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ROS Gazebo TurtleBot3 incomplete launch #3900

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rlkamalapurkar opened this issue Mar 7, 2019 · 4 comments
Closed

ROS Gazebo TurtleBot3 incomplete launch #3900

rlkamalapurkar opened this issue Mar 7, 2019 · 4 comments

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@rlkamalapurkar
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rlkamalapurkar commented Mar 7, 2019 •
edited
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Please fill out the below information:

  • Your Windows build number: 10.0.17763.316

  • Linux Flavor: Ubuntu

  • What you're doing and what's happening:

  1. Installed ros-melodic-desktop-full
  2. Installed ros-melodic-turtlebot3, ros-melodic-turtlebot3-simulations, and ros-melodic-turtlebot3-msgs
  3. Installed vcXsrv and configured it to not use native opengl, ran export DISPLAY=localhost:0
  4. Ran roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
  • What's wrong / what should be happening instead:
    As expected, Gazebo is launched and I can see the TurtleBot model in Gazebo. However, the launch in incomplete. It does not load the DiffDrive plugin. The console output is:
... logging to /home/rushik/.ros/log/bf20974c-4075-11e9-8c79-00e04c20247f/roslaunch-MAE-RK-GAB329-A-8152.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://MAE-RK-GAB329-A:12149/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [8165]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bf20974c-4075-11e9-8c79-00e04c20247f
process[rosout-1]: started with pid [8176]
started core service [/rosout]
process[gazebo-2]: started with pid [8179]
process[gazebo_gui-3]: started with pid [8186]
process[spawn_urdf-4]: started with pid [8191]
[ INFO] [1551921009.340254200]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1551921009.341176600]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1551921009.377451600]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1551921009.378416900]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
shared memfd open() failed: Function not implemented
ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
[ INFO] [1551921010.023359300, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1551921010.039723300, 0.030000000]: Physics dynamic reconfigure ready.
[ INFO] [1551921010.591972500, 0.158000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1551921010.592237400, 0.159000000]: Starting Laser Plugin (ns = /)
[ INFO] [1551921010.593722400, 0.159000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_urdf-4] process has finished cleanly
log file: /home/rushik/.ros/log/bf20974c-4075-11e9-8c79-00e04c20247f/spawn_urdf-4*.log

When I run the same exact command on native Ubuntu 18.04 connected to vcXsrv as the remote X server via ssh (using PuTTY), everything works as expected and the console output is:

... logging to /home/rushik/.ros/log/14e6ccc8-4076-11e9-904b-d89ef33f674f/roslaunch-MAE-RK-AT324-5-3607.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://MAE-RK-AT324-5:43473/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [3620]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 14e6ccc8-4076-11e9-904b-d89ef33f674f
process[rosout-1]: started with pid [3631]
started core service [/rosout]
process[gazebo-2]: started with pid [3634]
process[gazebo_gui-3]: started with pid [3637]
process[spawn_urdf-4]: started with pid [3648]
[ INFO] [1551921152.499570834]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1551921152.501769731]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1551921152.525723001]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1551921152.527843043]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1551921153.549435196, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1551921153.865368258, 0.196000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1551921153.866988924, 0.196000000]: Starting Laser Plugin (ns = /)
[ INFO] [1551921153.872055781, 0.196000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1551921153.876021825, 0.196000000]: Physics dynamic reconfigure ready.
[ INFO] [1551921153.973998653, 0.196000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1551921153.974116808, 0.196000000]: DiffDrive(ns = //): <rosDebugLevel> = na
[ INFO] [1551921153.975142929, 0.196000000]: DiffDrive(ns = //): <tf_prefix> =
[ INFO] [1551921153.976264592, 0.196000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1551921153.977083348, 0.196000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1551921153.980242914, 0.196000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1551921153.981079927, 0.196000000]: DiffDrive(ns = //): Advertise odom on odom
[spawn_urdf-4] process has finished cleanly
log file: /home/rushik/.ros/log/14e6ccc8-4076-11e9-904b-d89ef33f674f/spawn_urdf-4*.log

Notice the DiffDrive plugin being launched here, absent in the WSL launch.

Logs are too large to attach here, see https://1drv.ms/f/s!Am-zUqfMZr3wiNYVSEwCknR6vjGw3w
@therealkenc
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Looks like dupe #3542 ie #1209.

@rlkamalapurkar
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rlkamalapurkar commented Mar 7, 2019 via email

@sagniknitr
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@rlkamalapurkar does the latest WSL versions solve your issue?

@rlkamalapurkar
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rlkamalapurkar commented Jun 25, 2020 •
edited
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@sagniknitr I can confirm that this issue is solved in WSL 2. Thank you so much! I still see all the ALSA Lib errors, but everything I tested works like it should.

Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://MAE-RK-GAB329-A:41821/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.6
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [2522]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1064d2ae-b70c-11ea-b7fa-00155d553ca3
process[rosout-1]: started with pid [2533]
started core service [/rosout]
process[gazebo-2]: started with pid [2539]
process[gazebo_gui-3]: started with pid [2544]
process[spawn_urdf-4]: started with pid [2550]
[ INFO] [1593107303.955650300]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1593107303.956992600]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1593107304.083214400]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1593107304.084419600]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
**ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default**
AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
[ INFO] [1593107304.408342000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1593107304.426215200]: Physics dynamic reconfigure ready.
[ INFO] [1593107304.825221800, 0.228000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1593107304.825317100, 0.228000000]: Starting Laser Plugin (ns = /)
[ INFO] [1593107304.826122500, 0.228000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1593107304.887755800, 0.228000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1593107304.887848300, 0.228000000]: DiffDrive(ns = //): <rosDebugLevel> = na
[ INFO] [1593107304.888264100, 0.228000000]: DiffDrive(ns = //): <tf_prefix> =
[ INFO] [1593107304.888831100, 0.228000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1593107304.889253000, 0.228000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1593107304.890998200, 0.228000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1593107304.891362700, 0.228000000]: DiffDrive(ns = //): Advertise odom on odom
[spawn_urdf-4] process has finished cleanly

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3 participants
@therealkenc @sagniknitr @rlkamalapurkar