Unable to launch UR5 in Gazebo

[rkeatin3]

When I attempt to launch the UR5 in simulation using roslaunch ur_gazebo ur5.launch, I get the following output:

... logging to /home/rkeatin3/.ros/log/2dab18f6-4fd8-11e4-ac1c-20c9d0458b1b/roslaunch-Linux-7560.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Linux:36189/

SUMMARY
========

PARAMETERS
 * /arm_controller/action_monitor_rate
 * /arm_controller/constraints/elbow_joint/goal
 * /arm_controller/constraints/elbow_joint/trajectory
 * /arm_controller/constraints/goal_time
 * /arm_controller/constraints/shoulder_lift_joint/goal
 * /arm_controller/constraints/shoulder_lift_joint/trajectory
 * /arm_controller/constraints/shoulder_pan_joint/goal
 * /arm_controller/constraints/shoulder_pan_joint/trajectory
 * /arm_controller/constraints/stopped_velocity_tolerance
 * /arm_controller/constraints/wrist_1_joint/goal
 * /arm_controller/constraints/wrist_1_joint/trajectory
 * /arm_controller/constraints/wrist_2_joint/goal
 * /arm_controller/constraints/wrist_2_joint/trajectory
 * /arm_controller/constraints/wrist_3_joint/goal
 * /arm_controller/constraints/wrist_3_joint/trajectory
 * /arm_controller/gains/elbow_joint/d
 * /arm_controller/gains/elbow_joint/i
 * /arm_controller/gains/elbow_joint/i_clamp
 * /arm_controller/gains/elbow_joint/i_clamp_max
 * /arm_controller/gains/elbow_joint/i_clamp_min
 * /arm_controller/gains/elbow_joint/p
 * /arm_controller/gains/shoulder_lift_joint/d
 * /arm_controller/gains/shoulder_lift_joint/i
 * /arm_controller/gains/shoulder_lift_joint/i_clamp
 * /arm_controller/gains/shoulder_lift_joint/i_clamp_max
 * /arm_controller/gains/shoulder_lift_joint/i_clamp_min
 * /arm_controller/gains/shoulder_lift_joint/p
 * /arm_controller/gains/shoulder_pan_joint/d
 * /arm_controller/gains/shoulder_pan_joint/i
 * /arm_controller/gains/shoulder_pan_joint/i_clamp
 * /arm_controller/gains/shoulder_pan_joint/i_clamp_max
 * /arm_controller/gains/shoulder_pan_joint/i_clamp_min
 * /arm_controller/gains/shoulder_pan_joint/p
 * /arm_controller/gains/wrist_1_joint/d
 * /arm_controller/gains/wrist_1_joint/i
 * /arm_controller/gains/wrist_1_joint/i_clamp
 * /arm_controller/gains/wrist_1_joint/i_clamp_max
 * /arm_controller/gains/wrist_1_joint/i_clamp_min
 * /arm_controller/gains/wrist_1_joint/p
 * /arm_controller/gains/wrist_2_joint/d
 * /arm_controller/gains/wrist_2_joint/i
 * /arm_controller/gains/wrist_2_joint/i_clamp
 * /arm_controller/gains/wrist_2_joint/i_clamp_max
 * /arm_controller/gains/wrist_2_joint/i_clamp_min
 * /arm_controller/gains/wrist_2_joint/p
 * /arm_controller/gains/wrist_3_joint/d
 * /arm_controller/gains/wrist_3_joint/i
 * /arm_controller/gains/wrist_3_joint/i_clamp
 * /arm_controller/gains/wrist_3_joint/i_clamp_max
 * /arm_controller/gains/wrist_3_joint/i_clamp_min
 * /arm_controller/gains/wrist_3_joint/p
 * /arm_controller/joints
 * /arm_controller/state_publish_rate
 * /arm_controller/stop_trajectory_duration
 * /arm_controller/topic
 * /arm_controller/type
 * /robot_description
 * /robot_state_publisher/publish_frequency
 * /robot_state_publisher/tf_prefix
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    arm_controller_spawner (controller_manager/spawner)
    fake_joint_calibration (rostopic/rostopic)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    pr2_mechanism_diagnostics (pr2_mechanism_diagnostics/pr2_mechanism_diagnostics)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [7577]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2dab18f6-4fd8-11e4-ac1c-20c9d0458b1b
process[rosout-1]: started with pid [7590]
started core service [/rosout]
process[gazebo-2]: started with pid [7604]
process[gazebo_gui-3]: started with pid [7610]
process[spawn_gazebo_model-4]: started with pid [7618]
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[robot_state_publisher-5]: started with pid [7623]
ERROR: cannot launch node of type [pr2_mechanism_diagnostics/pr2_mechanism_diagnostics]: pr2_mechanism_diagnostics
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/rkeatin3/summer_ws/src
ROS path [2]=/opt/ros/hydro/share
ROS path [3]=/opt/ros/hydro/stacks
Msg Waiting for master.process[fake_joint_calibration-7]: started with pid [7647]
[ INFO] [1412875063.925844113]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master[ INFO] [1412875063.926461046]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.195.29.209
spawn_model script started
process[arm_controller_spawner-8]: started with pid [7675]
[INFO] [WallTime: 1412875064.110701] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1412875064.113569] [0.000000] Waiting for service /gazebo/spawn_urdf_model

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.195.29.209
[ INFO] [1412875064.872367700, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1412875064.903141968, 0.052000000]: Physics dynamic reconfigure ready.
[INFO] [WallTime: 1412875065.019949] [0.164000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1412875065.384154] [0.479000] Spawn status: SpawnModel: Successfully spawned model
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/rkeatin3/.ros/log/2dab18f6-4fd8-11e4-ac1c-20c9d0458b1b/spawn_gazebo_model-4*.log
[ INFO] [1412875066.450955059, 0.479000000]: Loading gazebo_ros_control plugin
[ INFO] [1412875066.451059153, 0.479000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1412875066.453098072, 0.479000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1412875066.644475297, 0.479000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1412875066.647100869, 0.479000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1412875066.649379250, 0.479000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1412875066.651450027, 0.479000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1412875066.653913793, 0.479000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1412875066.656275676, 0.479000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
[ INFO] [1412875066.696648859, 0.479000000]: Loaded gazebo_ros_control.
[ERROR] [1412875066.839900163, 0.615000000]: Could not find joint 'shoulder_pan_joint' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1412875066.840193506, 0.615000000]: Failed to initialize the controller
[ERROR] [1412875066.840383621, 0.615000000]: Initializing controller 'arm_controller' failed
[ERROR] [WallTime: 1412875067.841375] [1.610000] Failed to load arm_controller

[gavanderhoorn]

See also Cannot launch UR5 simulation in gazebo on ROS Answers.

[fmessmer]

Are you using debs or sources?

If you use sources, you are missing some dependencies. Please run:
cd ~/summer_ws && rosdep install from-paths src -i -y

Hope that helps!

[rkeatin3]

I am using debs.

[fmessmer]

There have been a lot of changes since the last release!
The dependency to pr2_mechanism_diagnostics is not defined in hydro branch (which contaims the latest release)

I suggest you use hydro-devel branch from source!

[shaun-edwards]

Does this mean the debs version is broken? It should work, dependencies
and all, out of the box. I know how hard this is to get right. Sometimes
feedback from users is the only way to tell if these things are broken.

On Thu, Oct 9, 2014 at 12:57 PM, Felix Messmer notifications@github.com
wrote:

There have been a lot of changes since the last release!
The dependency to pr2_mechanism_diagnostics is not defined in hydro branch
(which contaims the lateat release)

I suggest you use hydro-devel branch from source!

—
Reply to this email directly or view it on GitHub
#120 (comment)
.

[fmessmer]

Debs are not broken, they just don't specify all the required dependencies.
A re-release should fix it - as it is already fixed on the hydro-devel branch.

[gavanderhoorn]

Debs are not broken, they just don't specify all the required dependencies.

So if one of the reasons for using debs is so we can rely on the dependency resolution of the package manager, then the currently released debs are (at least partly) broken, wouldn't you say ;)?

From a fresh install this week using the Hydro debs I had to install the following additional packages to get the tutorial on the ur_gazebo wiki (http://wiki.ros.org/ur_gazebo) to launch:

pr2-mechanism-diagnostics
ros-control
ros-controllers

[gavanderhoorn]

Thanks @Hemes: as @ipa-fxm wrote earlier, the hydro-devel branch should contain the necessary updates to the package manifest. A new release should fix this.

Edit: I've added a temporary warning to the wiki page about this.

[fmessmer]

A new release will be triggered as soon as #128 is accepted...as it fixes major issues wrt MoveIt!

[gavanderhoorn]

On 23-10-2014 9:01, Felix Messmer wrote:

A new release will be triggered as soon as #128 is accepted...as it fixes major issues wrt MoveIt!

For future cases where pkgs are missing a dependency declaration:
perhaps it would be better to fix those in a patch-release, immediately
after they are discovered / reported.

The current debs cannot be used without manually installing additional
dependencies, and the fix for that (updated manifest) is now part of a
bunch of unrelated changes that have to first all be reviewed before
they are merged and then released.

A single change to the manifest would quickly be vetted, and a
patch-release would follow quickly. Any further changes or fixes could
then be reviewed without any 'pressure'.

[fmessmer]

New releases triggered (see here)...waiting for next sync...

[fmessmer]

I guess with the latest releases (1.0.5-0), things should work again...
Can we close this issue? @rkeatin3 @Hemes

[abubeck]

With the last release this should be solved.