Unable to load the simulation

Course Support ROS Control 101
1

Hi, I am unable to load the simulation.
Furthermore I can’t be abla to launch my file:

roslaunch quiz_control quiz_control.launch
RLException: [quiz_control.launch] is neither a launch file in package [quiz_control] nor is [quiz_control] a launch file name
The traceback for the exception was written to the log file

I have tried to source again in the catkin_ws

source devel/setup.bash

but after relaunch it came up the same error.
Is it a problem of the workspace itself?

Because for now to avoid to be stucked I have to run the quiz in local on my virtual machine.

Regardless the einvironment I still have some problem while running in noetic distro

Here my code for the config file:
**

ur5:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  joint1_position_controller:
    type: position_controllers/JointPositionController
    joint: shoulder_pan_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint2_position_controller:
    type: position_controllers/JointPositionController
    joint: shoulder_lift_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}

  joint3_position_controller:
    type: position_controllers/JointPositionController
    joint: elbow_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}

  joint4_position_controller:
    type: position_controllers/JointPositionController
    joint: wrist_1_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}

  joint5_position_controller:
    type: position_controllers/JointPositionController
    joint: wrist_2_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}

    joint6_position_controller:
    type: position_controllers/JointPositionController
    joint: wrist_3_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}

Here my launch file:

<launch>

  <include file="$(find gazebo_ros)/launch/empty_world.launch"> 
        <!-- <arg name="world_name" value="worlds/mud.world"/> -->
  </include>

  <group ns = "/ur5">
    <param name = "robot_description" command = "$(find xacro)/xacro --inorder '$(find quiz_control)/urdf/ur5_robot.urdf.xacro'" />
    <arg name = "x" default = "0" />
    <arg name = "y" default = "0" />
    <arg name = "z" default = "0" />

    <!-- spawn the robot in the world  -->
    <node name = "mybot_spawn" pkg = "gazebo_ros" type = "spawn_model" output = "screen"
      args = "-urdf -param robot_description -model ur5_robot -x $(arg x) -y $(arg y) -z $(arg z)" />


    <rosparam command = "load" file = "$(find quiz_control)/config/ur5_controller.yaml" />




    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
      output="screen" ns="/ur5" args="  --namespace=/ur5
                                        joint1_position_controller 
                                        joint2_position_controller
                                        joint3_position_controller
                                        joint4_position_controller
                                        joint5_position_controller
                                        joint6_position_controller 
                                        joint_state_controller
                                        --timeout 60"/>

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
      respawn="false" output="screen">
      <remap from="/joint_states" to="/ur5/joint_states" />
    </node>

    <!-- rqt spawner-->
    <node name = "rqt_reconfigure" pkg = "rqt_reconfigure" type = "rqt_reconfigure" />
    <node name = "rqt_publisher" pkg = "rqt_publisher" type = "rqt_publisher" />



  </group>

</launch>

I got the error:

[ERROR] [1668854516.804125086, 0.097000000]: No p gain specified for pid.  Namespace: /ur5/gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1668854516.804798458, 0.097000000]: No p gain specified for pid.  Namespace: /ur5/gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1668854516.805692075, 0.097000000]: No p gain specified for pid.  Namespace: /ur5/gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1668854516.806487418, 0.097000000]: No p gain specified for pid.  Namespace: /ur5/gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1668854516.807020594, 0.097000000]: No p gain specified for pid.  Namespace: /ur5/gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1668854516.807678197, 0.097000000]: No p gain specified for pid.  Namespace: /ur5/gazebo_ros_control/pid_gains/wrist_3_joint


[ERROR] [1668854517.070216972, 0.323000000]: Could not load controller 'joint1_position_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/ur5/joint1_position_controller')?
[ur5/mybot_spawn-4] process has finished cleanly
log file: /home/ros/.ros/log/c8032634-67f6-11ed-8021-f336a3c0effd/ur5-mybot_spawn-4*.log
[ERROR] [1668854518.071054, 1.225000]: Failed to load joint1_position_controller
[INFO] [1668854518.072697, 1.226000]: Loading controller: joint2_position_controller
[ERROR] [1668854518.079424075, 1.228000000]: Could not load controller 'joint2_position_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/ur5/joint2_position_controller')?
[ERROR] [1668854519.081209, 2.166000]: Failed to load joint2_position_controller
[INFO] [1668854519.085129, 2.169000]: Loading controller: joint3_position_controller
[ERROR] [1668854519.104080156, 2.182000000]: Could not load controller 'joint3_position_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/ur5/joint3_position_controller')?
[ERROR] [1668854520.105547, 3.184000]: Failed to load joint3_position_controller
[INFO] [1668854520.106932, 3.185000]: Loading controller: joint4_position_controller
[ERROR] [1668854520.110319090, 3.188000000]: Could not load controller 'joint4_position_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/ur5/joint4_position_controller')?
[ERROR] [1668854521.111711, 4.175000]: Failed to load joint4_position_controller
[INFO] [1668854521.113910, 4.177000]: Loading controller: joint5_position_controller
[ERROR] [1668854521.118259179, 4.182000000]: Could not load controller 'joint5_position_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/ur5/joint5_position_controller')?
[ERROR] [1668854522.119437, 5.142000]: Failed to load joint5_position_controller
[INFO] [1668854522.121062, 5.143000]: Loading controller: joint6_position_controller
[ERROR] [1668854522.125521512, 5.147000000]: Could not load controller 'joint6_position_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/ur5/joint6_position_controller')?
[ERROR] [1668854523.126869, 6.102000]: Failed to load joint6_position_controller
[INFO] [1668854523.128518, 6.103000]: Loading controller: joint_state_controller
[ERROR] [1668854523.131662455, 6.107000000]: Could not load controller 'joint_state_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/ur5/joint_state_controller')?
[ERROR] [1668854524.132845, 7.093000]: Failed to load joint_state_controller

Could anyone help me out on this?

Thank you
Francesco

2

try rostopic list to check the name if there are extra ‘/ur5’ in it

3

Hello @Francesco_Rizzotti ,

I saw your previous post, and I’m afraid you might have encountered an isolated error in the load of the environment. You don’t need to launch the simulation since it is already provided in the unit. Are you still experiencing these issues?

4

there were infact too much ur5 namespaceÖ
I have solved it bz commenting the tag

;group ns = "/ur5" >

but I had to add the namespace in the <gazebo tag in the common.gazebo.xacro file like this:

<gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/ur5</robotNamespace>
      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
    </plugin>
</gazebo>