Joint states topic issues

[andelnegro6]

Hi again! I managed to build your package successfully. I ran afterwards the following:

roslaunch ros_ship_description ros_ship.launch

However, there were problems regarding the urdf, joint state publisher node, the joint states topic, and tf, in rviz.

issue:

I noticed 2 errors:

1. I can't set up a fixed frame other than base_footprint, and
2. There's no transforms to base_footprint from the other robot-model elements.

In gazebo, the ship and the buoys appear in the open water. However you can see that in rviz there's things wrong.

I checked some troubleshooting on rviz and tf, and it led me to notice the following:
/ros_ship/robot_state_publisher is a node ran by default on your launch setup, and it subscribes to /ros_ship/joint_states, nothing abnormal. However, there is no node publishing such topic. This must be affecting the transform problems in the robot model.

For this, I ran a node: https://github.com/ros/joint_state_publisher and changed the default publishing topic of /joint_states to /ros_ship/joint_states to see if it had solved the issue, but it seems the problem is bigger than just that. I could see the node publishing the topic but nothing had been solved:

I suspect there's more to it than this issue. Also, fyi, upon running the launcher, a warning message appears:

Deprecated syntax, please prepend 'hardware_interface/' to 'VelocityJointInterface' within the tag in joint 'propeller_l_joint'.

And also:

[WARN] [1517938365.971791, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

Any leads on this?
Thank you.

Specifications

• Ubuntu version: 16.04
• ROS Version: Kinetic

[hakuturu583]

@andelnegro6 Thank you for posting issues..
It may cause from failed to load ros_gazebo_plugins.
I will check dependencies and our code.

[andelnegro6]

Oh, and also I forgot to tell you, that in order to run gazebo without crashing, I had to add from /ros_gazebo_plugins to /ros_ship_description/world the file "open_water.world". Anything of the sort you had to do? is the package functional in your system? Should I modify something in the .launch files? Thank you for your time @hakuturu583

[hakuturu583]

No problem!! Please modify!! I feel very thank you!! @andelnegro6

[liz2020]

Did you managed to fix the "[WARN] [1517938365.971791, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface." problem? I also encounter this and don't know how to deal with it. @andelnegro6

[hakuturu583]

@liz2020 I think it is a dependency problem. I think , I missed gazebo_ros_control packages.
So, please add this package to the package.xml.

[hakuturu583]

@andelnegro6 @liz2020 I feel very sorry to you.
Now, our team moved to this repository.
So we will never update ros_ship_packages.

[Zhuojie-Ji]

Hi @andelnegro6 did you manage to fix this problem? I am having the same issue, and I think it's preventing me from setting up waypoints. I am not sure how to fix it. Thanks!

[andelnegro6]

@liz2020 @Zhuojie-Ji guys I dropped this repository as well. Didn’t continue its use since a couple of months now. Will retake another time. Cheers