ouxt-polaris / robotx_packages

ROS packages for Maritime RobotX Challenge

robotx_packages

ROS packages for Maritime RobotX Challenge 2018. This packages include Simulation,Remote Viewer, Control System, etc...

master	develop

Installation

1. Create catkinized workspace.

2. Clone this repository.

$ cd <catkin_ws>/src
$ git clone https://github.com/OUXT-Polaris/robotx_packages.git

3. Download depended packages by rosdep.

$ cd <catkin_ws>
$ rosdep install -i -r -y --from-paths src --rosdistro kinetic

4. Build packages, and set the path for the packages.

$ cd <catkin_ws>
$ catkin_make
$ source devel/setup.bash

how to launch

Simulation

roslaunch robotx_gazebo robotx_gazebo.launch

branch model

/master

branch for competitions (all nodes should be work completely)

/devel

branch for development (include under developing nodes)

/devel/feature/(feature_name)

branch for developing each feature

/devel/fix/(bug_name)

branch for fixing each bug

/devel/feature/(feature_name) and /devel/fix/(bug_name) feature branch merged to /master branch

robotx_packages's Issues

/wam_v/joint_stateが出力されない

Fill-out only one section depending on whether you are reporting a bug or a new feature.

Bug

Expected Behavior

/wam_v/joint_stateに現在のjoint_stateがPublishされるはず

Actual Behavior

/wam_v/joint_stateに何もPublishされていない

Steps to Reproduce the Problem

1.roslaunch robotx_gazebo_plugins wam_v.launch

Specifications

• Ubuntu version:16.04
• ROS Version: Kinetic
• Branch:master

cppのコンパイルでcmakeが止まる

Bug

Actual Behavior

awsのubuntu 16コンテナ内で実行しようとしたが、rosインストールしただけだとcppのコンパイルでスタックしてしまう。
実行時のログ:

ubuntu@ip-172-31-35-83:~/ouxt$ catkin_make
Base path: /home/ubuntu/ouxt
Source space: /home/ubuntu/ouxt/src
Build space: /home/ubuntu/ouxt/build
Devel space: /home/ubuntu/ouxt/devel
Install space: /home/ubuntu/ouxt/install
####
#### Running command: "cmake /home/ubuntu/ouxt/src -DCATKIN_DEVEL_PREFIX=/home/ubuntu/ouxt/devel -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ouxt/install -G Unix Makefiles" in "/home/ubuntu/ouxt/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/ubuntu/ouxt/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ubuntu/ouxt/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- BUILD_SHARED_LIBS is on
WARNING: package "robotx_gazebo" should not depend on metapackage "ros_controllers" but on its packages instead
WARNING: package "robotx_gazebo" should not depend on metapackage "ros_control" but on its packages instead
WARNING: package "robotx_navigation" should not depend on metapackage "navigation" but on its packages instead
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 7 packages in topological order:
-- ~~  - robotx_msgs
-- ~~  - robotx_driver
-- ~~  - robotx_recognition
-- ~~  - robotx_tools
-- ~~  - wamv_description
-- ~~  - robotx_navigation
-- ~~  - robotx_gazebo
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'robotx_msgs'
-- ==> add_subdirectory(robotx_packages/robotx_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- robotx_msgs: 10 messages, 0 services
-- +++ processing catkin package: 'robotx_driver'
-- ==> add_subdirectory(robotx_packages/robotx_driver)
-- Could NOT find Doxygen (missing:  DOXYGEN_EXECUTABLE)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   system
--   chrono
--   date_time
--   atomic
CUDA_TOOLKIT_ROOT_DIR not found or specified
-- Could NOT find CUDA (missing:  CUDA_TOOLKIT_ROOT_DIR CUDA_NVCC_EXECUTABLE CUDA_INCLUDE_DIRS CUDA_CUDART_LIBRARY)
--
-- FoundCUDA              : FALSE
-- +++ processing catkin package: 'robotx_recognition'
-- ==> add_subdirectory(robotx_packages/robotx_recognition)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   chrono
--   date_time
--   atomic
-- Try OpenMP C flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: -fopenmp
-- Found OpenCV: /opt/ros/kinetic (found version "3.3.1")
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'Eigen3' but neither 'Eigen3_INCLUDE_DIRS' nor
  'Eigen3_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  robotx_packages/robotx_recognition/CMakeLists.txt:43 (catkin_package)


-- +++ processing catkin package: 'robotx_tools'
-- ==> add_subdirectory(robotx_packages/robotx_tools)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython2.7.so (found version "2.7.12")
-- robotx_tools: 0 messages, 1 services
-- Using Qt5 based on the rviz_QT_VERSION: 5.5.1
-- +++ processing catkin package: 'wamv_description'
-- ==> add_subdirectory(robotx_packages/wamv_description)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'robotx_navigation'
-- ==> add_subdirectory(robotx_packages/robotx_navigation)
-- Could NOT find Doxygen (missing:  DOXYGEN_EXECUTABLE)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'robotx_gazebo'
-- ==> add_subdirectory(robotx_packages/robotx_gazebo)
-- Could NOT find Doxygen (missing:  DOXYGEN_EXECUTABLE)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   signals
--   system
--   filesystem
--   program_options
--   regex
--   iostreams
--   date_time
--   chrono
--   atomic
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so
-- Boost version: 1.58.0
-- Looking for OGRE...
-- OGRE_PREFIX_WATCH changed.
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Configuring done
CMake Warning (dev) at robotx_packages/robotx_gazebo/CMakeLists.txt:82 (add_dependencies):
  Policy CMP0046 is not set: Error on non-existent dependency in
  add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  The dependency target "robotx_msgs" of target "usv_gazebo_thrust_plugin"
  does not exist.
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Generating done
-- Build files have been written to: /home/ubuntu/ouxt/build
####
#### Running command: "make -j1 -l1" in "/home/ubuntu/ouxt/build"
####
Scanning dependencies of target jsk_recognition_msgs_generate_messages_cpp
[  0%] Built target jsk_recognition_msgs_generate_messages_cpp
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_TechnicalDirectorNetworkStatus
[  0%] Built target _robotx_msgs_generate_messages_check_deps_TechnicalDirectorNetworkStatus
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_RegionOfInterest2DArray
[  0%] Built target _robotx_msgs_generate_messages_check_deps_RegionOfInterest2DArray
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_GeographicPoint
[  0%] Built target _robotx_msgs_generate_messages_check_deps_GeographicPoint
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_RegionOfInterest2D
[  0%] Built target _robotx_msgs_generate_messages_check_deps_RegionOfInterest2D
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_ObjectRegionOfInterestArray
[  0%] Built target _robotx_msgs_generate_messages_check_deps_ObjectRegionOfInterestArray
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_ObjectRegionOfInterest
[  0%] Built target _robotx_msgs_generate_messages_check_deps_ObjectRegionOfInterest
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_Heartbeat
[  0%] Built target _robotx_msgs_generate_messages_check_deps_Heartbeat
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_GeographicMap
[  0%] Built target _robotx_msgs_generate_messages_check_deps_GeographicMap
Scanning dependencies of target sensor_msgs_generate_messages_cpp
[  0%] Built target sensor_msgs_generate_messages_cpp
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_GeographicLine
[  0%] Built target _robotx_msgs_generate_messages_check_deps_GeographicLine
Scanning dependencies of target _robotx_msgs_generate_messages_check_deps_UsvDrive
[  0%] Built target _robotx_msgs_generate_messages_check_deps_UsvDrive
Scanning dependencies of target geographic_msgs_generate_messages_cpp
[  0%] Built target geographic_msgs_generate_messages_cpp
Scanning dependencies of target geometry_msgs_generate_messages_cpp
[  0%] Built target geometry_msgs_generate_messages_cpp
Scanning dependencies of target std_msgs_generate_messages_cpp
[  0%] Built target std_msgs_generate_messages_cpp
Scanning dependencies of target robotx_msgs_generate_messages_cpp
[  1%] Generating C++ code from robotx_msgs/GeographicLine.msg
[  1%] Generating C++ code from robotx_msgs/ObjectRegionOfInterest.msg
[  2%] Generating C++ code from robotx_msgs/ObjectRegionOfInterestArray.msg
[  3%] Generating C++ code from robotx_msgs/UsvDrive.msg
[  3%] Generating C++ code from robotx_msgs/RegionOfInterest2D.msg
[  4%] Generating C++ code from robotx_msgs/RegionOfInterest2DArray.msg
[  5%] Generating C++ code from robotx_msgs/TechnicalDirectorNetworkStatus.msg
[  5%] Generating C++ code from robotx_msgs/GeographicPoint.msg
[  6%] Generating C++ code from robotx_msgs/Heartbeat.msg
[  7%] Generating C++ code from robotx_msgs/GeographicMap.msg
[  7%] Built target robotx_msgs_generate_messages_cpp
Scanning dependencies of target jsk_recognition_msgs_generate_messages_py
[  7%] Built target jsk_recognition_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_py
[  7%] Built target std_msgs_generate_messages_py
Scanning dependencies of target geographic_msgs_generate_messages_py
[  7%] Built target geographic_msgs_generate_messages_py
Scanning dependencies of target geometry_msgs_generate_messages_py
[  7%] Built target geometry_msgs_generate_messages_py
Scanning dependencies of target sensor_msgs_generate_messages_py
[  7%] Built target sensor_msgs_generate_messages_py
Scanning dependencies of target robotx_msgs_generate_messages_py
[  7%] Generating Python from MSG robotx_msgs/GeographicLine
[  8%] Generating Python from MSG robotx_msgs/ObjectRegionOfInterest
[  9%] Generating Python from MSG robotx_msgs/ObjectRegionOfInterestArray
[  9%] Generating Python from MSG robotx_msgs/UsvDrive
[ 10%] Generating Python from MSG robotx_msgs/RegionOfInterest2D
[ 11%] Generating Python from MSG robotx_msgs/RegionOfInterest2DArray
[ 11%] Generating Python from MSG robotx_msgs/TechnicalDirectorNetworkStatus
[ 12%] Generating Python from MSG robotx_msgs/GeographicPoint
[ 13%] Generating Python from MSG robotx_msgs/Heartbeat
[ 13%] Generating Python from MSG robotx_msgs/GeographicMap
[ 15%] Generating Python msg __init__.py for robotx_msgs
[ 15%] Built target robotx_msgs_generate_messages_py
Scanning dependencies of target jsk_recognition_msgs_generate_messages_eus
[ 15%] Built target jsk_recognition_msgs_generate_messages_eus
Scanning dependencies of target geographic_msgs_generate_messages_eus
[ 15%] Built target geographic_msgs_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_eus
[ 15%] Built target std_msgs_generate_messages_eus
Scanning dependencies of target geometry_msgs_generate_messages_eus
[ 15%] Built target geometry_msgs_generate_messages_eus
Scanning dependencies of target sensor_msgs_generate_messages_eus
[ 15%] Built target sensor_msgs_generate_messages_eus
Scanning dependencies of target robotx_msgs_generate_messages_eus
[ 15%] Generating EusLisp code from robotx_msgs/GeographicLine.msg
[ 16%] Generating EusLisp code from robotx_msgs/ObjectRegionOfInterest.msg
[ 17%] Generating EusLisp code from robotx_msgs/ObjectRegionOfInterestArray.msg
[ 17%] Generating EusLisp code from robotx_msgs/UsvDrive.msg
[ 18%] Generating EusLisp code from robotx_msgs/RegionOfInterest2D.msg
[ 19%] Generating EusLisp code from robotx_msgs/RegionOfInterest2DArray.msg
[ 19%] Generating EusLisp code from robotx_msgs/TechnicalDirectorNetworkStatus.msg
[ 20%] Generating EusLisp code from robotx_msgs/GeographicPoint.msg
[ 21%] Generating EusLisp code from robotx_msgs/Heartbeat.msg
[ 21%] Generating EusLisp code from robotx_msgs/GeographicMap.msg
[ 22%] Generating EusLisp manifest code for robotx_msgs
[ 22%] Built target robotx_msgs_generate_messages_eus
Scanning dependencies of target jsk_recognition_msgs_generate_messages_nodejs
[ 22%] Built target jsk_recognition_msgs_generate_messages_nodejs
Scanning dependencies of target geographic_msgs_generate_messages_nodejs
[ 22%] Built target geographic_msgs_generate_messages_nodejs
Scanning dependencies of target geometry_msgs_generate_messages_nodejs
[ 22%] Built target geometry_msgs_generate_messages_nodejs
Scanning dependencies of target sensor_msgs_generate_messages_nodejs
[ 22%] Built target sensor_msgs_generate_messages_nodejs
Scanning dependencies of target std_msgs_generate_messages_nodejs
[ 22%] Built target std_msgs_generate_messages_nodejs
Scanning dependencies of target robotx_msgs_generate_messages_nodejs
[ 22%] Generating Javascript code from robotx_msgs/GeographicLine.msg
[ 23%] Generating Javascript code from robotx_msgs/ObjectRegionOfInterest.msg
[ 24%] Generating Javascript code from robotx_msgs/ObjectRegionOfInterestArray.msg
[ 24%] Generating Javascript code from robotx_msgs/UsvDrive.msg
[ 25%] Generating Javascript code from robotx_msgs/RegionOfInterest2D.msg
[ 26%] Generating Javascript code from robotx_msgs/RegionOfInterest2DArray.msg
[ 27%] Generating Javascript code from robotx_msgs/TechnicalDirectorNetworkStatus.msg
[ 27%] Generating Javascript code from robotx_msgs/GeographicPoint.msg
[ 29%] Generating Javascript code from robotx_msgs/Heartbeat.msg
[ 30%] Generating Javascript code from robotx_msgs/GeographicMap.msg
[ 30%] Built target robotx_msgs_generate_messages_nodejs
Scanning dependencies of target geometry_msgs_generate_messages_lisp
[ 30%] Built target geometry_msgs_generate_messages_lisp
Scanning dependencies of target geographic_msgs_generate_messages_lisp
[ 30%] Built target geographic_msgs_generate_messages_lisp
Scanning dependencies of target jsk_recognition_msgs_generate_messages_lisp
[ 30%] Built target jsk_recognition_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_lisp
[ 30%] Built target std_msgs_generate_messages_lisp
Scanning dependencies of target sensor_msgs_generate_messages_lisp
[ 30%] Built target sensor_msgs_generate_messages_lisp
Scanning dependencies of target robotx_msgs_generate_messages_lisp
[ 31%] Generating Lisp code from robotx_msgs/GeographicLine.msg
[ 31%] Generating Lisp code from robotx_msgs/ObjectRegionOfInterest.msg
[ 32%] Generating Lisp code from robotx_msgs/ObjectRegionOfInterestArray.msg
[ 33%] Generating Lisp code from robotx_msgs/UsvDrive.msg
[ 33%] Generating Lisp code from robotx_msgs/RegionOfInterest2D.msg
[ 34%] Generating Lisp code from robotx_msgs/RegionOfInterest2DArray.msg
[ 35%] Generating Lisp code from robotx_msgs/TechnicalDirectorNetworkStatus.msg
[ 35%] Generating Lisp code from robotx_msgs/GeographicPoint.msg
[ 36%] Generating Lisp code from robotx_msgs/Heartbeat.msg
[ 37%] Generating Lisp code from robotx_msgs/GeographicMap.msg
[ 37%] Built target robotx_msgs_generate_messages_lisp
Scanning dependencies of target robotx_msgs_generate_messages
[ 37%] Built target robotx_msgs_generate_messages
Scanning dependencies of target heartbeat_publisher_node
[ 38%] Building CXX object robotx_packages/robotx_driver/CMakeFiles/heartbeat_publisher_node.dir/src/heartbeat_publisher_node.cpp.o
[ 39%] Building CXX object robotx_packages/robotx_driver/CMakeFiles/heartbeat_publisher_node.dir/src/heartbeat_publisher.cpp.o
[ 39%] Building CXX object robotx_packages/robotx_driver/CMakeFiles/heartbeat_publisher_node.dir/src/tcp_client.cpp.o
[ 40%] Linking CXX executable /home/ubuntu/ouxt/devel/lib/robotx_driver/heartbeat_publisher_node
[ 40%] Built target heartbeat_publisher_node
Scanning dependencies of target robotx_hardware_interface_node
[ 40%] Building CXX object robotx_packages/robotx_driver/CMakeFiles/robotx_hardware_interface_node.dir/src/robotx_hardware_interface_node.cpp.o
[ 41%] Building CXX object robotx_packages/robotx_driver/CMakeFiles/robotx_hardware_interface_node.dir/src/robotx_hardware_interface.cpp.o
[ 43%] Building CXX object robotx_packages/robotx_driver/CMakeFiles/robotx_hardware_interface_node.dir/src/tcp_client.cpp.o
[ 43%] Building CXX object robotx_packages/robotx_driver/CMakeFiles/robotx_hardware_interface_node.dir/src/remote_operated_interface.cpp.o
[ 44%] Linking CXX executable /home/ubuntu/ouxt/devel/lib/robotx_driver/robotx_hardware_interface_node
[ 44%] Built target robotx_hardware_interface_node
Scanning dependencies of target passthrough_filter_nodelet
[ 44%] Building CXX object robotx_packages/robotx_recognition/CMakeFiles/passthrough_filter_nodelet.dir/src/passthrough_filter_nodelet.cpp.o
[ 45%] Building CXX object robotx_packages/robotx_recognition/CMakeFiles/passthrough_filter_nodelet.dir/src/passthrough_filter.cpp.o

stuck at the last line.

Steps to Reproduce the Problem

1. install ros-kinetic-desktop-full (follow http://wiki.ros.org/kinetic/Installation/Ubuntu)
2. ros-dep and catkin_make (follow README)
   under this structure:

ubuntu@ip-172-31-35-83:~/ouxt$ tree -d
.
├── build
├── devel
└── src
    └── robotx_packages
        ├── Doxygen
        │   └── images
        ├── Format
        ├── LICENCE
        ├── robotx_driver
        │   ├── config
        │   ├── include
        │   ├── launch
...
96 directories

Specifications

• Ubuntu version: 16.08
• ROS Version: kinetic
• Branch: master

New Feature

[Bug] gazebo runtime error

gazebo was died with segmentation fault.

log file: /home/masaya-tier4/.ros/log/8b1abb58-c4b5-11e8-9db5-9cb6d0b9d9b1/spawn_model-4*.log
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 14493, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/masaya-tier4/catkin_ws/devel/share/robotx_gazebo/worlds/example_course.world __name:=gazebo __log:=/home/masaya-tier4/.ros/log/8b1abb58-c4b5-11e8-9db5-9cb6d0b9d9b1/gazebo-2.log].
log file: /home/masaya-tier4/.ros/log/8b1abb58-c4b5-11e8-9db5-9cb6d0b9d9b1/gazebo-2*.log

Bug

Expected

gazebo succeed launch

Actual

gazebo was died

timeoutが表示される。 (robotx_driver)

Fill-out only one section depending on whether you are reporting a bug or a new feature.

Bug

Expected Behavior

timeoutの表示が出ないはず。

Actual Behavior

timeoutの表示が出てくる。

Steps to Reproduce the Problem

1.roslaunch robotx_driver simulation.launch

Specifications

• Ubuntu version: 16.04
• ROS Version: kinetic
• Branch: master

Forecast

• モータドライバ側から何か信号を送信しなければ行けない

• モータドライバを両方のスラスターの分接続していないため、片方の接続を待ってしまう。

ball launcher plugin does not load.

Bug

Expected Behavior

I made ball launcher plugin and it call ROS_ERROR_STREAM("Debug message") in every gazebo loop.
But, it seems that the plugin does not load.
However, I attached this plugin to the link in XACRO file.(ball_launcher.urdf.xacro)

    <link name="ball_launcher_pitch_link">
      <!-- Inertial -->
      <inertial name="ball_launcher_base">
        <origin xyz="0 0 0"/>
        <xacro:box_inertial mass="0.1" height="0.2" width="0.2" depth="0.2"/>
      </inertial>
      <!-- Visual -->
      <visual>
        <geometry>
          <cylinder length="0.2" radius="0.05"/>
        </geometry>
        <origin rpy="0 ${pi/2} 0" xyz="0 0 0"/>
        <material name="gray"/>
      </visual>
      <plugin name="libball_launcher_plugin" filename="libball_launcher_plugin.so"/>
    </link>

Actual Behavior

print ("TEST") in every week.

Steps to Reproduce the Problem

1. catkin_make
2. roslaunch robotx_gazebo robotx_gazebo.launch

Specifications

• Ubuntu version:16.04
• ROS Version:kinetic
• Branch:devel/feature/ball_launcher

[technical_network_bridge_node-22] process has died

Hello when Iaunch roslaunch robotx_gazebo robotx_gazebo.launch,there is a bug

process[tf_monitor-21]: started with pid [23319]
process[technical_network_bridge_node-22]: started with pid [23378]
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::system::system_error >'
what(): resolve: Host not found (authoritative)
[technical_network_bridge_node-22] process has died [pid 23378, exit code -6, cmd /home/qyc/catkin3_ws/devel/lib/robotx_driver/technical_network_bridge_node __name:=technical_network_bridge_node __log:=/home/qyc/.ros/log/8cb689f6-a0e1-11ea-b70f-000c2901576d/technical_network_bridge_node-22.log].
log file: /home/qyc/.ros/log/8cb689f6-a0e1-11ea-b70f-000c2901576d/technical_network_bridge_node-22*.log
[technical_network_bridge_node-22] restarting process

Could you tell me how to fix it ?
thanks

robotx_driverのタイムアウトが短いと接続が開始されない

Fill-out only one section depending on whether you are reporting a bug or a new feature.

Bug

Expected Behavior

タイムアウトの時間に影響されずに接続される。

Actual Behavior

モータドライバ側のタイムアウトが短いと接続を開始する前に
モータドライバにコネクションを閉じられてしまう。

Steps to Reproduce the Problem

1.roslaunch robotx_driver simulation.launch

Specifications

• Ubuntu version: 16.04
• ROS Version: kinetic
• Branch: master

Forecast

• モータドライバを両方のスラスターの分接続していないため、片方の接続を待ってしまう。

ball launcher plugin does not loaded

Fill-out only one section depending on whether you are reporting a bug or a new feature.

Bug

Expected Behavior

ball launcher plugin loaded and spawn ball launcher in gazebo.

Actual Behavior

ball launcher does not spawn in gazebo.

Specifications

• Ubuntu version:16.04
• ROS Version:Kinetic
• Branch:fix/ball_launcher