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아래 명령어를 통해 누락된 패키지를 설치합시다. 수요일 강의 중 launch 파일을 수정하여 gazebo와 로봇 등장을 나누어 실행하여 디버깅하는 방법을 배웠지요? |
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해결 되셨을까요?? |
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sudo apt install ros-foxy-joint-state-publisher |
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[gzserver-1] Error [Param.cc:449] Invalid argument. Unable to set value [world ] for key[odometry_source]. 그런데 이런 오류가 뜨는데, 이 말은 오도메트리 소스가 미설치 되었다는 걸까요? |
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아닙니다. 현 예시에 버전 차이에서 오는 매개변수 오류가 있습니다. 저의 실수이며 다만 동작에는 문제가 없어 냅두고 있습니다. |
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(ROS 2 foxy) yyc@DESKTOP-85MAAK0:~$ ros2 launch airobo_gazebo gazebo_world.launch.py
[INFO] [launch]: All log files can be found below /home/yyc/.ros/log/2022-07-13-15-05-05-813168-DESKTOP-85MAAK0-2276
[INFO] [launch]: Default logging verbosity is set to INFO
If it's your 1st time to download Gazebo model on your computer, it may take few minutes to finish.
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'joint_state_publisher' not found, searching: ['/home/yyc/ros2_ws/install/airobo_gazebo', '/opt/ros/foxy']")>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
content, package_prefix = get_resource('packages', package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
raise LookupError(
LookupError: Could not find the resource 'joint_state_publisher' of type 'packages'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 1 more time]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 453, in execute
ret = super().execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
self.__expand_substitutions(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
cmd = [perform_substitutions(context, x) for x in self.__cmd]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in
cmd = [perform_substitutions(context, x) for x in self.__cmd]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in
return ''.join([context.perform_substitution(sub) for sub in subs])
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 197, in perform_substitution
return substitution.perform(self)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
package_prefix = super().perform(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
result = self.find(package)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
return get_package_prefix(package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'joint_state_publisher' not found, searching: ['/home/yyc/ros2_ws/install/airobo_gazebo', '/opt/ros/foxy']"
Task exception was never retrieved
future: <Task finished name='Task-16' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
return self.__function(context, *self.__args, **self.__kwargs)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in _on_signal_process_event
raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [gzserver-1]: process started with pid [2278]
[INFO] [gzclient -2]: process started with pid [2281]
[INFO] [robot_state_publisher-3]: process started with pid [2284]
[INFO] [gzclient -2]: sending signal 'SIGINT' to process[gzclient -2]
[INFO] [gzserver-1]: sending signal 'SIGINT' to process[gzserver-1]
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link chassis had 9 children
[robot_state_publisher-3] Link back_left_wheel had 0 children
[robot_state_publisher-3] Link back_right_wheel had 0 children
[robot_state_publisher-3] Link camera had 0 children
[robot_state_publisher-3] Link front_left_wheel had 0 children
[robot_state_publisher-3] Link front_right_wheel had 0 children
[robot_state_publisher-3] Link hokuyo had 0 children
[robot_state_publisher-3] Link imu_link had 0 children
[robot_state_publisher-3] Link left_track had 0 children
[robot_state_publisher-3] Link right_track had 0 children
[robot_state_publisher-3] [INFO] [1657692306.086600602] [robot_state_publisher]: got segment back_left_wheel
[robot_state_publisher-3] [INFO] [1657692306.086653857] [robot_state_publisher]: got segment back_right_wheel
[robot_state_publisher-3] [INFO] [1657692306.086660127] [robot_state_publisher]: got segment camera
[robot_state_publisher-3] [INFO] [1657692306.086663449] [robot_state_publisher]: got segment chassis
[robot_state_publisher-3] [INFO] [1657692306.086666429] [robot_state_publisher]: got segment front_left_wheel
[robot_state_publisher-3] [INFO] [1657692306.086669444] [robot_state_publisher]: got segment front_right_wheel
[robot_state_publisher-3] [INFO] [1657692306.086672417] [robot_state_publisher]: got segment hokuyo
[robot_state_publisher-3] [INFO] [1657692306.086675490] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1657692306.086678399] [robot_state_publisher]: got segment left_track
[robot_state_publisher-3] [INFO] [1657692306.086681538] [robot_state_publisher]: got segment right_track
[robot_state_publisher-3] [INFO] [1657692306.086684550] [robot_state_publisher]: got segment robot_footprint
[ERROR] [gzserver-1]: process has died [pid 2278, exit code -2, cmd 'gzserver /home/yyc/ros2_ws/install/airobo_gazebo/share/airobo_gazebo/worlds/airobo.world
-s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so '].
[ERROR] [robot_state_publisher-3]: process[robot_state_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [gzclient -2]: process[gzclient -2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [robot_state_publisher-3]: sending signal 'SIGTERM' to process[robot_state_publisher-3]
[INFO] [gzclient -2]: sending signal 'SIGTERM' to process[gzclient -2]
[ERROR] [gzclient -2]: process has died [pid 2281, exit code -15, cmd 'gzclient '].
[ERROR] [robot_state_publisher-3]: process has died [pid 2284, exit code -15, cmd '/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /tmp/launch_params_uz_1q0b'].
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