[失败]uuv_simulator在台式机_虚拟环境下会崩溃的问题[失败]

其他 2020-02-12 15:58:16 阅读次数: 0

台式机下的系统环境下可以跑uuv
笔记本下的虚拟环境下可以跑uuv
目前遇到的问题是，台式机下的虚拟环境跑不了uuv
接下来好好debug

终端1运行
source activate py27
cd ~/catkin_ws
source devel/setup.bash
roslaunch uuv_gazebo_worlds ocean_waves.launch
没有问题

终端2运行
source activate py27
cd ~/catkin_ws
source devel/setup.bash
roslaunch eca_a9_gazebo start_demo_teleop.launch joy_id:=0

直观来说就是eca的uuv程序，不能ros与gazebo互动，卡在空间中不能动弹
在这里插入图片描述
与此同时，测试lauv却蛮好，可以正常控制。
细看发现一个隐藏的白色报错：

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

但是这个应该不重要，因为笔记本中也有，而且不影响程序、而且不易解决…

笔记本

(py27) fyo@fyo-Lenovo-XiaoXin-700-15ISK:~/auv_ws$ roslaunch eca_a9_gazebo start_demo_teleop.launch joy_id:=0
… logging to /home/fyo/.ros/log/156bef2e-11b9-11ea-afd9-98541be47cb2/roslaunch-fyo-Lenovo-XiaoXin-700-15ISK-15826.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.

redefining global property: gamma
when processing file: /home/fyo/auv_ws/src/eca_a9/eca_a9_description/urdf/eca_a9_sensors.xacro
included from: /home/fyo/auv_ws/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro
started roslaunch server http://fyo-Lenovo-XiaoXin-700-15ISK:44354/

SUMMARY

PARAMETERS

  • /eca_a9/finned_uuv_teleop/axis_pitch: 4
  • /eca_a9/finned_uuv_teleop/axis_roll: 0
  • /eca_a9/finned_uuv_teleop/axis_thruster: 1
  • /eca_a9/finned_uuv_teleop/axis_yaw: 3
  • /eca_a9/finned_uuv_teleop/fin_topic_prefix: fins/
  • /eca_a9/finned_uuv_teleop/fin_topic_suffix: /input
  • /eca_a9/finned_uuv_teleop/gain_pitch: [1, 1, -1, -1]
  • /eca_a9/finned_uuv_teleop/gain_roll: [1, 1, 1, 1]
  • /eca_a9/finned_uuv_teleop/gain_yaw: [-1, 1, 1, -1]
  • /eca_a9/finned_uuv_teleop/n_fins: 4
  • /eca_a9/finned_uuv_teleop/thruster_joy_gain: -1.0
  • /eca_a9/finned_uuv_teleop/thruster_model/max_thrust: 100
  • /eca_a9/finned_uuv_teleop/thruster_model/name: proportional
  • /eca_a9/finned_uuv_teleop/thruster_model/params/gain: 4.9e-05
  • /eca_a9/finned_uuv_teleop/thruster_topic: thrusters/0/input
  • /eca_a9/ground_truth_to_tf_eca_a9/child_frame_id: /eca_a9/base_link
  • /eca_a9/ground_truth_to_tf_eca_a9/footprint_frame_id: /eca_a9/base_foot…
  • /eca_a9/ground_truth_to_tf_eca_a9/frame_id: world
  • /eca_a9/ground_truth_to_tf_eca_a9/odometry_topic: /eca_a9/pose_gt
  • /eca_a9/ground_truth_to_tf_eca_a9/stabilized_frame_id: /eca_a9/base_stab…
  • /eca_a9/joystick/autorepeat_rate: 10
  • /eca_a9/joystick/dev: /dev/input/js0
  • /eca_a9/robot_description: <?xml version="1…
  • /eca_a9/robot_state_publisher/robot_description: /eca_a9/robot_des…
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/eca_a9/
finned_uuv_teleop (uuv_teleop/finned_uuv_teleop.py)
ground_truth_to_tf_eca_a9 (uuv_assistants/uuv_message_to_tf)
joystick (joy/joy_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
urdf_spawner (uuv_descriptions/spawn_model)
/
rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[eca_a9/urdf_spawner-1]: started with pid [15848]
process[eca_a9/robot_state_publisher-2]: started with pid [15849]
process[eca_a9/ground_truth_to_tf_eca_a9-3]: started with pid [15850]
process[eca_a9/finned_uuv_teleop-4]: started with pid [15851]
process[eca_a9/joystick-5]: started with pid [15856]
process[rviz-6]: started with pid [15871]
[ WARN] [1574929730.847916596]: The root link eca_a9/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.
[ INFO] [1574929730.939473429]: rviz version 1.12.17
[ INFO] [1574929730.939551534]: compiled against Qt version 5.5.1
[ INFO] [1574929730.939574563]: compiled against OGRE version 1.9.0 (Ghadamon)
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
[ERROR] [1574929731.106090200, 7.450000000]: Couldn’t open joystick force feedback!
starting FinnedUUVControllerNode.py
[ INFO] [1574929731.268966154, 7.610000000]: Stereo is NOT SUPPORTED
[ INFO] [1574929731.269117998, 7.610000000]: OpenGl version: 3 (GLSL 1.3).
0x18093f0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
0x1808ca0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
0x1814ab0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
0x1809e80 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
[INFO] [1574929731.332771, 0.000000]: Loading model xml from ros parameter
[INFO] [1574929731.344453, 0.000000]: Using the ENU coordinates to spawn the model
[INFO] [1574929731.344687, 0.000000]: Initial position wrt the world frame: (0.00, 0.00, -5.00)
[INFO] [1574929731.344861, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1574929731.353755, 0.000000]: Calling service /gazebo/spawn_urdf_model
FinnedUUVControllerNode: initializing node
Thruster #0 - proportional - thrusters/0/input
[INFO] [1574929731.532982, 7.880000]: Thruster model:
[INFO] [1574929731.533315, 7.880000]: Gain=4.9e-05
[INFO] [1574929732.075479, 7.900000]: Spawn status: SpawnModel: Successfully spawned entity
[eca_a9/urdf_spawner-1] process has finished cleanly
log file: /home/fyo/.ros/log/156bef2e-11b9-11ea-afd9-98541be47cb2/eca_a9-urdf_spawner-1*.log
0x1ac8a20 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
0x1cd3570 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
0x1a8bf10 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
0x1cd2fe0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
0x1cd3420 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
0x1ac8a20 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa61d10) ): Attempt to set a screen on a child window.
0x1808ca0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.
0x1809e80 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.
0x1814ab0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.
0x19ecf70 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.
0x1cd3420 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.
0x1ac8a20 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.
0x1cd3570 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.
0x1b67340 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.
0x1d35920 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.
0x1dd2fc0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xa5f740) ): Attempt to set a screen on a child window.

台式机

(py27) fyo@fyo:~/catkin_ws$ roslaunch eca_a9_gazebo start_demo_teleop.launch joy_id:=0
… logging to /home/fyo/.ros/log/0c72cf90-11ba-11ea-8d52-74da38f2b717/roslaunch-fyo-9269.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.

redefining global property: gamma
when processing file: /home/fyo/catkin_ws/src/eca_a9/eca_a9_description/urdf/eca_a9_sensors.xacro
included from: /home/fyo/catkin_ws/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro
started roslaunch server http://fyo:39861/

SUMMARY

PARAMETERS

  • /eca_a9/finned_uuv_teleop/axis_pitch: 4
  • /eca_a9/finned_uuv_teleop/axis_roll: 0
  • /eca_a9/finned_uuv_teleop/axis_thruster: 1
  • /eca_a9/finned_uuv_teleop/axis_yaw: 3
  • /eca_a9/finned_uuv_teleop/fin_topic_prefix: fins/
  • /eca_a9/finned_uuv_teleop/fin_topic_suffix: /input
  • /eca_a9/finned_uuv_teleop/gain_pitch: [1, 1, -1, -1]
  • /eca_a9/finned_uuv_teleop/gain_roll: [1, 1, 1, 1]
  • /eca_a9/finned_uuv_teleop/gain_yaw: [-1, 1, 1, -1]
  • /eca_a9/finned_uuv_teleop/n_fins: 4
  • /eca_a9/finned_uuv_teleop/thruster_joy_gain: -1.0
  • /eca_a9/finned_uuv_teleop/thruster_model/max_thrust: 100
  • /eca_a9/finned_uuv_teleop/thruster_model/name: proportional
  • /eca_a9/finned_uuv_teleop/thruster_model/params/gain: 4.9e-05
  • /eca_a9/finned_uuv_teleop/thruster_topic: thrusters/0/input
  • /eca_a9/ground_truth_to_tf_eca_a9/child_frame_id: /eca_a9/base_link
  • /eca_a9/ground_truth_to_tf_eca_a9/footprint_frame_id: /eca_a9/base_foot…
  • /eca_a9/ground_truth_to_tf_eca_a9/frame_id: world
  • /eca_a9/ground_truth_to_tf_eca_a9/odometry_topic: /eca_a9/pose_gt
  • /eca_a9/ground_truth_to_tf_eca_a9/stabilized_frame_id: /eca_a9/base_stab…
  • /eca_a9/joystick/autorepeat_rate: 10
  • /eca_a9/joystick/dev: /dev/input/js0
  • /eca_a9/robot_description: <?xml version="1…
  • /eca_a9/robot_state_publisher/robot_description: /eca_a9/robot_des…
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/eca_a9/
finned_uuv_teleop (uuv_teleop/finned_uuv_teleop.py)
ground_truth_to_tf_eca_a9 (uuv_assistants/uuv_message_to_tf)
joystick (joy/joy_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
urdf_spawner (uuv_descriptions/spawn_model)
/
rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[eca_a9/urdf_spawner-1]: started with pid [9291]
process[eca_a9/robot_state_publisher-2]: started with pid [9292]
process[eca_a9/ground_truth_to_tf_eca_a9-3]: started with pid [9293]
process[eca_a9/finned_uuv_teleop-4]: started with pid [9295]
process[eca_a9/joystick-5]: started with pid [9305]
process[rviz-6]: started with pid [9310]
[ WARN] [1574930143.271217100]: The root link eca_a9/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.
[ERROR] [1574930143.347623694]: Couldn’t open joystick /dev/input/js0. Will retry every second.
[ INFO] [1574930143.414654190]: rviz version 1.12.17
[ INFO] [1574930143.414705459]: compiled against Qt version 5.5.1
[ INFO] [1574930143.414717252]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1574930143.625787990]: Stereo is NOT SUPPORTED
[ INFO] [1574930143.625888538]: OpenGl version: 3 (GLSL 1.3).
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
starting FinnedUUVControllerNode.py
[INFO] [1574930143.976418, 0.000000]: Loading model xml from ros parameter
[INFO] [1574930143.981607, 0.000000]: Using the ENU coordinates to spawn the model
FinnedUUVControllerNode: initializing node
[INFO] [1574930143.981807, 0.000000]: Initial position wrt the world frame: (0.00, 0.00, -5.00)
[INFO] [1574930143.981941, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1574930143.983095, 0.000000]: Calling service /gazebo/spawn_urdf_model
Thruster #0 - proportional - thrusters/0/input
[INFO] [1574930144.033996, 6.500000]: Thruster model:
[INFO] [1574930144.034205, 6.500000]: Gain=4.9e-05
[INFO] [1574930144.790552, 6.620000]: Spawn status: SpawnModel: Successfully spawned entity
[eca_a9/urdf_spawner-1] process has finished cleanly
log file: /home/fyo/.ros/log/0c72cf90-11ba-11ea-8d52-74da38f2b717/eca_a9-urdf_spawner-1*.log

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