Error on controller #7
Comments
|
Hi, @songj01. Thanks for opening this issue! I'll look into it and try to reproduce the issue on my machine. Just out of curiosity, did you do:
in your colcon workspace? I ask because this project depends on the |
|
Yes, I ran the code according to your instuction @nicholaspalomo , but I changed the branches of ros2_contols and ros2_controllers from master to foxy since errors happened when I compiled them. |
|
@songj01 Ok. Thanks for the update. I'm looking into it this afternoon! |
|
Hi, @songj01. Sorry for the delay in my reply. I looked into the issue. As a temporary workaround, I forked the ros2_controllers repository and updated the I created a branch here: https://github.com/nicholaspalomo/panda_ros2_gazebo/tree/feature/docker It's still a work in progress. Unfortunately the picknplace and pickninsert examples are still broken. The trajectroy following example and the teleop example are working. I'm also adding a Docker file to the project so that it may be run without having to install the dependencies. Hoping to finish that today. |
|
Thank you @nicholaspalomo |
Hi @nicholaspalomo, when I run the the code using os2 launch panda_ros2_gazebo gazebo.launch.py, some errors happened to me.
[rviz2-3] Warning: Invalid frame ID "panda_leftfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_rightfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_leftfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_rightfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_leftfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_rightfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_leftfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_rightfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_leftfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_rightfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[gzserver-4] [INFO] [1634247856.382329312] [controller_manager]: Loading controller 'joint_state_broadcaster'
[rviz2-3] Warning: Invalid frame ID "panda_leftfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_rightfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[spawner.py-1] [INFO] [1634247856.411890185] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[gzserver-4] [INFO] [1634247856.415473810] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[rviz2-3] Warning: Invalid frame ID "panda_leftfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_link6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "panda_rightfinger" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[spawner.py-1] [INFO] [1634247856.449186747] [spawner_joint_state_broadcaster]: Configured and started joint_state_broadcaster
[spawner.py-8] Set parameter successful
[INFO] [spawner.py-1]: process has finished cleanly [pid 31067]
[spawner.py-7] Set parameter successful
[gzserver-4] [INFO] [1634247856.552132908] [controller_manager]: Loading controller 'joint_state_broadcaster'
[gzserver-4] [ERROR] [1634247856.552626476] [controller_manager]: A controller named 'joint_state_broadcaster' was already loaded inside the controller manager
[ERROR] [spawner.py-8]: process has died [pid 31083, exit code 1, cmd '/home/s0/workspace/install/lib/controller_manager/spawner.py joint_state_broadcaster --controller-type joint_state_broadcaster/JointStateBroadcaster --ros-args -r __ns:=/kinect'].
[gzserver-4] [INFO] [1634247856.627413199] [controller_manager]: Loading controller 'joint_group_position_controller'
[gzserver-4] [ERROR] [1634247856.627489117] [controller_manager]: Available classes:
[gzserver-4] [ERROR] [1634247856.627653453] [controller_manager]: controller_manager/test_controller
[gzserver-4] [ERROR] [1634247856.627713377] [controller_manager]: controller_manager/test_controller_failed_init
[gzserver-4] [ERROR] [1634247856.627759123] [controller_manager]: controller_manager/test_controller_with_interfaces
[gzserver-4] [ERROR] [1634247856.627784825] [controller_manager]: diff_drive_controller/DiffDriveController
[gzserver-4] [ERROR] [1634247856.627818698] [controller_manager]: effort_controllers/GripperActionController
[gzserver-4] [ERROR] [1634247856.627844190] [controller_manager]: effort_controllers/JointGroupEffortController
[gzserver-4] [ERROR] [1634247856.627868984] [controller_manager]: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
[gzserver-4] [ERROR] [1634247856.627893079] [controller_manager]: forward_command_controller/ForwardCommandController
[gzserver-4] [ERROR] [1634247856.627915707] [controller_manager]: imu_sensor_broadcaster/IMUSensorBroadcaster
[gzserver-4] [ERROR] [1634247856.627938057] [controller_manager]: joint_state_broadcaster/JointStateBroadcaster
[gzserver-4] [ERROR] [1634247856.627961593] [controller_manager]: joint_state_controller/JointStateController
[gzserver-4] [ERROR] [1634247856.627983872] [controller_manager]: joint_trajectory_controller/JointTrajectoryController
[gzserver-4] [ERROR] [1634247856.628005942] [controller_manager]: position_controllers/GripperActionController
[gzserver-4] [ERROR] [1634247856.628028012] [controller_manager]: position_controllers/JointGroupPositionController
[gzserver-4] [ERROR] [1634247856.628050641] [controller_manager]: velocity_controllers/JointGroupVelocityController
[gzserver-4] [ERROR] [1634247856.628076412] [controller_manager]: Loader for controller 'joint_group_position_controller' not found.
[ERROR] [spawner.py-7]: process has died [pid 31081, exit code 1, cmd '/home/s0/workspace/install/lib/controller_manager/spawner.py joint_group_position_controller --param-file /home/s0/workspace/install/share/panda_ros2_gazebo/config/ros_control.yaml --controller-type effort_controllers/JointGroupPositionController --ros-args'].
The text was updated successfully, but these errors were encountered: