URDF for Gazebo - Start_mira_with_no controller

Dear Robot Ignite Academy members

I have sent my WS by email @staff

I tried to put a controller for the robot as the class tutorial indicates. The code is exactly the same as the lesson ( I copied and pasted), however I have the following error message when I execute the following command:

Command: roslaunch my_mira_description start_mira_with_controllers.launch

[ERROR] [1575878731.934899080]: Error document empty.
[WARN] [1575878732.011086, 769.962000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1575878732.011474, 769.962000]: Controller Spawner: Waiting for service controller_manager/load_controller
the rosdep view is empty: call ‘sudo rosdep init’ and ‘rosdep update’
SpawnModel script started
[robot_state_publisher-3] process has died [pid 12319, exit code 255, cmd /opt/ros/kinetic/lib/robot_state_publisher/robot_state_publisher /joint_states:=/mira/joint_states __name:=robot_state_publisher __log:=/home/user/.ros/log/d76007f8-1a58-11ea-b517-02ca67bd644a/robot_state_publisher-3.log].
log file: /home/user/.ros/log/d76007f8-1a58-11ea-b517-02ca67bd644a/robot_state_publisher-3*.log
[INFO] [1575878732.574790, 0.000000]: Loading model XML from ros parameter
[ERROR] [1575878732.577056, 0.000000]: Error: param does not exist or is empty
[urdf_spawner-1] process has finished cleanly
log file: /home/user/.ros/log/d76007f8-1a58-11ea-b517-02ca67bd644a/urdf_spawner-1*.log
[WARN] [1575878762.264636, 800.112000]: Controller Spawner couldn’t find the expected controller_manager ROS interface.
[mira/controller_spawner-2] process has finished cleanly
log file: /home/user/.ros/log/d76007f8-1a58-11ea-b517-02ca67bd644a/mira-controller_spawner-2*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor…
… shutting down processing monitor complete

Please help me to find the error. I could not identify alone…

Ok, I’ll have a look on what’s going on ;).

Let me test it in RobotIgnite and see if I can reproduce the error.

Ok , at laest the file we recieved there are some issues that I see:

  1. That error that you get saying that us empty, is referring to the urdf, which is empty:

  1. Tha launch with al the controllers is not in the files you sent , and Thats why I launched the one with only one controller that gave the obove mentioned error.

Please check those errors, becuase what yuou are telling you might not have the urdf that you are trying to spawn.

1 Like

Thanks @duckfrost you are right! I am sorry for that…I put the code in other urdf: In mira_with_no_controller instead of mira_with_one_controller…my error!