OS : Ubuntu 20.04
ROS version : noetic
I followed the instructions in your website, and I got 0 compilation error
but when I ran the command roslaunch vehicle_simulator system_garage.launch
I got these bunch of errors of Model[camera/lidar/robot] does not exist
I checked the xacro files of these equipment in the folder.
I also tested the vehicleSimulator.cpp , it seems the error is caused by these 3 publish operations.
pubModelState.publish(cameraState);
...
pubModelState.publish(robotState);
...
pubModelState.publish(lidarState);
Here's the output.
Checking log directory for disk usage. This may take a while.
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Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://colleen-XPS-15-9560:42953/
SUMMARY
========
PARAMETERS
* /camera_description: <?xml version="1....
* /diagnostic_aggregator/analyzers/PS3State/path: PS3 State
* /diagnostic_aggregator/analyzers/PS3State/remove_prefix: ps3_joy
* /diagnostic_aggregator/analyzers/PS3State/startswith: ['Battery', 'Char...
* /diagnostic_aggregator/analyzers/PS3State/timeout: 5.0
* /diagnostic_aggregator/analyzers/PS3State/type: diagnostic_aggreg...
* /diagnostic_aggregator/base_path:
* /diagnostic_aggregator/pub_rate: 1.0
* /diagnostic_aggregator/type: AnalyzerGroup
* /gazebo/enable_ros_network: True
* /lidar_description: <?xml version="1....
* /localPlanner/adjacentRange: 4.25
* /localPlanner/autonomyMode: True
* /localPlanner/autonomySpeed: 2.0
* /localPlanner/checkObstacle: True
* /localPlanner/checkRotObstacle: False
* /localPlanner/costHeightThre: 0.1
* /localPlanner/costScore: 0.02
* /localPlanner/dirThre: 90.0
* /localPlanner/dirToVehicle: False
* /localPlanner/dirWeight: 0.02
* /localPlanner/goalClearRange: 0.5
* /localPlanner/goalX: 0.0
* /localPlanner/goalY: 0.0
* /localPlanner/groundHeightThre: 0.1
* /localPlanner/joyToCheckObstacleDelay: 5.0
* /localPlanner/joyToSpeedDelay: 2.0
* /localPlanner/laserVoxelSize: 0.05
* /localPlanner/maxRelZ: 0.25
* /localPlanner/maxSpeed: 2.0
* /localPlanner/minPathRange: 1.0
* /localPlanner/minPathScale: 0.75
* /localPlanner/minRelZ: -0.5
* /localPlanner/obstacleHeightThre: 0.15
* /localPlanner/pathCropByGoal: True
* /localPlanner/pathFolder: /home/colleen/wor...
* /localPlanner/pathRangeBySpeed: True
* /localPlanner/pathRangeStep: 0.5
* /localPlanner/pathScale: 1.25
* /localPlanner/pathScaleBySpeed: True
* /localPlanner/pathScaleStep: 0.25
* /localPlanner/pointPerPathThre: 2
* /localPlanner/sensorOffsetX: 0
* /localPlanner/sensorOffsetY: 0
* /localPlanner/terrainVoxelSize: 0.2
* /localPlanner/twoWayDrive: True
* /localPlanner/useCost: False
* /localPlanner/useTerrainAnalysis: True
* /localPlanner/vehicleLength: 0.6
* /localPlanner/vehicleWidth: 0.6
* /pathFollower/autonomyMode: True
* /pathFollower/autonomySpeed: 2.0
* /pathFollower/dirDiffThre: 0.1
* /pathFollower/inclRateThre: 120.0
* /pathFollower/inclThre: 45.0
* /pathFollower/joyToSpeedDelay: 2.0
* /pathFollower/lookAheadDis: 0.5
* /pathFollower/maxAccel: 2.5
* /pathFollower/maxSpeed: 2.0
* /pathFollower/maxYawRate: 90.0
* /pathFollower/noRotAtGoal: True
* /pathFollower/noRotAtStop: False
* /pathFollower/pubSkipNum: 1
* /pathFollower/sensorOffsetX: 0
* /pathFollower/sensorOffsetY: 0
* /pathFollower/slowDwnDisThre: 0.85
* /pathFollower/slowRate1: 0.25
* /pathFollower/slowRate2: 0.5
* /pathFollower/slowTime1: 2.0
* /pathFollower/slowTime2: 2.0
* /pathFollower/stopDisThre: 0.2
* /pathFollower/stopTime: 5.0
* /pathFollower/stopYawRateGain: 7.5
* /pathFollower/switchTimeThre: 1.0
* /pathFollower/twoWayDrive: True
* /pathFollower/useInclRateToSlow: False
* /pathFollower/useInclToStop: False
* /pathFollower/yawRateGain: 7.5
* /ps3_joy/deadzone: 0.12
* /ps3_joy/dev: /dev/input/js0
* /robot_description: <?xml version="1....
* /rosdistro: noetic
* /rosversion: 1.16.0
* /terrainAnalysis/absDyObsRelZThre: 0.2
* /terrainAnalysis/clearDyObs: True
* /terrainAnalysis/clearingDis: 8.0
* /terrainAnalysis/considerDrop: True
* /terrainAnalysis/decayTime: 2.0
* /terrainAnalysis/disRatioZ: 0.2
* /terrainAnalysis/limitGroundLift: False
* /terrainAnalysis/maxDyObsVFOV: 16.0
* /terrainAnalysis/maxGroundLift: 0.15
* /terrainAnalysis/maxRelZ: 1.0
* /terrainAnalysis/minBlockPointNum: 10
* /terrainAnalysis/minDyObsAngle: 0.0
* /terrainAnalysis/minDyObsDis: 0.3
* /terrainAnalysis/minDyObsPointNum: 1
* /terrainAnalysis/minDyObsRelZ: -0.5
* /terrainAnalysis/minDyObsVFOV: -16.0
* /terrainAnalysis/minRelZ: -2.5
* /terrainAnalysis/noDataBlockSkipNum: 0
* /terrainAnalysis/noDataObstacle: False
* /terrainAnalysis/noDecayDis: 4.0
* /terrainAnalysis/quantileZ: 0.25
* /terrainAnalysis/scanVoxelSize: 0.05
* /terrainAnalysis/useSorting: False
* /terrainAnalysis/vehicleHeight: 1.5
* /terrainAnalysis/voxelPointUpdateThre: 100
* /terrainAnalysis/voxelTimeUpdateThre: 2.0
* /terrainAnalysisExt/ceilingFilteringThre: 2.0
* /terrainAnalysisExt/checkTerrainConn: False
* /terrainAnalysisExt/clearingDis: 30.0
* /terrainAnalysisExt/decayTime: 10.0
* /terrainAnalysisExt/disRatioZ: 0.1
* /terrainAnalysisExt/localTerrainMapRadius: 4.0
* /terrainAnalysisExt/lowerBoundZ: -2.5
* /terrainAnalysisExt/noDecayDis: 0.0
* /terrainAnalysisExt/quantileZ: 0.1
* /terrainAnalysisExt/scanVoxelSize: 0.1
* /terrainAnalysisExt/terrainConnThre: 0.5
* /terrainAnalysisExt/terrainUnderVehicle: -0.75
* /terrainAnalysisExt/upperBoundZ: 1.0
* /terrainAnalysisExt/useSorting: False
* /terrainAnalysisExt/vehicleHeight: 1.5
* /terrainAnalysisExt/voxelPointUpdateThre: 100
* /terrainAnalysisExt/voxelTimeUpdateThre: 2.0
* /use_sim_time: True
* /vehicleSimulator/InclFittingThre: 0.2
* /vehicleSimulator/adjustIncl: True
* /vehicleSimulator/adjustZ: True
* /vehicleSimulator/cameraOffsetZ: 0
* /vehicleSimulator/groundHeightThre: 0.1
* /vehicleSimulator/maxIncl: 30.0
* /vehicleSimulator/minTerrainPointNumIncl: 200
* /vehicleSimulator/minTerrainPointNumZ: 5
* /vehicleSimulator/sensorOffsetX: 0
* /vehicleSimulator/sensorOffsetY: 0
* /vehicleSimulator/smoothRateIncl: 0.5
* /vehicleSimulator/smoothRateZ: 0.5
* /vehicleSimulator/terrainRadiusIncl: 2.0
* /vehicleSimulator/terrainRadiusZ: 1.0
* /vehicleSimulator/terrainVoxelSize: 0.05
* /vehicleSimulator/terrainZ: 0
* /vehicleSimulator/use_gazebo_time: False
* /vehicleSimulator/vehicleHeight: 0.75
* /vehicleSimulator/vehicleX: 0
* /vehicleSimulator/vehicleY: 0
* /vehicleSimulator/vehicleYaw: 0
* /vehicleSimulator/vehicleZ: 0
* /visualizationTools/exploredAreaDisplayInterval: 1
* /visualizationTools/exploredAreaVoxelSize: 0.3
* /visualizationTools/exploredVolumeVoxelSize: 0.5
* /visualizationTools/mapFile: /home/colleen/wor...
* /visualizationTools/metricFile: /home/colleen/wor...
* /visualizationTools/overallMapDisplayInterval: 2
* /visualizationTools/overallMapVoxelSize: 0.5
* /visualizationTools/trajFile: /home/colleen/wor...
* /visualizationTools/transInterval: 0.2
* /visualizationTools/yawInterval: 10.0
NODES
/
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
gazebo (gazebo_ros/gzserver)
localPlanner (local_planner/localPlanner)
pathFollower (local_planner/pathFollower)
ps3_joy (joy/joy_node)
realTimePlot (visualization_tools/realTimePlot.py)
rvizGA (rviz/rviz)
sensorScanGeneration (sensor_scan_generation/sensorScanGeneration)
sensorTransPublisher (tf/static_transform_publisher)
spawn_camera (gazebo_ros/spawn_model)
spawn_lidar (gazebo_ros/spawn_model)
spawn_robot (gazebo_ros/spawn_model)
terrainAnalysis (terrain_analysis/terrainAnalysis)
terrainAnalysisExt (terrain_analysis_ext/terrainAnalysisExt)
vehicleSimulator (vehicle_simulator/vehicleSimulator)
vehicleTransPublisher (tf/static_transform_publisher)
visualizationTools (visualization_tools/visualizationTools)
auto-starting new master
process[master]: started with pid [4825]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 740465c8-09c8-11ef-a0b1-375a12b6555e
process[rosout-1]: started with pid [4835]
started core service [/rosout]
process[ps3_joy-2]: started with pid [4842]
process[diagnostic_aggregator-3]: started with pid [4843]
process[localPlanner-4]: started with pid [4845]
[ERROR] [1714794207.302940902]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[pathFollower-5]: started with pid [4850]
process[vehicleTransPublisher-6]: started with pid [4855]
process[sensorTransPublisher-7]: started with pid [4857]
process[terrainAnalysis-8]: started with pid [4862]
process[terrainAnalysisExt-9]: started with pid [4871]
process[gazebo-10]: started with pid [4875]
process[spawn_camera-11]: started with pid [4880]
process[spawn_lidar-12]: started with pid [4881]
process[spawn_robot-13]: started with pid [4882]
process[vehicleSimulator-14]: started with pid [4883]
process[sensorScanGeneration-15]: started with pid [4884]
process[visualizationTools-16]: started with pid [4897]
process[realTimePlot-17]: started with pid [4901]
process[rvizGA-18]: started with pid [4906]
Reading path files.
qt5ct: using qt5ct plugin
Simulation started.
qt5ct: D-Bus global menu: no
[ INFO] [1714794209.095445266]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1714794209.100379963]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Initialization complete.
[ INFO] [1714794210.294965697]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1714794210.372319237]: Physics dynamic reconfigure ready.
[ERROR] [1714794213.958068304, 0.026000000]: Updating ModelState: model [camera] does not exist
[ERROR] [1714794213.958143801, 0.027000000]: Updating ModelState: model [lidar] does not exist
[ERROR] [1714794213.958159312, 0.027000000]: Updating ModelState: model [camera] does not exist
[ERROR] [1714794213.958173378, 0.027000000]: Updating ModelState: model [robot] does not exist
[ERROR] [1714794213.958184312, 0.027000000]: Updating ModelState: model [lidar] does not exist
OS : Ubuntu 20.04
ROS version : noetic
I followed the instructions in your website, and I got 0 compilation error
but when I ran the command
roslaunch vehicle_simulator system_garage.launchI got these bunch of errors of Model[camera/lidar/robot] does not exist
I checked the xacro files of these equipment in the folder.
I also tested the
vehicleSimulator.cpp, it seems the error is caused by these 3 publish operations.Here's the output.