[Kinetic] ROS nodes and Gazebo not linking

[130s]

I might be doing something wrong, but let me just think out loud.

roslaunch turtlebot_gazebo turtlebot_world.launch

Nodes graph tells there's a breakage.

As a reference here's one I got on Indigo machine.

Obvisously due to this e.g. Twist command doesn't take any effect.

Some outputs.

$ rostopic list 
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/clock
/cmd_vel_mux/active
/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/switch
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/depthimage_to_laserscan/parameter_descriptions
/depthimage_to_laserscan/parameter_updates
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/laserscan_nodelet_manager/bond
/mobile_base/commands/velocity
/mobile_base/sensors/bumper_pointcloud
/mobile_base/sensors/core
/mobile_base_nodelet_manager/bond
/rosout
/rosout_agg
/scan
/tf
/tf_static

$ rosnode list
/bumper2pointcloud
/cmd_vel_mux
/depthimage_to_laserscan
/gazebo
/laserscan_nodelet_manager
/mobile_base_nodelet_manager
/robot_state_publisher
/rosout

$ rosversion turtlebot_gazebo
2.2.2
$ rosversion gazebo_ros
2.5.7
$ rosversion gazebo_ros_control
2.5.7

For installation many packages are build from source (see turtlebot/turtlebot_apps#143 (comment) my footage for that).

$ roslaunch turtlebot_gazebo turtlebot_world.launch 
... logging to /home/souflet/.ros/log/760b3eb8-34c5-11e6-97d3-0090f5bd194f/roslaunch-130s-serval-15387.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
        find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/souflet/link/ROS/kinetic_xenial/cws_household/src/turtlebot/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro

xacro.py is deprecated; please use xacro instead
started roslaunch server http://130s-serval:44680/

SUMMARY
========

PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /home/souflet/link/...
 * /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
 * /depthimage_to_laserscan/range_min: 0.45
 * /depthimage_to_laserscan/scan_height: 10
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.2
 * /use_sim_time: True

NODES
  /
    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    depthimage_to_laserscan (nodelet/nodelet)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    laserscan_nodelet_manager (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_turtlebot_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [15406]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 760b3eb8-34c5-11e6-97d3-0090f5bd194f
process[rosout-1]: started with pid [15419]
started core service [/rosout]
process[gazebo-2]: started with pid [15443]
process[gazebo_gui-3]: started with pid [15450]
process[spawn_turtlebot_model-4]: started with pid [15457]
process[mobile_base_nodelet_manager-5]: started with pid [15458]
process[cmd_vel_mux-6]: started with pid [15459]
process[bumper2pointcloud-7]: started with pid [15460]
process[robot_state_publisher-8]: started with pid [15461]
process[laserscan_nodelet_manager-9]: started with pid [15491]
process[depthimage_to_laserscan-10]: started with pid [15506]
[ INFO] [1466193341.310227888]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1466193341.311206365]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1466193342.090442528, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1466193342.131507148, 0.070000000]: Physics dynamic reconfigure ready.
[ INFO] [1466193342.865785296, 0.250000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1466193342.872939698, 0.250000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_turtlebot_model-4] process has finished cleanly
log file: /home/souflet/.ros/log/760b3eb8-34c5-11e6-97d3-0090f5bd194f/spawn_turtlebot_model-4*.log

[rohbotics]

Are you trying to simulate the create or the koubuki base?

[130s]

Kobuki base for this.

[rohbotics]

Add my fork of kobuki_desktop to your catkin_ws, and checkout the kinetic branch. This has all the modifications needed to get the gazebo plugin to compile and work under Gazebo7 (used with kinetic).

https://github.com/rohbotics/kobuki_desktop/tree/kinetic
yujinrobot/kobuki_desktop#45

[130s]

I compiled rohbotics/kobuki_desktop@e1e5343 in my catkin ws and tried the same command but still see the same issue. Thanks though.

This has all the modifications needed to get the gazebo plugin to compile and work under Gazebo7 (used with kinetic).

I don't seem to have compilation issue. It seems to me a runtime issue.

[NoviceMan]

sorry , my English is very poor. I have met the same problem with you ,did you have solved this problem now? If you have，could you tell me the solution？Thank you very much.

[stonier]

@rohbotics did you see the same runtime problem?

[rohbotics]

I saw this, but it went way for me with the changes I made.

[stonier]

Kobuki Gazebo Plugins is in the deb pipeline. For those having trouble, could you grab the deb from the shadow repository and see if that works for you?

[130s]

Thank you @stonier, I confirmed that the issue is gone using the newest kobuki_gazebo_plugins from deb.
(I don't understand why source-building @rohbotics' code didn't work earlier, but I'm happy now :) and won't dig into it.)

Closing the issue since I'm the original reporter. Others who still see this issue feel free to add comments so that I or maintainers can re-open.

roslinguini@130s-serval:~/kinetic_xenial/cws_household$ rospack find kobuki_gazebo_plugins 
/opt/ros/kinetic/share/kobuki_gazebo_plugins
roslinguini@130s-serval:~/kinetic_xenial/cws_household$ rosversion kobuki_gazebo_plugins  
0.5.0
roslinguini@130s-serval:~/kinetic_xenial/cws_household$ rospack find turtlebot_gazebo
/home/roslinguini/kinetic_xenial/cws_household/src/turtlebot/turtlebot_simulator/turtlebot_gazebo
roslinguini@130s-serval:~/kinetic_xenial/cws_household$ roscd turtlebot_gazebo && git log 
commit 5e56b235e4fb3c8a8277d388194c4e3346901bd3
Author: Jihoon Lee <[email protected]>
Date:   Wed Sep 16 11:57:06 2015 +0900

    2.2.2