/dave/uuv_ws/devel/lib/uuv_manipulators_control/joint_position_controller.py joy:=/rexrov/joy __name:=joint_position_controller_oberon7 __log:=/home/tim/.ros/log/5670a816-8642-11ec-b29b-cd2fa65a7644/rexrov-oberon7-joint_position_controller_oberon7-18.log].
log file: /home/tim/.ros/log/5670a816-8642-11ec-b29b-cd2fa65a7644/rexrov-oberon7-joint_position_controller_oberon7-18*.log
AccelerationControllerNode: initializing node
[[1862. 0. 0. 0. 0. 0. ]
[ 0. 1862. 0. 0. 0. 0. ]
[ 0. 0. 1862. 0. 0. 0. ]
[ 0. 0. 0. 525.39 0. 0. ]
[ 0. 0. 0. 0. 794.2 0. ]
[ 0. 0. 0. 0. 0. 691.23]]
VelocityControllerNode: initializing node
[ INFO] [1644038004.338137376]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1644038004.339438570]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1644038004.448890896]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1644038004.450022807]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
Warning [parser.cc:723] Can not find the XML attribute 'version' in sdf XML tag for model: NED frame. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used
[ INFO] [1644038005.810115578]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1644038005.826538596]: Physics dynamic reconfigure ready.
[INFO] [1644038005.911967, 0.000000]: Calling service /gazebo/spawn_urdf_model
New model being published: heightmap
Position: [0.0, 0.0, -95.0]
Orientation: [0.0, 0.0, 0.0, 1.0]
Scale: [1, 1, 1]
New model being published: seafloor
Position: [0, 0, -100]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
New model being published: north
Position: [1000, 0, -50]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
New model being published: south
Position: [-1000, 0, -50]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
New model being published: west
Position: [0, -1000, -50]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
New model being published: east
Position: [0, 1000, -50]
Orientation: [0, 0, 0, 1]
Scale: [1, 1, 1]
[ INFO] [1644038006.767613769, 0.002000000]: Camera Plugin: Using the 'robotNamespace' param: '/rexrov/'
[ INFO] [1644038006.770914930, 0.002000000]: Camera Plugin (ns = /rexrov/) <tf_prefix_>, set to ""
[ INFO] [1644038006.856910337, 0.002000000]: Camera Plugin: Using the 'robotNamespace' param: '/rexrov/'
[ INFO] [1644038006.858952491, 0.002000000]: Camera Plugin: Using the 'robotNamespace' param: '/rexrov/'
[ INFO] [1644038006.860726960, 0.002000000]: Camera Plugin (ns = /rexrov/) <tf_prefix_>, set to ""
[ INFO] [1644038006.861761442, 0.002000000]: Camera Plugin (ns = /rexrov/) <tf_prefix_>, set to ""
[INFO] [1644038006.891637, 0.002000]: Spawn status: SpawnModel: Successfully spawned entity
[rexrov/urdf_spawner-6] process has finished cleanly
log file: /home/tim/.ros/log/5670a816-8642-11ec-b29b-cd2fa65a7644/rexrov-urdf_spawner-6*.log
Registered HydrodynamicModel type fossen
Registered HydrodynamicModel type sphere
Registered HydrodynamicModel type cylinder
Registered HydrodynamicModel type spheroid
Registered HydrodynamicModel type box
rexrov::rexrov/base_link::added_mass
779.79 -6.8773 -103.32 8.5426 -165.54 -7.8033
-6.8773 1222 51.29 409.44 -5.8488 62.726
-103.32 51.29 3659.9 6.1112 -386.42 10.774
8.5426 409.44 6.1112 534.9 -10.027 21.019
-165.54 -5.8488 -386.42 -10.027 842.69 -1.1162
-7.8033 62.726 10.775 21.019 -1.1162 224.32
rexrov::rexrov/base_link::scaling_added_mass
rexrov::rexrov/base_link::offset_added_mass
rexrov::rexrov/base_link::linear_damping
-74.82 0 0 0 0 0
0 -69.48 0 0 0 0
0 0 -728.4 0 0 0
0 0 0 -268.8 0 0
0 0 0 0 -309.77 0
0 0 0 0 0 -105
rexrov::rexrov/base_link::linear_damping_forward_speed
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::rexrov/base_link::quadratic_damping
-748.22 0 0 0 0 0
0 -992.53 0 0 0 0
0 0 -1821.01 0 0 0
0 0 0 -672 0 0
0 0 0 0 -774.44 0
0 0 0 0 0 -523.27
rexrov::rexrov/base_link::scaling_damping
rexrov::rexrov/base_link::offset_linear_damping
rexrov::rexrov/base_link::offset_lin_forward_speed_damping
rexrov::rexrov/base_link::offset_nonlin_damping
rexrov::rexrov/base_link::volume
1.83826 m^3
rexrov::rexrov/base_link::scaling_volume
rexrov::oberon7/base::added_mass
78.207 0 0 0 0 0
0 22.0612 0 0 0 0
0 0 22.0612 0 0 0
0 0 0 0 0 0
0 0 0 0 0.14629 0
0 0 0 0 0 0.14629
rexrov::oberon7/base::scaling_added_mass
rexrov::oberon7/base::offset_added_mass
rexrov::oberon7/base::linear_damping
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/base::linear_damping_forward_speed
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/base::quadratic_damping
-35.5842 0 0 0 0 0
0 -14.2147 0 0 0 0
0 0 -14.2147 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/base::scaling_damping
rexrov::oberon7/base::offset_linear_damping
rexrov::oberon7/base::offset_lin_forward_speed_damping
rexrov::oberon7/base::offset_nonlin_damping
rexrov::oberon7/base::volume
0.00278846 m^3
rexrov::oberon7/base::scaling_volume
rexrov::oberon7/shoulder_link::added_mass
60.0576 0 0 0 0 0
0 14.3914 0 0 0 0
0 0 14.3914 0 0 0
0 0 0 0 0 0
0 0 0 0 0.0688643 0
0 0 0 0 0 0.0688643
rexrov::oberon7/shoulder_link::scaling_added_mass
rexrov::oberon7/shoulder_link::offset_added_mass
rexrov::oberon7/shoulder_link::linear_damping
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/shoulder_link::linear_damping_forward_speed
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/shoulder_link::quadratic_damping
-27.3262 0 0 0 0 0
0 -10.5816 0 0 0 0
0 0 -10.5816 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/shoulder_link::scaling_damping
rexrov::oberon7/shoulder_link::offset_linear_damping
rexrov::oberon7/shoulder_link::offset_lin_forward_speed_damping
rexrov::oberon7/shoulder_link::offset_nonlin_damping
rexrov::oberon7/shoulder_link::volume
0.0019375 m^3
rexrov::oberon7/shoulder_link::scaling_volume
rexrov::oberon7/upper_arm::added_mass
52.7718 0 0 0 0 0
0 32.5501 0 0 0 0
0 0 32.5501 0 0 0
0 0 0 0 0 0
0 0 0 0 1.03198 0
0 0 0 0 0 1.03198
rexrov::oberon7/upper_arm::scaling_added_mass
rexrov::oberon7/upper_arm::offset_added_mass
rexrov::oberon7/upper_arm::linear_damping
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/upper_arm::linear_damping_forward_speed
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/upper_arm::quadratic_damping
-22.9557 0 0 0 0 0
0 -29.9899 0 0 0 0
0 0 -29.9899 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/upper_arm::scaling_damping
rexrov::oberon7/upper_arm::offset_linear_damping
rexrov::oberon7/upper_arm::offset_lin_forward_speed_damping
rexrov::oberon7/upper_arm::offset_nonlin_damping
rexrov::oberon7/upper_arm::volume
0.00358675 m^3
rexrov::oberon7/upper_arm::scaling_volume
rexrov::oberon7/elbow_link::added_mass
77.7143 0 0 0 0 0
0 19.0643 0 0 0 0
0 0 19.0643 0 0 0
0 0 0 0 0 0
0 0 0 0 0.095604 0
0 0 0 0 0 0.095604
rexrov::oberon7/elbow_link::scaling_added_mass
rexrov::oberon7/elbow_link::offset_added_mass
rexrov::oberon7/elbow_link::linear_damping
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/elbow_link::linear_damping_forward_speed
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/elbow_link::quadratic_damping
-35.36 0 0 0 0 0
0 -12.3226 0 0 0 0
0 0 -12.3226 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/elbow_link::scaling_damping
rexrov::oberon7/elbow_link::offset_linear_damping
rexrov::oberon7/elbow_link::offset_lin_forward_speed_damping
rexrov::oberon7/elbow_link::offset_nonlin_damping
rexrov::oberon7/elbow_link::volume
0.00297287 m^3
rexrov::oberon7/elbow_link::scaling_volume
rexrov::oberon7/forearm::added_mass
74.0816 0 0 0 0 0
0 24.8045 0 0 0 0
0 0 24.8045 0 0 0
0 0 0 0 0 0
0 0 0 0 0.231734 0
0 0 0 0 0 0.231734
rexrov::oberon7/forearm::scaling_added_mass
rexrov::oberon7/forearm::offset_added_mass
rexrov::oberon7/forearm::linear_damping
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/forearm::linear_damping_forward_speed
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/forearm::quadratic_damping
-31.4847 0 0 0 0 0
0 -17.7246 0 0 0 0
0 0 -17.7246 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/forearm::scaling_damping
rexrov::oberon7/forearm::offset_linear_damping
rexrov::oberon7/forearm::offset_lin_forward_speed_damping
rexrov::oberon7/forearm::offset_nonlin_damping
rexrov::oberon7/forearm::volume
0.00246322 m^3
rexrov::oberon7/forearm::scaling_volume
rexrov::oberon7/wrist_link::added_mass
48.6679 0 0 0 0 0
0 10.6682 0 0 0 0
0 0 10.6682 0 0 0
0 0 0 0 0 0
0 0 0 0 0.0427176 0
0 0 0 0 0 0.0427176
rexrov::oberon7/wrist_link::scaling_added_mass
rexrov::oberon7/wrist_link::offset_added_mass
rexrov::oberon7/wrist_link::linear_damping
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/wrist_link::linear_damping_forward_speed
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/wrist_link::quadratic_damping
-22.1439 0 0 0 0 0
0 -8.71369 0 0 0 0
0 0 -8.71369 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
rexrov::oberon7/wrist_link::scaling_damping
rexrov::oberon7/wrist_link::offset_linear_damping
rexrov::oberon7/wrist_link::offset_lin_forward_speed_damping
rexrov::oberon7/wrist_link::offset_nonlin_damping
rexrov::oberon7/wrist_link::volume
0.00112477 m^3
rexrov::oberon7/wrist_link::scaling_volume
Registered ThrusterDynamics type ZeroOrder
Registered ThrusterDynamics type FirstOrder
Registered ThrusterDynamics type Yoerger
Registered ThrusterDynamics type Bessa
Registered ConversionFunction type Basic
Registered ConversionFunction type Bessa
Registered ConversionFunction type LinearInterp
[ INFO] [1644038008.679092632, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/end_effector]
[ INFO] [1644038008.679968591, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/finger_left]
[ INFO] [1644038008.680748913, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/finger_tip_left]
[ INFO] [1644038008.681766874, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/finger_right]
[ INFO] [1644038008.682515247, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/finger_tip_right]
[ INFO] [1644038008.683492914, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/shoulder_link]
[ INFO] [1644038008.684280559, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/upper_arm]
[ INFO] [1644038008.685036406, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/elbow_link]
[ INFO] [1644038008.686868382, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/forearm]
[ INFO] [1644038008.687665886, 0.002000000]: ft_sensor plugin reporting wrench values to the frame [oberon7/wrist_link]
[ INFO] [1644038008.703147417, 0.002000000]: Loading gazebo_ros_control plugin
[ INFO] [1644038008.703245498, 0.002000000]: Starting gazebo_ros_control plugin in namespace: /rexrov
[ INFO] [1644038008.703853752, 0.002000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/rexrov/robot_description] on the ROS param server.
[ INFO] [1644038008.830307486, 0.002000000]: Loaded gazebo_ros_control.
[INFO] [1644038008.898693, 0.052000]: base_link transform NED to ENU=
[[ 1.0000000e+00 0.0000000e+00 0.0000000e+00]
[ 0.0000000e+00 -1.0000000e+00 -1.2246468e-16]
[ 0.0000000e+00 1.2246468e-16 -1.0000000e+00]]
[INFO] [1644038008.900000, 0.052000]: ThrusterManager::update_rate=50
[INFO] [1644038008.904730, 0.054000]: Thruster #0 - proportional - thrusters/0/input
[INFO] [1644038008.905609, 0.056000]: Thruster model:
[INFO] [1644038008.906447, 0.056000]: Gain=0.00031
[INFO] [1644038008.907763, 0.056000]: Thruster #1 - proportional - thrusters/1/input
[INFO] [1644038008.908903, 0.058000]: Thruster model:
[INFO] [1644038008.909425, 0.058000]: Gain=0.00031
[INFO] [1644038008.910577, 0.060000]: Thruster #2 - proportional - thrusters/2/input
[INFO] [1644038008.911698, 0.060000]: Thruster model:
[INFO] [1644038008.913013, 0.062000]: Gain=0.00031
[INFO] [1644038008.914636, 0.064000]: Thruster #3 - proportional - thrusters/3/input
[INFO] [1644038008.915260, 0.064000]: Thruster model:
[INFO] [1644038008.915859, 0.064000]: Gain=0.00031
[INFO] [1644038008.917212, 0.066000]: Thruster #4 - proportional - thrusters/4/input
[INFO] [1644038008.917776, 0.066000]: Thruster model:
[INFO] [1644038008.918946, 0.068000]: Gain=0.00031
[INFO] [1644038008.920156, 0.068000]: Thruster #5 - proportional - thrusters/5/input
[INFO] [1644038008.920855, 0.070000]: Thruster model:
[INFO] [1644038008.921436, 0.070000]: Gain=0.00031
[INFO] [1644038008.922669, 0.072000]: Thruster #6 - proportional - thrusters/6/input
[INFO] [1644038008.923385, 0.072000]: Thruster model:
[INFO] [1644038008.923982, 0.072000]: Gain=0.00031
[INFO] [1644038008.925216, 0.074000]: Thruster #7 - proportional - thrusters/7/input
[INFO] [1644038008.926994, 0.076000]: Thruster model:
[INFO] [1644038008.929080, 0.078000]: Gain=0.00031
[INFO] [1644038008.930799, 0.080000]: Thruster allocation matrix provided!
[INFO] [1644038008.931862, 0.080000]: TAM=
[INFO] [1644038008.933140, 0.082000]: [[ 0.15974269 0.15974269 -0.15974243 -0.15974243 0.70710686 0.70710686
-0.70710654 -0.70710654]
[-0.21361012 0.21361012 -0.21360977 0.21360977 0.7071067 -0.7071067
0.70710702 -0.70710702]
[ 0.9637702 0.9637702 0.96377032 0.96377032 0. 0.
0. 0. ]
[ 0.43523203 -0.43523203 0.43523188 -0.43523188 -0.09121676 0.09121676
-0.09121681 0.09121681]
[ 0.9430935 0.9430935 -0.94309347 -0.94309347 0.09121679 0.09121679
-0.09121674 -0.09121674]
[ 0.13688862 -0.13688862 -0.1368884 0.1368884 -0.64879876 0.64879876
0.64879873 -0.64879873]]
[INFO] [1644038008.935141, 0.084000]: TAM provided, skipping...
[INFO] [1644038008.935870, 0.084000]: ThrusterManager: ready
[INFO] [1644038008.941053, 0.088000]: Invalid output directory for the TAM matrix, dir=None
[INFO] [1644038008.941872, 0.090000]: ThrusterManager: ready
[INFO] [1644038008.956969, 0.104000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1644038008.959304, 0.106000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1644038008.961541, 0.108000]: Loading controller: /rexrov/oberon7/azimuth/controller
[INFO] [1644038008.973615, 0.120000]: Loading controller: /rexrov/oberon7/shoulder/controller
[INFO] [1644038008.978148, 0.124000]: Loading controller: /rexrov/oberon7/elbow/controller
[INFO] [1644038008.983047, 0.128000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1644038008.984082, 0.130000]: Loading controller: /rexrov/oberon7/roll/controller
[INFO] [1644038008.984722, 0.130000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1644038008.986603, 0.132000]: Loading controller: /rexrov/oberon7/finger_left_joint/controller
[INFO] [1644038008.992264, 0.138000]: Loading controller: /rexrov/oberon7/pitch/controller
[INFO] [1644038008.996519, 0.142000]: Loading controller: /rexrov/oberon7/finger_right_joint/controller
[INFO] [1644038009.001009, 0.146000]: Loading controller: /rexrov/oberon7/wrist/controller
[INFO] [1644038009.005168, 0.150000]: Controller Spawner: Loaded controllers: /rexrov/oberon7/finger_left_joint/controller, /rexrov/oberon7/finger_right_joint/controller
[INFO] [1644038009.008849, 0.154000]: Controller Spawner: Loaded controllers: /rexrov/oberon7/azimuth/controller, /rexrov/oberon7/shoulder/controller, /rexrov/oberon7/elbow/controller, /rexrov/oberon7/roll/controller, /rexrov/oberon7/pitch/controller, /rexrov/oberon7/wrist/controller
[INFO] [1644038009.011446, 0.156000]: Started controllers: /rexrov/oberon7/finger_left_joint/controller, /rexrov/oberon7/finger_right_joint/controller
[INFO] [1644038009.013512, 0.158000]: Started controllers: /rexrov/oberon7/azimuth/controller, /rexrov/oberon7/shoulder/controller, /rexrov/oberon7/elbow/controller, /rexrov/oberon7/roll/controller, /rexrov/oberon7/pitch/controller, /rexrov/oberon7/wrist/controller