Robot model status error

Problem with «RobotModel» in Rviz #38

I just execute the examples in your tutorial without any change. But all examples, except the 1st one, have such a problem «no transform from [] to []» as shown in the following figure.

However, when I add «RobotState», it is alright, like this.

So could you help me solve the above problem?

The text was updated successfully, but these errors were encountered:

The provided rviz configuration uses /base_link as the root frame, rather than /map which is the default. If you change the global fixed frame to base_link it will resemble the RobotState.

The global fixed frame was just /base_link. The «StateModel» had many «transform» errors

Seems like you might be out of sync with the different steps of the tutorial, as if robot_state_publisher was seeing the previous version of the URDF. It doesn’t automatically reload when the parameter changes.

Hmmm i am having a very similar issue, where i get an transform error on a seemingly correct urdf (meaning e.g. i have a first link, then a follow_up joint which specifies the child link of that fist link and the chain continues like this). Now I expected that, when the first link is published to rviz, that then the chain would be processed, and therefore all links displayed. However this is the output:

The loaded launchfile loads the robot model like this:

I would expect these lines of code to load the .urdf description (which is correctly written, copied out of the tutorial) and publish the joints to /joint_states from where it goes to /tf and results in the display of the links.

I am pretty new to this so maybe i got something wrong. I can only tell that the joints never arrive at /tf or /tf_static, so i am guessing that something is missing, but i don’t know what and can’t seem to find anything.

Источник

Turtlebot 3 Rviz No transform from [wheel_left_link] to [base_footprint] #246

ISSUE TEMPLATE ver. 0.1.0

Which TurtleBot3 you have?

Which SBC(Single Board Computer) is working on TurtleBot3?

• Raspberry Pi 3
• Intel Joule 570x
• etc (PLEASE, WRITE DOWN YOUR SBC HERE)

Which OS you installed in SBC?

• Ubuntu MATE 16.04 or later
• Raspbian
• etc (PLEASE, WRITE DOWN YOUR OS)

Which OS you installed in Remote PC?

• Ubuntu 16.04 LTS (Xenial Xerus)
• Ubuntu 18.04 LTS (Bionic Beaver)
• Linux Mint 18.x
• etc (PLEASE, WRITE DOWN YOUR OS)

Write down software version and firmware version

• Software version: [1.12.13]
• Firmware version: [1.2.0]

Write down the commands you used in order

[Remote PC] roscore
[SBC] roslaunch turtlebot3_bringup turtlebot3_robot.launch
[Remote PC] $ export TURTLEBOT3_MODEL=burger
[Remote PC] $ roslaunch turtlebot3_bringup turtlebot3_remote.launch
[Remote PC]$ rosrun rviz rviz -d rospack find turtlebot3_description /rviz/model.rviz

Copy and Paste your error message on terminal

1. Please, describe detailedly what difficulty you are in

Hi,
I am using a turtlebot 3 burger with ubuntu mate installed on the raspberry pi and the remote PC is running Ubuntu 16.04 ( Xenial Xerus )
I was working on the ‘bringup’ section of the tutorial and while running rviz, I got the following status error in the robot model section.
No transform from [wheel_left_link] to [base_footprint]
No transform from [wheel_right_link] to [base_footprint]
I have updated the firmware on the openCR board to the latest version (1.2.0)

The text was updated successfully, but these errors were encountered:

Источник

Robot model status error

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Including panda_control_moveit_rviz.launch in my own launch file which also launches a process which moves the robot results in

This error is completely ignored and the process seems to run fine except for an update issue with the hand of the robot (possibly even unrelated).

Upon further investigation, this seems to stem from launch order, in the sense that running the other nodes separately beforehand and launching my own move-the-robot node after the others (rviz included) are initialized, avoids the message entirely.

Since roslaunch doesn’t guarantee startup order I sought out to find which service/topic/other to wait on for before starting my own node, as I was doing in another case for planning scene service get_planning_scene , but:

• I wanted to add a breakpoint at the incomingDisplayTrajectory call with gdb but I couldn’t find some package like ros-kinetic-rviz-dbg as per this to have debug symbols, so that didn’t work;
• I couldn’t find anything from exploring the RViz source code: I worked my way from the top to the likely path that leads to the message, found out it needs robot_loaded_ true in robot.h and from there went to RobotModelDisplay but in the end couldn’t solve the issue.

In the end I would only like to find out what I should wait for, but it would be nice to know if the only way to set the breakpoint I wanted to would have been to get rviz from source and recompile it myself.

UPDATE 1:

UPDATE 2: I have both robot_state_ and robot_mndel_ empty.

This, combined with the 5 calls printing «Loading robot model ‘panda’. » is somewhat suspicious.

Источник

Robot model is not displayed when loading a urdf file using the moveit setup assistant #786

Description

I tried loading the urdf (xacro format) file from my robot. It shows the loading was successful, but I do not see the rviz model of the robot in the viewing window (right side stays black).

I first tested by installing ros-indigo-moveit, then I remembered that I was able to load that same model in the moveit setup assistant in May 2017. I therefore removed ros-indigo-moveit, and cloned this moveit source repo. Then I tried to checkout to some commits along the way, and I could identify that commit e9e069d https://github.com/ros-planning/moveit/commit/e9e069d3b98e576edd4f127ead2d558150eb9894 was where the issue was introduced.

Is it possible to revert some changes that were made in this commit? Or else, what’s the trick to load the urdf model and get the rviz visualisation working?

Thanks a lot
Martine

Overview of your issue here.

Your environment

• ROS Distro: Indigo
• OS Version: e.g. Ubuntu 14.04
• Source or Binary build? both source and binary built version tried

The text was updated successfully, but these errors were encountered:

I had a similar problem, although with Rviz not being able to display the model despite loading the robot model successfully to the parameter server. Turned out, the issue was the locale setting, because I used a non-English locale setting. I am not sure if this is also the case with you.
If you type echo $LC_NUMERIC in the terminal and if it returns anything other than en_US.UTF-8, then that could be a problem. You can change that by export LC_NUMERIC=en_US.UTF-8 .

thanks @mbharatheesha for the suggestion. did not work for me though . did export LC_NUMERIC=en_US.UTF-8, then tried loading my robot model with the latest binary built version of moveit I could get (got it from apt-get install ros-indigo-moveit) and I still have the same issue

Hi,
@martine1406 did you solve your problem? I also have the same issue with setup assistant.

I did not push the investigation further unfortunately. Let me know if you find any solution.

@v4hn Do you also observe these issues in Indigo?

I’m having the same issue. The fix above didn’t work for me.:-/

Can you please provide more details:

• Which MoveIt version you are running? Which robot model do you want to load?
• Please, try to load a default model provided with MoveIt: roslaunch moveit_resources demo.launch
  If this works (i.e. shows a robot in rviz), it’s probably an issue with your robot description.
• Does rviz’ RobotModel display work?
• Are there any errors reported on the console?

okay we are getting to something

Which MoveIt version you are running? Which robot model do you want to load?
Well I use the binary install I get when doing ‘sudo apt-get install ros-indigo-moveit’, so I expect the latest available moveit version for ros Indigo? After doing ‘sudo apt-get install ros-indigo-moveit’, I got installation message such as Setting up ros-indigo-moveit (0.7.13-0trusty-20180326-123655-0800)
other than that:

Please, try to load a default model provided with MoveIt: roslaunch moveit_resources demo.launch
If this works (i.e. shows a robot in rviz), it’s probably an issue with your robot description.
roslaunch moveit_resources demo.launch works. However, if I try to launch the moveit_setup_assistant, then create a new moveit configuration package, then load the fanuc robot urdf file (part of moveit_resources, on my computer located here: /opt/ros/indigo/share/moveit_resources/fanuc_description/urdf), it does the same result as for the jaco2 robot.

Does rviz’ RobotModel display work?
when I roslaunch the moveit_setup_assistant, then load the urdf model of the robot I want to work with, then open Rviz, the rviz’ RobotModel display work does not work properly. In the jaco2 case, it tells me that there is no transform between root and world. In the fanuc case, it tells me there is no root frame. In both cases, if I rosrun joint_state_publisher joint_state_publisher and rosrun robot_state_publisher robot_state_publisher, the display in rviz becomes fine. In the fanuc case, I also have to change the fixed frame from root to base.

Are there any errors reported on the console?
In the moveit_setup_assistant console, you have this:
[ INFO] [1523968853.211934261]: Loaded j2n6s300 robot model.
[ INFO] [1523968853.212108872]: Setting Param Server with Robot Description
[ INFO] [1523968853.224460302]: Robot semantic model successfully loaded.
[ INFO] [1523968853.224504388]: Setting Param Server with Robot Semantic Description
[ INFO] [1523968853.242404264]: Loading robot model ‘j2n6s300’.
[ INFO] [1523968853.242462804]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1523968854.251044917]: Stereo is NOT SUPPORTED
[ INFO] [1523968854.251239355]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1523968854.417290146]: Loading Setup Assistant Complete
[ INFO] [1523968854.436416385]: Loading robot model ‘j2n6s300’.
[ INFO] [1523968854.436540277]: No root/virtual joint specified in SRDF. Assuming fixed joint

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Robot model status error

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I would assume ROS can run in pure simulation? I’m trying to build a SLAM map of simulated environment while navigating through it (with path planning and obstacle avoidance) using the simulated TurtleBot. However most of the TurtleBot tutorials assume you have the TurtleBot hardware.

FYI, I’ve already got the TurtleBot simulator working via:

However I’m unsure how to:

1. calibrate the simulated TurtleBot
2. see the output of a simulated Kinect
3. see the output of SLAM (and ideally the particles in the particle filter)
4. see the output of the path planning
5. drive the robot around (or set way points)

FYI, I would of thought I could do (5) via

But it doesn’t move the TurtleBot in the simulator — I assume its for the real hardware only?

Closed for the following reason the question is answered, right answer was accepted by SL Remy
close date 2017-07-21 02:01:02.598658

8 Answers

If the simulation is working properly the answers to your questions should be:

1. You probably don’t need this.

2-5. Exactly as in the real robot tutorials!

The commands you have posted for 5. work fine for me. Did you use the correct buttons in the focused terminal to control?

You don’t need to calibrate the simulation (nor can you, in fact).

To view the output of the simulation, you can use rviz. I recommend:

Regarding driving the simulation — can you echo /cmd_vel when you’re running keyboard_teleop and verify that it’s publishing the right data?

How did you get teleop working, as the above command doesn’t work for me — I’ve been RTFM, but not luck as yet 😉 — any ideas?

What about viewing the Kinect sensor output in simulation, or path planning, or SLAM output? — Any ideas?

I’m new to ROS (however I was the co-author of a similar project DROS at http://dros.org), so please excuses my newbie questions about ROS. Anyway:

1) any good simulator should allow you to simulate the calibration steps. E.g. most DMU’s have a roll bias, so the simulator should have a hard coded roll bias. Could you please point me to the tutorials to calibrate a robot in pure simulation?

2) domhege, I’m sure they are, but the tutorials are not the most easiest to find (they seem rather split across pages, and sometimes are missing vital prerequisite), can you please point me to the tutorials I should be following.

3) re drive the robot around. I’ve just started up the empty world simulation as shown above, then run that keyboard teleo command above, and when I press «q» a few times, the robot in the simulator doesn’t not move. Any ideas what I maybe missing? Ryan, how do I «echo /cmd_vel»? can you point me to the tutorial on this?

4) Ryan, when I run that command it opens up, but I just see a black screen. Any ideas how to see the particles, kinect output, etc. And the output of «roslaunch turtlebot_navigation gmapping_demo.launch», keeps saying «[/openni_camera] No devices connected. waiting for devices to be connected» — which seems to be looking for the real Kinect hardware — so how do I tell it to use a simulated Kinect?

Re: Simulation

Personally I think a pure simulation feature should be mandatory for ROS (and its packages such as turtlebot), so researchers/engineers can see the best outcome (i.e. with zero errors), and then to basically switch on the simulated noise to get a better idea of how the solution will work in a real world with real robots.

Re: Tutorials

1) One suggestion would be to have a one-page howto for newbies, that contains a simple list of commands (and small description — with links to the full data), to get ROS up and running with (or without) a robot, to show the major features (i.e. sensor output, localisation output, mapping output, etc)

2) Also the TurtleBot tutorials seems to assume you have all the hardware. Is there a ROS tutorial to show you how to setup everything without the hardware. Basically I have a heap of personal robots I would like to get running with ROS, and I was hoping to base it off the TurtleBot — but since I don’t have the TurtleBot hardware, most of the tutorials keep leading me to dead ends (since the hardware is required for most steps).

Re: Driving

I see, I thought that hitting «q» alone would move the robot forward. I see need to use i, etc — so that is now solved for me.

Re: rviz

Yeah here is the following things in red, after running «roslaunch turtlebot_navigation gmapping_demo.launch» and «rosrun rviz rviz -d rospack find turtlebot_navigation /nav_rviz.vcg»

• Robot Model -> Status: Error -> This lists a heap of errors such as: No transform from [base_footprint] to [/map]

And «roslaunch turtlebot_navigation gmapping_demo.launch» keeps saying:

How do I give it a map? And the kinect error is simply because I don’t have a physical kinect attached (I’m currently waiting on a power/comms cable). Any thoughts on how to deal with this errors for a pure simulation method?

Источник

Роботам-пылесосам от компании Xiaomi свойственны адекватная цена и хорошее качество. Однако в процессе работы пылесоса пользователь может столкнуться с проблемами и ошибками, которые чаще всего вызваны неправильной настройкой или эксплуатацией, а в некоторых случаях заводским браком. Когда появляется ошибка, то на экране отображается соответствующий код, а к каждому из кодов существует расшифровка, которая поможет решить проблему.

Как избежать ошибок в работе

Чтобы избежать ошибок при использовании любой модели робота-пылесоса от Xiaomi, достаточно тщательно за ним следить и не позволять механизму засоряться. Необходимо вовремя менять фильтры и щетки, не затягивая с их заменой до последнего момента.

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Роботы-пылесосы от Xiaomi просты в использовании, поэтому о сбое в работе вы узнаете сразу. На устройстве замигает красная лампочка, а сам пылесос издаст громкий звуковой сигнал. Затем устройство сообщит код ошибки: он либо высветится на экране, либо будет издан с помощью звукового оповещения. Данный код необходимо запомнить или записать: он поможет разобраться, что конкретно в работе устройства пошло не так.

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Все модели роботов-пылесосов Xiaomi имеют одинаковые коды ошибок. Найдите в таблице ниже тот код, который высвечивается на экране вашего устройства, и действуйте строго по инструкции.

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