Dear all,

My system is Ubuntu 12.04 and I am using Hydro.

I did as this tutoial:
https://github.com/RethinkRobotics/sdk-docs/wiki/Baxter-simulator

When I try to roslaunch baxter_gazebo baxter_world.launch
the ouput is:

Invalid tag: Cannot load command parameter [robot_description]: command [../ros_ws/src/xacro/xacro.py --inorder ../ros_ws/src/baxter_common/baxter_description/urdf/baxter.urdf.xacro gazebo:=true] returned with code [2].

Then I tried in this way
kahn@kahn:~/ros/ws_baxter$ /home/kahn/ros/ws_baxter/src/xacro/xacro.py --inorder
the ouput is

/home/kahn/ros/ws_baxter/src/baxter_common/baxter_description/urdf/baxter.urdf.xacro gazebo:=true
option --inorder not recognized
Usage: xacro.py [-o ]
xacro.py --deps Prints dependencies
xacro.py --includes Only evalutes includes

Then I directly tried this
kahn@kahn:~/ros/ws_baxter$ /home/kahn/ros/ws_baxter/src/xacro/xacro.py
However, there are still mistakes..

/home/kahn/ros/ws_baxter/src/baxter_common/baxter_description/urdf/baxter.urdf.xacro gazebo:=true
Traceback (most recent call last):
File "/home/kahn/ros/ws_baxter/src/xacro/xacro.py", line 60, in
xacro.main()
File "", line 657, in main
File "", line 245, in process_includes
File "", line 474, in eval_text
File "", line 461, in handle_expr
File "", line 435, in eval_expr
File "", line 409, in eval_term
File "", line 389, in eval_factor
File "", line 367, in eval_lit
xacro.XacroException: Property wasn't defined: u'l_finger'

I think my problem is totally same with this guy, but his use Indigo
http://answers.gazebosim.org/question/12765/error-when-executing-roslaunch-baxter_gazebo-baxter_worldlaunch/

Could anyone give me some advice?

Thx in advance!

Hi,

As soon as I start the baxter simulator the terminal gets full of errors as the following. I searched internet, but didn't prove useful. Could any one please help.
[ERROR] [1477498167.104072521, 7.592000000]: Could not compute FK for endpoint.

Apart from that, I do have the following errors while loading the simulator. The strange problem is that there is no log to be found in the path mention.

[baxter_emulator-8] process has died [pid 12680, exit code -11, cmd /home/mjm/catkin_ws/devel/lib/baxter_sim_hardware/baxter_emulator /home/mjm/catkin_ws/src/baxter_simulator/baxter_sim_hardware/images/researchsdk.png __name:=baxter_emulator __log:=/home/mjm/.ros/log/8aac5b6c-9b96-11e6-beb0-14109fd8a0ab/baxter_emulator-8.log].
log file: /home/mjm/.ros/log/8aac5b6c-9b96-11e6-beb0-14109fd8a0ab/baxter_emulator-8*.log

Doe anyone know how to solve it.

Best,

Mike

Hello there, whenever I start baxter gazebo I'm getting this error although simulation the starts:

[ERROR] [1490634846.719733201]: Could not find parameter robot_base_description on parameter server
[ERROR] [1490634846.725947716]: RobotURDF: Parameter /robot_base_description could not be found/read
[ERROR] [1490634846.725990169]: robot_state_publisher:  failed to initialize!

Any idea what’s this about?

Would it be ok if I ran the roscpp style guideline-based clang-formater we use for MoveIt! on this repo also? I'm digging into the code and having a hard time not fixing all the inconsistencies I'm seeing.

I have been trying to install baxter simulator by following the official link. However, I am stuck in the Build Source section where catkin_make give following error:

CMake Error at /usr/share/cmake-3.16/Modules/FindQt4.cmake:1314 (message):
  Found unsuitable Qt version "5.12.8" from /usr/bin/qmake, this code
  requires Qt 4.x
Call Stack (most recent call first):
  baxter_simulator/baxter_sim_io/CMakeLists.txt:15 (find_package)

Here are my implementation details:

ROS Version: noetic (I figured everything else for neotic)
Distributor ID: Ubuntu
Description:    Ubuntu 20.04.6 LTS
Release:        20.04
Codename:       focal

We have a project that depends on baxter_sdk1.1, ubuntu 14.04, ros indigo. (the project is in codefreeze state, so no 1.2 upgrade possible this time, not even apt-get upgrade allowed)

While we do have a working baxter robot, but we're trying to simulate baxter under gazebo 2.2.6 (from osrf repo).

I even set the export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu/:$LD_LIBRARY_PATH" trick in my .bashrc, as was suggested on the mailing list, and it solved some error messages about missing robot_state before...

when running roslaunch baxter_gazebo baxter_world.launch

[ INFO] [1455549597.698834625, 1.974000000]: Initializing BaxterEffortController with 7 joints.
[ INFO] [1455549597.699059826, 1.974000000]: Loading sub-controller 'right_e0_controller', Namespace: /robot/right_joint_effort_controller/joints/right_e0_controller
[ INFO] [1455549597.704393518, 1.978000000]: Loading sub-controller 'right_e1_controller', Namespace: /robot/right_joint_effort_controller/joints/right_e1_controller
[ INFO] [1455549597.717833827, 1.984000000]: Loading sub-controller 'right_s0_controller', Namespace: /robot/right_joint_effort_controller/joints/right_s0_controller
[ INFO] [1455549597.726747593, 1.988000000]: Loading sub-controller 'right_s1_controller', Namespace: /robot/right_joint_effort_controller/joints/right_s1_controller
[ INFO] [1455549597.733626383, 1.994000000]: Loading sub-controller 'right_w0_controller', Namespace: /robot/right_joint_effort_controller/joints/right_w0_controller
[ INFO] [1455549597.744691360, 1.997000000]: Loading sub-controller 'right_w1_controller', Namespace: /robot/right_joint_effort_controller/joints/right_w1_controller
[ INFO] [1455549597.761715324, 2.014000000]: Loading sub-controller 'right_w2_controller', Namespace: /robot/right_joint_effort_controller/joints/right_w2_controller
[INFO] [WallTime: 1455549597.781695] [2.022000] Controller Spawner: Loaded controllers: left_joint_position_controller, right_joint_position_controller, head_position_controller, left_joint_velocity_controller, right_joint_velocity_controller, left_joint_effort_controller, right_joint_effort_controller
[ INFO] [1455549630.368986084, 34.260000000]: Simulator is loaded and started successfully
[ INFO] [1455549630.378603960, 34.261000000]: Robot is disabled
[ INFO] [1455549630.378940511, 34.261000000]: Gravity compensation was turned off
[ERROR] [1455549970.115578834, 366.801000000]: Could not stop controller 'left_joint_velocity_controller' since it is not running
[ERROR] [1455549970.116366375, 366.802000000]: Failed to switch controllers
[ERROR] [1455549974.722494880, 371.253000000]: Could not stop controller 'right_joint_velocity_controller' since it is not running
[ERROR] [1455549974.722635254, 371.253000000]: Failed to switch controllers

Controller spawner says it loaded the controllers, but when I'm trying to use wobbler, or tuck_arms the last two error messages repeat.

I do remember, that this simulation was working before, maybe dependencies changed or some configuration error happened, but the messages have some conflict between them (loaded, but not running controllers?)

Note:
Also sometimes (not every time!) I get parts of the robot falling apart in gazebo with messages like:

[INFO] [WallTime: 1455548845.702339] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Unknown property der
Unknown property der
QMetaObject::connectSlotsByName: No matching signal for on_left_shoulder_pressed()
QMetaObject::connectSlotsByName: No matching signal for on_left_shoulder_released()
QMetaObject::connectSlotsByName: No matching signal for on_right_shoulder_pressed()
QMetaObject::connectSlotsByName: No matching signal for on_right_shoulder_released()
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].

or

[INFO] [WallTime: 1455548846.458276] [0.755000] temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1455548846.514682640, 0.755000000]: Camera Plugin (ns = /cameras)  <tf_prefix_>, set to "/cameras"
[ INFO] [1455548846.585618371, 0.755000000]: Camera Plugin (ns = /cameras)  <tf_prefix_>, set to "/cameras"
[ INFO] [1455548846.639640254, 0.755000000]: Camera Plugin (ns = /cameras)  <tf_prefix_>, set to "/cameras"
[ INFO] [1455548846.949493719]: GazeboRosVideo (gzclient, ns = /) has started!
Exception [ODELink.cc:386] Setting custom link baxter::left_lower_elbowmass to zero!

Error [World.cc:1666] Loading model from factory message failed
[INFO] [WallTime: 1455548847.460114] [1.168000] Calling service /gazebo/set_model_configuration
[INFO] [WallTime: 1455548847.462946] [1.172000] Set model configuration status: SetModelConfiguration: success
[ INFO] [1455548847.590697698, 1.295000000]: GazeboRosVideo (gzserver, ns = /) has started!
[urdf_spawner-5] process has finished cleanly
log file: /home/baxterws/.ros/log/d18b9e80-d3f5-11e5-873d-7824af346e2e/urdf_spawner-5*.log
[WARN] [WallTime: 1455548875.920646] [29.422000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [WallTime: 1455548875.942996] [29.445000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[robot/controller_spawner-9] process has finished cleanly
log file: /home/baxterws/.ros/log/d18b9e80-d3f5-11e5-873d-7824af346e2e/robot-controller_spawner-9*.log
[robot/controller_spawner_stopped-10] process has finished cleanly
log file: /home/baxterws/.ros/log/d18b9e80-d3f5-11e5-873d-7824af346e2e/robot-controller_spawner_stopped-10*.log
[ INFO] [1455548881.734463309, 35.206000000]: Simulator is loaded and started successfully
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.

These might be independent issues, but I can't find direction where to look for clues.

The commands I run:

[baxter - http://localhost:11311] baxterws@baxterws-operator:~/ros_ws$ rosrun baxter_tools enable_robot.py -e
[INFO] [WallTime: 1455549666.909481] [70.466000] Robot Enabled
[baxter - http://localhost:11311] baxterws@baxterws-operator:~/ros_ws$ rosrun baxter_tools tuck_arms.py -t
[INFO] [WallTime: 1455549681.931965] [0.000000] Tucking arms
Traceback (most recent call last):
  File "/home/baxterws/ros_ws/src/baxter_tools/scripts/tuck_arms.py", line 266, in <module>
    main()
  File "/home/baxterws/ros_ws/src/baxter_tools/scripts/tuck_arms.py", line 260, in main
    tucker = Tuck(tuck)
  File "/home/baxterws/ros_ws/src/baxter_tools/scripts/tuck_arms.py", line 57, in __init__
    'left': baxter_interface.Limb('left'),
  File "/home/baxterws/ros_ws/src/baxter_interface/src/baxter_interface/limb.py", line 121, in __init__
    timeout_msg=err_msg)
  File "/home/baxterws/ros_ws/src/baxter_interface/src/baxter_dataflow/wait_for.py", line 55, in wait_for
    raise OSError(errno.ETIMEDOUT, timeout_msg)
OSError: [Errno 110] Left limb init failed to get current joint_states from robot/joint_states

[baxter - http://localhost:11311] baxterws@baxterws-operator:~/ros_ws$ rostopic hz robot/joint_states
subscribed to [/robot/joint_states]
average rate: 50.000
    min: 0.019s max: 0.021s std dev: 0.00050s window: 49
average rate: 50.000
    min: 0.012s max: 0.028s std dev: 0.00125s window: 98
average rate: 50.000
    min: 0.012s max: 0.028s std dev: 0.00108s window: 147
^Caverage rate: 50.014
    min: 0.012s max: 0.028s std dev: 0.00101s window: 175


[baxter - http://localhost:11311] baxterws@baxterws-operator:~/ros_ws$ rostopic echo robot/joint_states

---
header: 
  seq: 12220
  stamp: 
    secs: 245
    nsecs: 779000000
  frame_id: ''
name: ['head_pan', 'left_e0', 'left_e1', 'left_s0', 'left_s1', 'left_w0', 'left_w1', 'left_w2', 'right_e0', 'right_e1', 'right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2']
position: [-0.012458599015063854, 0.013087865650309283, 0.5214991063283057, 0.1849393878969705, 1.031804682474478, -0.17780065013399504, -0.057332130027723416, -0.012499985633008137, 0.01782652946334462, 0.5033388615200369, -0.9082738979939275, 1.047003724560148, -0.9197235288933481, -0.05602882311736135, -0.02588254594208017]
velocity: [0.0024714338851410484, 0.00045443402907291213, -0.0006092397220345934, 0.003311871112331409, -0.0003337174578951593, 0.0016997448839176535, 0.0013185028807170987, 0.0004332011476928019, -0.0003476372584358562, 0.001129744222407989, -0.0013019436282886033, -0.00015323960617145597, -0.002788218175726901, -0.0009309409860963384, -0.0001679991253535644]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

---


[baxter - http://localhost:11311] baxterws@baxterws-operator:~/ros_ws$ rosrun baxter_examples joint_velocity_wobbler.py 
Initializing node... 
Getting robot state... 
Enabling robot... 
[INFO] [WallTime: 1455549969.971199] [366.657000] Robot Enabled
Moving to neutral pose...
^C
Exiting example...
Moving to neutral pose...


gazebo says:

[ERROR] [1455549970.115578834, 366.801000000]: Could not stop controller 'left_joint_velocity_controller' since it is not running
[ERROR] [1455549970.116366375, 366.802000000]: Failed to switch controllers
[ERROR] [1455549974.722494880, 371.253000000]: Could not stop controller 'right_joint_velocity_controller' since it is not running
[ERROR] [1455549974.722635254, 371.253000000]: Failed to switch controllers

[baxter - http://localhost:11311] baxterws@baxterws-operator:~/ros_ws$ env | grep ROS
ROS_ROOT=/opt/ros/indigo/share/ros
ROS_PACKAGE_PATH=/home/baxterws/ros_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
ROS_MASTER_URI=http://localhost:11311
ROS_TEST_RESULTS_DIR=/home/baxterws/ros_ws/build/test_results
ROSLISP_PACKAGE_DIRECTORIES=/home/baxterws/ros_ws/devel/share/common-lisp
__ROS_PROMPT=1
ROS_DISTRO=indigo
ROS_IP=192.168.6.127
ROS_ETC_DIR=/opt/ros/indigo/etc/ros

Both roslaunch working in paralell and gazebo having timing and racecondition issues gives the whole system a pretty you-can-never-reproduce-this-error taste. :)

I do have the same problem on a different machine, where the ros and osrf packages were kept up-to date via apt, but the sources weren't touched in 6 months, and gazebo 2.2.6 shows the same simptoms:

Could not stop controller 'left_joint_velocity_controller' since it is not running.

Any advice?

Hello,

I am trying to set up travis builds with an headless gazebo server to perform ros tests and integration tests. I am having a number of problems, which I will place in independent issues for the sake of sanity.

Problem 2 is that by default the robot is disabled and tucked. For my purposes, I would need a single launch file in which the simulator is called, and AFTER everything boots up properly, I would need the robot to be enabled and untucked.

Is it possible to do so? Ideally, I would like to have an input argument in the baxter_world.launch file.

See #114 and #116 as well.

Currently there are a few obvious issues:

• Position, Velocity, and Effort controllers fail to load
• Head Position controller whips around the robot
• Xdisplay on Baxter's face does not display images

I'm using branch "gripper simulation"in Gazebo, and I've came across two problems.

1. Baxter cannot pick up a block, each time Baxter closes its gripper onto a block and try to lift it, the block won't move up even a little bit. The friction coefficients of the block is set to 1.0,1.0(and 0.6, 0.6 gives the same behavior), and the friction of Baxter fingers are 1.0,1.0. I noticed that when the gripper closes up onto the block, there are gaps easily visible between both fingers to the surface of the block, I'm not sure whether that's related or it's just a rendering issue.
2. When I use joint_position_keyboard.py in package baxter_examples, each time a command is sent to move one of the joints, Baxter is moving very "aggressively", it will swing its arms very hard and bounce back and forth around the command joint positions for a certain period of time.

Any suggestions for solving these problems?Thanks!

From @pconti:

When running a simulated robot with electric grippers, if you move the arm around, you can see the fingers on the gripper slide. The stay on the housing rails where the fingers get mounted, but are not rigidly mounted to any specific position (are the screws just not part of the gripper model?).

This can impact where zero is for gripper fingers if you move the arm and then try to control the gripper. For example, if the arm is positioned such that the gripper fingers slide to one side of the housing, what is zero for the fingers is shifted toward that side. The gripper fingers are still actuated, just not necessarily centered as expected.

With the latest commit made on the development and the gripper_simulation branch I get the following errors when trying to launch baxter_world.launch :

Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Error [Param.cc:181] Unable to set value [-nan -nan -nan 0 -0 0] for key[pose]

[ERROR] [1447950065.006162846, 0.869000000]: Exception thrown while initializing controller right_gripper_controller.
Could not find resource 'r_gripper_l_finger_joint' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1447950065.006320683, 0.869000000]: Initializing controller 'right_gripper_controller' failed

[ERROR] [WallTime: 1447950066.017161] [1.749000] Failed to load right_gripper_controller

[ERROR] [1447950066.175180149, 1.865000000]: Ignoring transform for child_frame_id "l_gripper_l_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[ERROR] [1447950066.175222731, 1.865000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)

Any ideas of solutions would be welcomed

Baxter's camera streaming fails using Gazebo7:

[ WARN] [1486153355.581155367]: GazeboRosVideo plugin missing <robotNamespace>, defaults to "".
[ WARN] [1486153355.581207155]: GazeboRosVideo Plugin (ns = ) missing <topicName>, defaults to "image_raw".
[ WARN] [1486153355.581218927]: GazeboRosVideo Plugin (ns = ) missing <height>, defaults to 240.
[ WARN] [1486153355.581227121]: GazeboRosVideo Plugin (ns = ) missing <width>, defaults to 320

As reported by @dkretzsc:

"I can launch the simulator by going to my ros_ws workspace and using ./baxter.sh sim and the command roslaunch baxter_gazebo baxter_world.launch.

I wait until I see the three lines:

[ INFO] [1400513321.531488283, 34.216000000]: Simulator is loaded and started successfully
[ INFO] [1400513321.535040726, 34.219000000]: Robot is disabled
[ INFO] [1400513321.535125386, 34.220000000]: Gravity compensation was turned off

In another terminal, I go to Baxter's ros_ws, enter ./baxter.sh sim, and then launch the baxter example

rosrun baxter_examples joint_velocity_wobbler.py. 

The example runs on the simulator, but when I enter Ctrl c to exit, the terminal states that the robot
is entering a neutral pose and then disabled; however, the simulator shows that the arms are still
moving/flaying about in snake like movements and end in very unnatural poses for Baxter.

I want to use the simulator to test code that I write for Baxter but am concerned that I cannot even get valid example code to correctly run.

I put in a text file, the output from the two terminals I used to run the example and also used a screenshot of a pose that the simulator Baxter is in after he is theoretically in neutral pose and has been disabled.

I have tried troubleshooting by looking at the forums and also the troubleshooting page with no success. (I looked at the discussion at this link:
https://groups.google.com/a/rethinkrobotics.com/forum/#!searchin/brr-users/simulator/brr-users/LXIjjASQPGw/wMb7aV-A8l8J

However, I did not have an old copy of gazebo."

A screencap of the end result:

I realize all cameras always work in simulation, but it seems their state should still be published. The following topics are missing:

rostopic echo /robot/digital_io/left_hand_camera_power/state
rostopic echo /robot/digital_io/right_hand_camera_power/state
rostopic echo /robot/digital_io/torso_camera_power/state

This should be part of Digital IO: Read Digital Input State
/robot/digital_io/<component_id>/state (baxter_core_msgs-DigitalIOState)

With the real Baxter robot, if no commands are received within 0.2 seconds, it exits the current control mode and enters Position control. No switching occurs at any timeout with the simulator.

Whenever baxter_sim_io is launched, these lines are printed:

QMetaObject::connectSlotsByName: No matching signal for on_left_shoulder_pressed()
QMetaObject::connectSlotsByName: No matching signal for on_left_shoulder_released()
QMetaObject::connectSlotsByName: No matching signal for on_right_shoulder_pressed()
QMetaObject::connectSlotsByName: No matching signal for on_right_shoulder_released()

Either some signals are disconnected from the UI or this warning should be suppressed.

I'm trying to install baxter_simulator on Ubuntu 16.04 and ROS kinetic by following these steps: https://sdk.rethinkrobotics.com/wiki/Simulator_Installation.

When run these commands:

$ source /opt/ros/kinetic/setup.bash
$ cd ~/ros_ws
$ catkin_make

I get this error:

[ 92%] Building CXX object baxter_simulator/baxter_sim_io/CMakeFiles/baxter_sim_io.dir/src/qnode.cpp.o
[ 93%] Building CXX object baxter_simulator/baxter_sim_io/CMakeFiles/baxter_sim_io.dir/src/baxter_io.cpp.o
[ 93%] Building CXX object baxter_simulator/baxter_sim_io/CMakeFiles/baxter_sim_io.dir/src/main.cpp.o
[ 94%] Building CXX object baxter_simulator/baxter_sim_io/CMakeFiles/baxter_sim_io.dir/qrc_sim_io.cpp.o
[ 94%] Building CXX object baxter_simulator/baxter_sim_io/CMakeFiles/baxter_sim_io.dir/include/baxter_sim_io/moc_baxter_io.cpp.o
[ 95%] Building CXX object baxter_simulator/baxter_sim_io/CMakeFiles/baxter_sim_io.dir/include/baxter_sim_io/moc_qnode.cpp.o
[ 95%] Building CXX object baxter_simulator/baxter_sim_io/CMakeFiles/baxter_sim_io.dir/baxter_sim_io_automoc.cpp.o
[ 95%] Linking CXX shared library /home/gyan/baxter_sim_ws/devel/lib/libbaxter_sim_controllers.so
[ 95%] Built target baxter_sim_controllers
CMakeFiles/Makefile2:5909: recipe for target 'baxter_simulator/baxter_sim_kinematics/CMakeFiles/baxter_sim_kinematics.dir/all' failed
make[1]: *** [baxter_simulator/baxter_sim_kinematics/CMakeFiles/baxter_sim_kinematics.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 96%] Linking CXX executable /home/gyan/baxter_sim_ws/devel/lib/baxter_sim_io/baxter_sim_io
[ 96%] Built target baxter_sim_io
[ 96%] Linking CXX shared library /home/gyan/baxter_sim_ws/devel/lib/libbaxter_gazebo_ros_control.so
[ 96%] Built target baxter_gazebo_ros_control
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Could you help me solve this issue? Thanks!

Hi

I'm trying to run the Baxter in simulation but when I run my script it gives an error:

Baxter SDK version 2.1.2 not the same as local SDK version 1.1.1.

How can this be overcome? I need to use v1.1.1 as that is on the real Baxter.

Thanks

From Unige on the brr-users group:
"I was playing around with the simulator and initially, till I was using POSITION_MODE to control the joints everything was fine.
Then when I tried to switch to VELOCITY_MODE I noticed that from joint 4 to 7 the velocity is not followed correctly, and only for mid-high velocities (2 to 6 r/s) you can see the joint moving.
I thought it was a problem of my implementation but I tried on the real Baxter and everything was working correctly."

Details on how to reproduce this issue to follow.

Building on Indigo with clang:

[ 78%] Linking CXX shared library /Users/mikepurvis/ridgeback_ws/devel/lib/libbaxter_sim_controllers.dylib
cd /Users/mikepurvis/ridgeback_ws/build/baxter_simulator/baxter_sim_controllers && /usr/local/Cellar/cmake/3.3.1/bin/cmake -E cmake_link_script CMakeFiles/baxter_sim_controllers.dir/link.txt --verbose=1
/Library/Developer/CommandLineTools/usr/bin/c++   -dynamiclib -Wl,-headerpad_max_install_names  -o /Users/mikepurvis/ridgeback_ws/devel/lib/libbaxter_sim_controllers.dylib -install_name /Users/mikepurvis/ridgeback_ws/devel/lib/libbaxter_sim_controllers.dylib CMakeFiles/baxter_sim_controllers.dir/src/baxter_position_controller.cpp.o CMakeFiles/baxter_sim_controllers.dir/src/baxter_velocity_controller.cpp.o CMakeFiles/baxter_sim_controllers.dir/src/baxter_effort_controller.cpp.o CMakeFiles/baxter_sim_controllers.dir/src/baxter_head_controller.cpp.o /opt/ros/indigo/lib/libeffort_controllers.dylib /opt/ros/indigo/lib/libcontrol_toolbox.dylib /opt/ros/indigo/lib/libdynamic_reconfigure_config_init_mutex.dylib /opt/ros/indigo/lib/liburdf.dylib /usr/local/Cellar/urdfdom/0.2.10/lib/liburdfdom_sensor.dylib /usr/local/Cellar/urdfdom/0.2.10/lib/liburdfdom_model_state.dylib /usr/local/Cellar/urdfdom/0.2.10/lib/liburdfdom_model.dylib /usr/local/Cellar/urdfdom/0.2.10/lib/liburdfdom_world.dylib /opt/ros/indigo/lib/librosconsole_bridge.dylib /usr/local/lib/libtinyxml.dylib /opt/ros/indigo/lib/libclass_loader.dylib /usr/local/lib/libPocoFoundation.dylib /usr/lib/libdl.dylib /opt/ros/indigo/lib/libroslib.dylib /opt/ros/indigo/lib/librealtime_tools.dylib /opt/ros/indigo/lib/libroscpp.dylib /usr/local/lib/libboost_signals-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /opt/ros/indigo/lib/librosconsole.dylib /opt/ros/indigo/lib/librosconsole_log4cxx.dylib /opt/ros/indigo/lib/librosconsole_backend_interface.dylib /usr/local/lib/liblog4cxx.dylib /usr/local/lib/libboost_regex-mt.dylib /opt/ros/indigo/lib/libxmlrpcpp.dylib /opt/ros/indigo/lib/libroscpp_serialization.dylib /opt/ros/indigo/lib/librostime.dylib /usr/local/lib/libboost_date_time-mt.dylib /opt/ros/indigo/lib/libcpp_common.dylib /usr/local/lib/libboost_system-mt.dylib /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libconsole_bridge.dylib /usr/local/lib/libboost_system-mt.dylib /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libconsole_bridge.dylib 
Undefined symbols for architecture x86_64:
  "forward_command_controller::ForwardCommandController<hardware_interface::EffortJointInterface>::starting(ros::Time const&)", referenced from:
      vtable for forward_command_controller::ForwardCommandController<hardware_interface::EffortJointInterface> in baxter_effort_controller.cpp.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/mikepurvis/ridgeback_ws/devel/lib/libbaxter_sim_controllers.dylib] Error 1
make[1]: *** [baxter_simulator/baxter_sim_controllers/CMakeFiles/baxter_sim_controllers.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

Note that this was a Gazebo 5 setup, so it probably wouldn't have worked anyway (per #45), but this particular build issue appears to be on the ros_control side of things— generally clang is fussier about linker explicitness than gcc.

The head display image does not show up in Gazebo7:

Today, May 21 (China Time) there were numerous updates for ROS. After updating these I was no longer able to move Baxter in Simulation. Apparently there is an issue with ros_control.

It seems I upgraded from version 0.9.2 to 0.9.3

    ii  ros-indigo-control-msgs                                     1.3.1-0trusty-20150424-0624-+0000                   amd64        control_msgs contains base messages and actions useful for controlling robots. It provides representations for controller setpoints and joint and cartesian trajectories.
    ii  ros-indigo-control-toolbox                                  1.13.1-0trusty-20150430-2231-+0000                  amd64        The control toolbox contains modules that are useful across all controllers.
    ii  ros-indigo-controller-interface                             0.9.3-0trusty-20150507-1046-+0000                   amd64        Interface base class for controllers
    ii  ros-indigo-controller-manager                               0.9.3-0trusty-20150507-1051-+0000                   amd64        The controller manager.
    ii  ros-indigo-controller-manager-msgs                          0.9.3-0trusty-20150507-0820-+0000                   amd64        Messages and services for the controller manager.
    ii  ros-indigo-controller-manager-tests                         0.9.3-0trusty-20150507-1259-+0000                   amd64        controller_manager_tests

When running roslaunch baxter_gazebo baxter_world.launch the simulation loads but the arms are not responsive.

Then, when you try to move the arms using any baxter_example script, an error message shows up in the simulator terminal saying:

    [ INFO] [1432181335.517228641, 34.010000000]: Robot is disabled
    [ INFO] [1432181335.517704827, 34.010000000]: Gravity compensation was turned off
    [ERROR] [1432181351.136165406, 49.584000000]: Could not stop controller 'right_joint_velocity_controller' since it is not running
    [ERROR] [1432181351.136278313, 49.584000000]: Failed to switch controllers

Is anyone else experiencing this behavior?

In the button GUI there is no shoulder button even though the simulation API documents them:

Inputs:
Back Shoulder Buttons: left_shoulder_button, right_shoulder_button

Is there are reason this was omitted?

Notably, the topic is still published in qnode.cpp, but it is always unpressed.

Hi

I can not download this repo and in https://github-wiki-see.page/m/RethinkRobotics/sdk-docs/wiki/Development-Workstation-Setup-Instructions

it says I should request access from: [email protected]

which is not available anymore. Can you tell me how to simulator Baxter on Gazebo? Do you know where I can download a gzebo world file that simulates Gazebo? Is there an emulator somewhere?

Thank you,

Manal

Hello,

I am trying to set up travis builds with an headless gazebo server to perform ros tests and integration tests. I am having a number of problems, which I will place in independent issues for the sake of sanity.

Problem 1 is that sometimes gazebo crashes with the following error:

[ INFO][/baxter_emulator::service::exists]: waitForService: Service [/gazebo/get_link_properties] has not been advertised, waiting...
X Error of failed request:  BadDrawable (invalid Pixmap or Window parameter)
  Major opcode of failed request:  154 (DRI2)
  Minor opcode of failed request:  3 (DRI2CreateDrawable)
  Resource id in failed request:  0x4a00002
  Serial number of failed request:  31
  Current serial number in output stream:  33
[INFO][/robot/controller_spawner::main]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO][/robot/controller_spawner_stopped::main]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO][/robot/left_gripper_controller_spawner_stopped::main]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO][/robot/right_gripper_controller_spawner_stopped::main]: Controller Spawner: Waiting for service controller_manager/load_controller
gzserver: /usr/include/boost/thread/pthread/recursive_mutex.hpp:101: boost::recursive_mutex::~recursive_mutex(): Assertion `!pthread_mutex_destroy(&m)' failed.
Aborted (core dumped)

this happens only if I launch baxter_world.launch from a rostest, not from a roslaunch.

See #115 and #116 as well.

Several users have asked for this feature, and it is the highest priority task in this repository.

When running baxter_gazebo, no matter what is happening at the endpoint, there is no twist or wrench on the /robot/limb/left/endpoint_state topic:

# after launching gazebo in another teriminal
# via $ roslaunch baxter_gazebo baxter_world.launch
$ rostopic echo /robot/limb/left/endpoint_state

yields

header: 
  seq: 307258
  stamp: 
    secs: 0
    nsecs: 0
  frame_id: ''
pose: 
  position: 
    x: 0.572575815071
    y: 0.181186651371
    z: 0.24619470767
  orientation: 
    x: 0.140772189718
    y: 0.989644952796
    z: 0.0116515084487
    w: 0.0255009874122
twist: 
  linear: 
    x: 0.0
    y: 0.0
    z: 0.0
  angular: 
    x: 0.0
    y: 0.0
    z: 0.0
wrench: 
  force: 
    x: 0.0
    y: 0.0
    z: 0.0
  torque: 
    x: 0.0
    y: 0.0
    z: 0.0

---

regardless of the force acting on the end effector. This is due to the fact that neither of these were ever implemented.

When building on Ubuntu 14.04, baxter_simulator fails with the following error:

[ 83%] Generating include/baxter_sim_io/moc_qnode.cxx
[ 83%] Building CXX object baxter_simulator/baxter_gazebo/CMakeFiles/baxter_gazebo_ros_control.dir/src/baxter_gazebo_ros_control_plugin.cpp.o
[ 84%] Generating include/baxter_sim_io/moc_baxter_io.cxx
[ 85%] Built target baxter_sim_kinematics
Scanning dependencies of target kinematics
Scanning dependencies of target baxter_emulator
[ 89%] Built target baxter_sim_controllers
[ 90%] Building CXX object baxter_simulator/baxter_sim_kinematics/CMakeFiles/kinematics.dir/src/position_kinematics.cpp.o
usr/include/boost/type_traits/detail/has_binary_operator.hp:50: Parse error at "BOOST_JOIN"
make[2]: *** [baxter_simulator/baxter_sim_io/include/baxter_sim_io/moc_qnode.cxx] Error 1

This seems to be related to the QT bug listed here:
https://bugreports.qt.io/browse/QTBUG-22829

However, neither of the solutions seem to work. We tried adding

QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED)

into ~/ros_ws/src/baxter_simulator/baxter_sim_io/CMakeLists.txt which had no effect. We also tried adding #ifndef Q_MOC_RUN around all boost includes.

If it matters, we are using the Enthought Canopy Python distribution and Qt version 4.8.5

Any help would be appreciated!

Hello,

I am trying to set up travis builds with an headless gazebo server to perform ros tests and integration tests. I am having a number of problems, which I will place in independent issues for the sake of sanity.

Problem 3 is that, even if I launch baxter_world.launch with roslaunch on a terminal, and then I rosrun enable_robot.py and tuck_arms.py manually, they crash for some reason while waiting for the robot (although the robot is there). I'd say they work 50% of the time, as you can see from here:

baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools enable_robot.py -e
Traceback (most recent call last):
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/enable_robot.py", line 85, in <module>
    sys.exit(main())
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/enable_robot.py", line 65, in main
    rs = baxter_interface.RobotEnable(CHECK_VERSION)
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_interface/robot_enable.py", line 89, in __init__
    (state_topic,)),
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_dataflow/wait_for.py", line 55, in wait_for
    raise OSError(errno.ETIMEDOUT, timeout_msg)
OSError: [Errno 110] Failed to get robot state on robot/state
baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools enable_robot.py -e
Traceback (most recent call last):
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/enable_robot.py", line 85, in <module>
    sys.exit(main())
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/enable_robot.py", line 65, in main
    rs = baxter_interface.RobotEnable(CHECK_VERSION)
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_interface/robot_enable.py", line 89, in __init__
    (state_topic,)),
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_dataflow/wait_for.py", line 55, in wait_for
    raise OSError(errno.ETIMEDOUT, timeout_msg)
OSError: [Errno 110] Failed to get robot state on robot/state
baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools enable_robot.py -e
[INFO][/rsdk_robot_enable::_toggle_enabled]: Robot Enabled
baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools tuck_arms.py -u
[INFO][/rsdk_tuck_arms::main]: Untucking arms
Traceback (most recent call last):
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/tuck_arms.py", line 266, in <module>
    main()
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/tuck_arms.py", line 260, in main
    tucker = Tuck(tuck)
  File "/home/baxter/ros_ws/src/baxter_tools/scripts/tuck_arms.py", line 57, in __init__
    'left': baxter_interface.Limb('left'),
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_interface/limb.py", line 121, in __init__
    timeout_msg=err_msg)
  File "/home/baxter/ros_ws/src/baxter_interface/src/baxter_dataflow/wait_for.py", line 55, in wait_for
    raise OSError(errno.ETIMEDOUT, timeout_msg)
OSError: [Errno 110] Left limb init failed to get current joint_states from robot/joint_states
baxter@Azarel ~/ros_ws/src/baxter_tools (master) $ rosrun baxter_tools tuck_arms.py -u
[INFO][/rsdk_tuck_arms::main]: Untucking arms
[INFO][/rsdk_tuck_arms::_prepare_to_tuck]: Moving head to neutral position
[INFO][/rsdk_tuck_arms::supervised_tuck]: Untucking: Arms already Untucked; Moving to neutral position.
[INFO][/rsdk_tuck_arms::main]: Finished tuck

See #114 and #115 as well.

Right now the controller_manager spawner required for spawning baxter_sim_controllers defaults to waiting for 30 seconds before discovering the controllers are no longer in existence, and needs to be SIGINT in order to shutdown. This is a rather frustrating UX when you just want the simulator to exit.

I have followed this instruction (on the ROS Kinetic tabs): http://sdk.rethinkrobotics.com/wiki/Simulator_Installation

I got errors on protobuf version:

In file included from /usr/include/gazebo-7/gazebo/msgs/MessageTypes.hh:7:0,
                 from /usr/include/gazebo-7/gazebo/msgs/msgs.hh:32,
                 from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /opt/ros/kinetic/include/gazebo_ros_control/gazebo_ros_control_plugin.h:52,
                 from /home/tajima/Codes/tmp_ws/src/baxter_simulator/baxter_gazebo/src/baxter_gazebo_ros_control_plugin.cpp:42:
/usr/include/gazebo-7/gazebo/msgs/altimeter.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
 #error This file was generated by an older version of protoc which is

The environment is ROS Kinetic, Ubuntu16.04, all packages(including protobuf-compiler, version is 3.1.0) are upgraded. How can I build the baxter simulation? Thanks.

As reported by Dr. Juan Rojas:

I am running the Baxter Simulator on Indigo and SDK 1.1.0. I find that every time I kill Gazebo with Ctrl+C I get the following output:

[gazebo-2] killing on exit
pure virtual method called
terminate called without an active exception
pure virtual method called
terminate called without an active exception
Aborted (core dumped)
[baxter_sim_io-12] escalating to SIGTERM
[robot/controller_spawner_stopped-10] escalating to SIGTERM
[robot/controller_spawner-9] escalating to SIGTERM
[gazebo_gui-3] escalating to SIGTERM
[robot/controller_spawner_stopped-10] escalating to SIGKILL
[robot/controller_spawner-9] escalating to SIGKILL
[rosout-1] killing on exit
[master] killing on exit
Shutdown errors:
 * process[robot/controller_spawner_stopped-10, pid 16160]: required SIGKILL. May still be running.
 * process[robot/controller_spawner-9, pid 16091]: required SIGKILL. May still be running.
shutting down processing monitor...

I tried installing baxter simulator several times, but keep getting this error always. I tried deleting the devel folder and started from the beginning, but with no progress. Can anybody please tell me what I doing wrong?

/usr/local/include/urdf_model/types.h:62:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(JointMimic); ^ /usr/local/include/urdf_model/types.h:62:1: error: ‘weak_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(JointMimic); ^ /usr/local/include/urdf_model/types.h:63:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(JointSafety); ^ /usr/local/include/urdf_model/types.h:63:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(JointSafety); ^ /usr/local/include/urdf_model/types.h:63:1: error: ‘weak_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(JointSafety); ^ /usr/local/include/urdf_model/types.h:64:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Link); ^ /usr/local/include/urdf_model/types.h:64:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Link); ^ /usr/local/include/urdf_model/types.h:64:1: error: ‘weak_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Link); ^ /usr/local/include/urdf_model/types.h:65:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Material); ^ /usr/local/include/urdf_model/types.h:65:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Material); ^ /usr/local/include/urdf_model/types.h:65:1: error: ‘weak_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Material); ^ /usr/local/include/urdf_model/types.h:66:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Mesh); ^ /usr/local/include/urdf_model/types.h:66:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Mesh); ^ /usr/local/include/urdf_model/types.h:66:1: error: ‘weak_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Mesh); ^ /usr/local/include/urdf_model/types.h:67:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Sphere); ^ /usr/local/include/urdf_model/types.h:67:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Sphere); ^ /usr/local/include/urdf_model/types.h:67:1: error: ‘weak_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Sphere); ^ /usr/local/include/urdf_model/types.h:68:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Visual); ^ /usr/local/include/urdf_model/types.h:68:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Visual); ^ /usr/local/include/urdf_model/types.h:68:1: error: ‘weak_ptr’ in namespace ‘std’ does not name a type URDF_TYPEDEF_CLASS_POINTER(Visual); ^ /usr/local/include/urdf_model/types.h:72:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type std::shared_ptr<T> const_pointer_cast(std::shared_ptr<U> const & r) ^ /usr/local/include/urdf_model/types.h:78:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type std::shared_ptr<T> dynamic_pointer_cast(std::shared_ptr<U> const & r) ^ /usr/local/include/urdf_model/types.h:84:1: error: ‘shared_ptr’ in namespace ‘std’ does not name a type std::shared_ptr<T> static_pointer_cast(std::shared_ptr<U> const & r) ^ In file included from /usr/local/include/urdf_model/link.h:44:0, from /usr/local/include/urdf_model/model.h:42, from /opt/ros/indigo/include/urdf/model.h:42, from /opt/ros/indigo/include/gazebo_ros_control/robot_hw_sim.h:49, from /opt/ros/indigo/include/gazebo_ros_control/gazebo_ros_control_plugin.h:57, from /home/mjm/baxter_ws/src/baxter_simulator/baxter_gazebo/src/baxter_gazebo_ros_control_plugin.cpp:42: /usr/local/include/urdf_model/joint.h:141:3: error: ‘DoubleSharedPtr’ does not name a type DoubleSharedPtr rising, falling; ^ /usr/local/include/urdf_model/joint.h:199:3: error: ‘JointDynamicsSharedPtr’ does not name a type JointDynamicsSharedPtr dynamics; ^ /usr/local/include/urdf_model/joint.h:202:3: error: ‘JointLimitsSharedPtr’ does not name a type JointLimitsSharedPtr limits; ^ /usr/local/include/urdf_model/joint.h:205:3: error: ‘JointSafetySharedPtr’ does not name a type JointSafetySharedPtr safety; ^ /usr/local/include/urdf_model/joint.h:208:3: error: ‘JointCalibrationSharedPtr’ does not name a type JointCalibrationSharedPtr calibration; ^ /usr/local/include/urdf_model/joint.h:211:3: error: ‘JointMimicSharedPtr’ does not name a type JointMimicSharedPtr mimic; ^ /usr/local/include/urdf_model/joint.h: In member function ‘void urdf::Joint::clear()’: /usr/local/include/urdf_model/joint.h:219:11: error: ‘class urdf::Joint’ has no member named ‘dynamics’ this->dynamics.reset(); ^ /usr/local/include/urdf_model/joint.h:220:11: error: ‘class urdf::Joint’ has no member named ‘limits’ this->limits.reset(); ^ /usr/local/include/urdf_model/joint.h:221:11: error: ‘class urdf::Joint’ has no member named ‘safety’ this->safety.reset(); ^ /usr/local/include/urdf_model/joint.h:222:11: error: ‘class urdf::Joint’ has no member named ‘calibration’ this->calibration.reset(); ^ /usr/local/include/urdf_model/joint.h:223:11: error: ‘class urdf::Joint’ has no member named ‘mimic’ this->mimic.reset(); ^ In file included from /usr/local/include/urdf_model/link.h:45:0, from /usr/local/include/urdf_model/model.h:42, from /opt/ros/indigo/include/urdf/model.h:42, from /opt/ros/indigo/include/gazebo_ros_control/robot_hw_sim.h:49, from /opt/ros/indigo/include/gazebo_ros_control/gazebo_ros_control_plugin.h:57, from /home/mjm/baxter_ws/src/baxter_simulator/baxter_gazebo/src/baxter_gazebo_ros_control_plugin.cpp:42: /usr/local/include/urdf_model/color.h: In member function ‘bool urdf::Color::init(const string&)’: /usr/local/include/urdf_model/color.h:76:26: error: ‘stof’ is not a member of ‘std’ rgba.push_back(std::stof(pieces[i])); ^ In file included from /usr/local/include/urdf_model/model.h:42:0, from /opt/ros/indigo/include/urdf/model.h:42, from /opt/ros/indigo/include/gazebo_ros_control/robot_hw_sim.h:49, from /opt/ros/indigo/include/gazebo_ros_control/gazebo_ros_control_plugin.h:57, from /home/mjm/baxter_ws/src/baxter_simulator/baxter_gazebo/src/baxter_gazebo_ros_control_plugin.cpp:42: /usr/local/include/urdf_model/link.h: At global scope: /usr/local/include/urdf_model/link.h:152:3: error: ‘GeometrySharedPtr’ does not name a type GeometrySharedPtr geometry; ^ /usr/local/include/urdf_model/link.h:155:3: error: ‘MaterialSharedPtr’ does not name a type MaterialSharedPtr material; ^ /usr/local/include/urdf_model/link.h: In member function ‘void urdf::Visual::clear()’: /usr/local/include/urdf_model/link.h:161:5: error: ‘material’ was not declared in this scope material.reset(); ^ /usr/local/include/urdf_model/link.h:162:5: error: ‘geometry’ was not declared in this scope geometry.reset(); ^ /usr/local/include/urdf_model/link.h: At global scope: /usr/local/include/urdf_model/link.h:174:3: error: ‘GeometrySharedPtr’ does not name a type GeometrySharedPtr geometry; ^ /usr/local/include/urdf_model/link.h: In member function ‘void urdf::Collision::clear()’: /usr/local/include/urdf_model/link.h:179:5: error: ‘geometry’ was not declared in this scope geometry.reset(); ^ /usr/local/include/urdf_model/link.h: At global scope: /usr/local/include/urdf_model/link.h:196:3: error: ‘InertialSharedPtr’ does not name a type InertialSharedPtr inertial; ^ /usr/local/include/urdf_model/link.h:199:3: error: ‘VisualSharedPtr’ does not name a type VisualSharedPtr visual; ^ /usr/local/include/urdf_model/link.h:202:3: error: ‘CollisionSharedPtr’ does not name a type CollisionSharedPtr collision; ^ In file included from /usr/local/include/urdf_model/model.h:42:0, from /opt/ros/indigo/include/urdf/model.h:42, from /opt/ros/indigo/include/gazebo_ros_control/robot_hw_sim.h:49, from /opt/ros/indigo/include/gazebo_ros_control/gazebo_ros_control_plugin.h:57, from /home/mjm/baxter_ws/src/baxter_simulator/baxter_gazebo/src/baxter_gazebo_ros_control_plugin.cpp:42: /usr/local/include/urdf_model/link.h:205:15: error: ‘CollisionSharedPtr’ was not declared in this scope std::vector<CollisionSharedPtr> collision_array; ^ /usr/local/include/urdf_model/link.h:205:33: error: template argument 1 is invalid std::vector<CollisionSharedPtr> collision_array; ^ /usr/local/include/urdf_model/link.h:205:33: error: template argument 2 is invalid /usr/local/include/urdf_model/link.h:208:15: error: ‘VisualSharedPtr’ was not declared in this scope std::vector<VisualSharedPtr> visual_array; ^ /usr/local/include/urdf_model/link.h:208:30: error: template argument 1 is invalid std::vector<VisualSharedPtr> visual_array; ^ /usr/local/include/urdf_model/link.h:208:30: error: template argument 2 is invalid /usr/local/include/urdf_model/link.h:213:3: error: ‘JointSharedPtr’ does not name a type JointSharedPtr parent_joint; ^ /usr/local/include/urdf_model/link.h:215:15: error: ‘JointSharedPtr’ was not declared in this scope std::vector<JointSharedPtr> child_joints; ^ /usr/local/include/urdf_model/link.h:215:29: error: template argument 1 is invalid std::vector<JointSharedPtr> child_joints; ^ /usr/local/include/urdf_model/link.h:215:29: error: template argument 2 is invalid /usr/local/include/urdf_model/link.h:216:15: error: ‘LinkSharedPtr’ was not declared in this scope std::vector<LinkSharedPtr> child_links; ^ /usr/local/include/urdf_model/link.h:216:28: error: template argument 1 is invalid std::vector<LinkSharedPtr> child_links; ^ /usr/local/include/urdf_model/link.h:216:28: error: template argument 2 is invalid /usr/local/include/urdf_model/link.h:218:3: error: ‘LinkSharedPtr’ does not name a type LinkSharedPtr getParent() const ^ /usr/local/include/urdf_model/link.h:221:24: error: ‘LinkSharedPtr’ does not name a type void setParent(const LinkSharedPtr &parent) ^ /usr/local/include/urdf_model/link.h:238:3: error: ‘LinkWeakPtr’ does not name a type LinkWeakPtr parent_link_; ^ /usr/local/include/urdf_model/link.h: In member function ‘void urdf::Link::setParent(const int&)’: /usr/local/include/urdf_model/link.h:222:5: error: ‘parent_link_’ was not declared in this scope { parent_link_ = parent; } ^ /usr/local/include/urdf_model/link.h: In member function ‘void urdf::Link::clear()’: /usr/local/include/urdf_model/link.h:227:11: error: ‘class urdf::Link’ has no member named ‘inertial’ this->inertial.reset(); ^ /usr/local/include/urdf_model/link.h:228:11: error: ‘class urdf::Link’ has no member named ‘visual’ this->visual.reset(); ^ /usr/local/include/urdf_model/link.h:229:11: error: ‘class urdf::Link’ has no member named ‘collision’ this->collision.reset(); ^ /usr/local/include/urdf_model/link.h:230:11: error: ‘class urdf::Link’ has no member named ‘parent_joint’ this->parent_joint.reset(); ^ /usr/local/include/urdf_model/link.h:231:24: error: request for member ‘clear’ in ‘((urdf::Link*)this)->urdf::Link::child_joints’, which is of non-class type ‘int’ this->child_joints.clear(); ^ /usr/local/include/urdf_model/link.h:232:23: error: request for member ‘clear’ in ‘((urdf::Link*)this)->urdf::Link::child_links’, which is of non-class type ‘int’ this->child_links.clear(); ^ /usr/local/include/urdf_model/link.h:233:27: error: request for member ‘clear’ in ‘((urdf::Link*)this)->urdf::Link::collision_array’, which is of non-class type ‘int’ this->collision_array.clear(); ^ /usr/local/include/urdf_model/link.h:234:24: error: request for member ‘clear’ in ‘((urdf::Link*)this)->urdf::Link::visual_array’, which is of non-class type ‘int’ this->visual_array.clear(); ^ In file included from /opt/ros/indigo/include/urdf/model.h:42:0, from /opt/ros/indigo/include/gazebo_ros_control/robot_hw_sim.h:49, from /opt/ros/indigo/include/gazebo_ros_control/gazebo_ros_control_plugin.h:57, from /home/mjm/baxter_ws/src/baxter_simulator/baxter_gazebo/src/baxter_gazebo_ros_control_plugin.cpp:42: /usr/local/include/urdf_model/model.h: At global scope: /usr/local/include/urdf_model/model.h:51:3: error: ‘LinkConstSharedPtr’ does not name a type LinkConstSharedPtr getRoot(void) const{return this->root_link_;}; ^ /usr/local/include/urdf_model/model.h:52:3: error: ‘LinkConstSharedPtr’ does not name a type LinkConstSharedPtr getLink(const std::string& name) const ^ /usr/local/include/urdf_model/model.h:62:3: error: ‘JointConstSharedPtr’ does not name a type JointConstSharedPtr getJoint(const std::string& name) const ^ /usr/local/include/urdf_model/model.h:74:29: error: ‘LinkSharedPtr’ was not declared in this scope void getLinks(std::vector<LinkSharedPtr >& links) const ^ /usr/local/include/urdf_model/model.h:74:43: error: template argument 1 is invalid void getLinks(std::vector<LinkSharedPtr >& links) const ^ /usr/local/include/urdf_model/model.h:74:43: error: template argument 2 is invalid /usr/local/include/urdf_model/model.h:92:41: error: ‘LinkSharedPtr’ has not been declared void getLink(const std::string& name, LinkSharedPtr &link) const ^ /usr/local/include/urdf_model/model.h:103:3: error: ‘MaterialSharedPtr’ does not name a type MaterialSharedPtr getMaterial(const std::string& name) const ^ In file included from /opt/ros/indigo/include/urdf/model.h:42:0, from /opt/ros/indigo/include/gazebo_ros_control/robot_hw_sim.h:49, from /opt/ros/indigo/include/gazebo_ros_control/gazebo_ros_control_plugin.h:57, from /home/mjm/baxter_ws/src/baxter_simulator/baxter_gazebo/src/baxter_gazebo_ros_control_plugin.cpp:42: /usr/local/include/urdf_model/model.h:188:25: error: ‘LinkSharedPtr’ was not declared in this scope std::map<std::string, LinkSharedPtr> links_; ^ /usr/local/include/urdf_model/model.h:188:38: error: template argument 2 is invalid std::map<std::string, LinkSharedPtr> links_; ^ /usr/local/include/urdf_model/model.h:188:38: error: template argument 4 is invalid /usr/local/include/urdf_model/model.h:190:25: error: ‘JointSharedPtr’ was not declared in this scope std::map<std::string, JointSharedPtr> joints_; ^ /usr/local/include/urdf_model/model.h:190:39: error: template argument 2 is invalid std::map<std::string, JointSharedPtr> joints_; ^ /usr/local/include/urdf_model/model.h:190:39: error: template argument 4 is invalid /usr/local/include/urdf_model/model.h:192:25: error: ‘MaterialSharedPtr’ was not declared in this scope std::map<std::string, MaterialSharedPtr> materials_; ^ /usr/local/include/urdf_model/model.h:192:42: error: template argument 2 is invalid std::map<std::string, MaterialSharedPtr> materials_; ^ /usr/local/include/urdf_model/model.h:192:42: error: template argument 4 is invalid /usr/local/include/urdf_model/model.h:198:3: error: ‘LinkSharedPtr’ does not name a type LinkSharedPtr root_link_; ^ In file included from /opt/ros/indigo/include/urdf/model.h:42:0, from /opt/ros/indigo/include/gazebo_ros_control/robot_hw_sim.h:49, from /opt/ros/indigo/include/gazebo_ros_control/gazebo_ros_control_plugin.h:57, from /home/mjm/baxter_ws/src/baxter_simulator/baxter_gazebo/src/baxter_gazebo_ros_control_plugin.cpp:42: /usr/local/include/urdf_model/model.h: In member function ‘void urdf::ModelInterface::getLinks(int&) const’: /usr/local/include/urdf_model/model.h:76:31: error: ‘LinkSharedPtr’ was not declared in this scope for (std::map<std::string,LinkSharedPtr>::const_iterator link = this->links_.begin();link != this->links_.end(); link++) ^ /usr/local/include/urdf_model/model.h:76:44: error: template argument 2 is invalid for (std::map<std::string,LinkSharedPtr>::const_iterator link = this->links_.begin();link != this->links_.end(); link++) ^ /usr/local/include/urdf_model/model.h:76:44: error: template argument 4 is invalid /usr/local/include/urdf_model/model.h:76:62: error: invalid type in declaration before ‘link’ for (std::map<std::string,LinkSharedPtr>::const_iterator link = this->links_.begin();link != this->links_.end(); link++) ^ /usr/local/include/urdf_model/model.h:76:62: error: expected ‘;’ before ‘link’ /usr/local/include/urdf_model/model.h:76:82: error: request for member ‘begin’ in ‘((const urdf::ModelInterface*)this)->urdf::ModelInterface::links_’, which is of non-class type ‘const int’ for (std::map<std::string,LinkSharedPtr>::const_iterator link = this->links_.begin();link != this->links_.end(); link++) ^ /usr/local/include/urdf_model/model.h:76:111: error: request for member ‘end’ in ‘((const urdf::ModelInterface*)this)->urdf::ModelInterface::links_’, which is of non-class type ‘const int’ for (std::map<std::string,LinkSharedPtr>::const_iterator link = this->links_.begin();link != this->links_.end(); link++) ^ /usr/local/include/urdf_model/model.h:76:116: error: expected ‘)’ before ‘;’ token for (std::map<std::string,LinkSharedPtr>::const_iterator link = this->links_.begin();link != this->links_.end(); link++) ^ /usr/local/include/urdf_model/model.h:76:122: error: ISO C++ forbids incrementing a pointer of type ‘int (*)(const char*, const char*)throw ()’ [-fpermissive] for (std::map<std::string,LinkSharedPtr>::const_iterator link = this->links_.begin();link != this->links_.end(); link++) ^ /usr/local/include/urdf_model/model.h:76:122: error: lvalue required as increment operand /usr/local/include/urdf_model/model.h:76:124: error: expected ‘;’ before ‘)’ token for (std::map<std::string,LinkSharedPtr>::const_iterator link = this->links_.begin();link != this->links_.end(); link++) ^ /usr/local/include/urdf_model/model.h: In member function ‘void urdf::ModelInterface::clear()’: /usr/local/include/urdf_model/model.h:85:18: error: request for member ‘clear’ in ‘((urdf::ModelInterface*)this)->urdf::ModelInterface::links_’, which is of non-class type ‘int’ this->links_.clear(); ^ /usr/local/include/urdf_model/model.h:86:19: error: request for member ‘clear’ in ‘((urdf::ModelInterface*)this)->urdf::ModelInterface::joints_’, which is of non-class type ‘int’ this->joints_.clear(); ^ /usr/local/include/urdf_model/model.h:87:22: error: request for member ‘clear’ in ‘((urdf::ModelInterface*)this)->urdf::ModelInterface::materials_’, which is of non-class type ‘int’ this->materials_.clear(); ^ /usr/local/include/urdf_model/model.h:88:11: error: ‘class urdf::ModelInterface’ has no member named ‘root_link_’ this->root_link_.reset(); ^ /usr/local/include/urdf_model/model.h: In member function ‘void urdf::ModelInterface::getLink(const string&, int&) const’: /usr/local/include/urdf_model/model.h:94:5: error: ‘LinkSharedPtr’ was not declared in this scope LinkSharedPtr ptr; ^ /usr/local/include/urdf_model/model.h:94:19: error: expected ‘;’ before ‘ptr’ LinkSharedPtr ptr; ^ /usr/local/include/urdf_model/model.h:95:22: error: request for member ‘find’ in ‘((const urdf::ModelInterface*)this)->urdf::ModelInterface::links_’, which is of non-class type ‘const int’ if (this->links_.find(name) == this->links_.end()) ^ /usr/local/include/urdf_model/model.h:95:49: error: request for member ‘end’ in ‘((const urdf::ModelInterface*)this)->urdf::ModelInterface::links_’, which is of non-class type ‘const int’ if (this->links_.find(name) == this->links_.end()) ^ /usr/local/include/urdf_model/model.h:96:7: error: ‘ptr’ was not declared in this scope ptr.reset(); ^ /usr/local/include/urdf_model/model.h:98:7: error: ‘ptr’ was not declared in this scope ptr = this->links_.find(name)->second; ^ /usr/local/include/urdf_model/model.h:98:26: error: request for member ‘find’ in ‘((const urdf::ModelInterface*)this)->urdf::ModelInterface::links_’, which is of non-class type ‘const int’ ptr = this->links_.find(name)->second; ^ /usr/local/include/urdf_model/model.h:99:12: error: ‘ptr’ was not declared in this scope link = ptr; ^ /usr/local/include/urdf_model/model.h: In member function ‘void urdf::ModelInterface::initTree(std::map<std::basic_string<char>, std::basic_string<char> >&)’: /usr/local/include/urdf_model/model.h:116:32: error: ‘JointSharedPtr’ was not declared in this scope for (std::map<std::string, JointSharedPtr>::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) ^ /usr/local/include/urdf_model/model.h:116:46: error: template argument 2 is invalid for (std::map<std::string, JointSharedPtr>::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) ^ /usr/local/include/urdf_model/model.h:116:46: error: template argument 4 is invalid /usr/local/include/urdf_model/model.h:116:58: error: invalid type in declaration before ‘joint’ for (std::map<std::string, JointSharedPtr>::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) ^ /usr/local/include/urdf_model/model.h:116:58: error: expected ‘;’ before ‘joint’ /usr/local/include/urdf_model/model.h:116:58: error: ‘joint’ was not declared in this scope /usr/local/include/urdf_model/model.h:116:80: error: request for member ‘begin’ in ‘((urdf::ModelInterface*)this)->urdf::ModelInterface::joints_’, which is of non-class type ‘int’ for (std::map<std::string, JointSharedPtr>::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) ^ /usr/local/include/urdf_model/model.h:116:111: error: request for member ‘end’ in ‘((urdf::ModelInterface*)this)->urdf::ModelInterface::joints_’, which is of non-class type ‘int’ for (std::map<std::string, JointSharedPtr>::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) ^ /usr/local/include/urdf_model/model.h:116:116: error: expected ‘)’ before ‘;’ token for (std::map<std::string, JointSharedPtr>::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) ^ /usr/local/include/urdf_model/model.h:116:118: error: ‘joint’ was not declared in this scope for (std::map<std::string, JointSharedPtr>::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) ^ /usr/local/include/urdf_model/model.h:116:125: error: expected ‘;’ before ‘)’ token for (std::map<std::string, JointSharedPtr>::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++) ^ In file included from /opt/ros/indigo/include/urdf/model.h:42:0, from /opt/ros/indigo/include/gazebo_ros_control/robot_hw_sim.h:49, from /opt/ros/indigo/include/gazebo_ros_control/gazebo_ros_control_plugin.h:57, from /home/mjm/baxter_ws/src/baxter_simulator/baxter_gazebo/src/baxter_gazebo_ros_control_plugin.cpp:42: /usr/local/include/urdf_model/model.h:156:3: error: expected ‘}’ at end of input } ^ /usr/local/include/urdf_model/model.h: In member function ‘void urdf::ModelInterface::initRoot(const std::map<std::basic_string<char>, std::basic_string<char> >&)’: /usr/local/include/urdf_model/model.h:160:11: error: ‘class urdf::ModelInterface’ has no member named ‘root_link_’ this->root_link_.reset(); ^ /usr/local/include/urdf_model/model.h:163:32: error: ‘LinkSharedPtr’ was not declared in this scope for (std::map<std::string, LinkSharedPtr>::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++) ^ /usr/local/include/urdf_model/model.h:163:45: error: template argument 2 is invalid for (std::map<std::string, LinkSharedPtr>::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++) ^ /usr/local/include/urdf_model/model.h:163:45: error: template argument 4 is invalid /usr/local/include/urdf_model/model.h:163:63: error: invalid type in declaration before ‘l’ for (std::map<std::string, LinkSharedPtr>::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++) ^ /usr/local/include/urdf_model/model.h:163:63: error: expected ‘;’ before ‘l’ /usr/local/include/urdf_model/model.h:163:63: error: ‘l’ was not declared in this scope /usr/local/include/urdf_model/model.h:163:78: error: request for member ‘begin’ in ‘((urdf::ModelInterface*)this)->urdf::ModelInterface::links_’, which is of non-class type ‘int’ for (std::map<std::string, LinkSharedPtr>::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++) ^ /usr/local/include/urdf_model/model.h:163:103: error: request for member ‘end’ in ‘((urdf::ModelInterface*)this)->urdf::ModelInterface::links_’, which is of non-class type ‘int’ for (std::map<std::string, LinkSharedPtr>::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++) ^ /usr/local/include/urdf_model/model.h:163:108: error: expected ‘)’ before ‘;’ token for (std::map<std::string, LinkSharedPtr>::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++) ^ /usr/local/include/urdf_model/model.h:163:110: error: ‘l’ was not declared in this scope for (std::map<std::string, LinkSharedPtr>::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++) ^ /usr/local/include/urdf_model/model.h:163:113: error: expected ‘;’ before ‘)’ token for (std::map<std::string, LinkSharedPtr>::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++) ^ /usr/local/include/urdf_model/model.h:184:3: error: expected ‘}’ at end of input } ^ Linking CXX executable /home/mjm/baxter_ws/devel/lib/baxter_sim_io/baxter_sim_io [ 97%] Built target baxter_sim_io make[2]: *** [baxter_simulator/baxter_gazebo/CMakeFiles/baxter_gazebo_ros_control.dir/src/baxter_gazebo_ros_control_plugin.cpp.o] Error 1 make[1]: *** [baxter_simulator/baxter_gazebo/CMakeFiles/baxter_gazebo_ros_control.dir/all] Error 2 make: *** [all] Error 2 Invoking "make -j8 -l8" failed

error
I am facing above errors when running catkin_make with ros kinetic and ubuntu 16.04. Please let me know what are the steps required to be done to compile this package properly.

After installing ros-indigo-baxter-simulator with apt-get and running
roslaunch baxter_gazebo baxter_world.launch, the following error came up.

[ERROR] [1452721279.691889491, 0.542000000]: Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
[ERROR] [1452721279.691927138, 0.542000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types

joint_state_controller or its meta-package (ros_controllers) should be added as a run dependency of either baxter_sim_controllers or baxter_gazebo.

The Position Kinematics node dies if the URDF contains joint that have "left_" or "right_" in them, and are not the typical left_s0 -> left_w2 joints. This causes an index out of bound error (coredump) when it tries to populate the kinematic model with more joints than intended.

From answers.ros.org:

[answers.ros.org] Help Building Custom BAXTER grippers
I need help figuring out these two errors. They are both related, so solving one should solve the other. I'm building custom grippers for Baxter in Ros-Indigo (ubuntu 1404.2). I've built a custom URDF file along with a custom launch file. This error is the last error I have to figure out.

 [baxter_sim_kinematics_left-6] process has died [pid 27862, exit code -11, cmd /home/veyorokon/ros/baxter_ws/devel/lib/baxter_sim_kinematics/kinematics left __name:=baxter_sim_kinematics_left __log:=/home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_left-6.log].
log file: /home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_left-6*.log
[baxter_sim_kinematics_right-7] process has died [pid 27921, exit code -11, cmd /home/veyorokon/ros/baxter_ws/devel/lib/baxter_sim_kinematics/kinematics right __name:=baxter_sim_kinematics_right __log:=/home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_right-7.log].
log file: /home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_right-7*.log

My response:

The baxter_sim_kinematics node makes a very bad assumption - all of the joints for the arm will be the only ones that begin with the strings , rather than loading all 7 of them from a param or yaml file. Then whenever an additional joint is added that starts with , it core dumps. Not a great design. It is a bit far down on my bug list to tackle, as it requires someone be adding a custom end effector to Baxter. As a workaround, start your joint with or any other string that is not "left" or "right" instead. Please open a ticket for this on Baxter_simulator if there isn't one already. Sorry for the inconvenience!

Has anyone tried using baxter simulation in gazebo 10 and ros kinetic. I ran the following command
roslaunch baxter_gazebo baxter_world.launch

I got the following error

Segmentation fault (core dumped)
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 17358, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/faseeh/ros_ws/src/baxter_simulator/baxter_gazebo/worlds/baxter.world __name:=gazebo __log:=/home/faseeh/.ros/log/2428b7a4-4eab-11e8-8ffc-9cb6d067fc1f/gazebo-2.log].
log file: /home/faseeh/.ros/log/2428b7a4-4eab-11e8-8ffc-9cb6d067fc1f/gazebo-2*.log
[gazebo_gui-3] process has died [pid 17363, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/faseeh/.ros/log/2428b7a4-4eab-11e8-8ffc-9cb6d067fc1f/gazebo_gui-3.log].
log file: /home/faseeh/.ros/log/2428b7a4-4eab-11e8-8ffc-9cb6d067fc1f/gazebo_gui-3*.log

Any solution?

Hello,

I'm currently trying to follow the instructions for compiling the baxter_simulator ROS package on this page: http://sdk.rethinkrobotics.com/wiki/Simulator_Installation

After running catkin_make, I get an error during compilation:

[ 94%] Building CXX object baxter_simulator/baxter_sim_io/CMakeFiles/baxter_sim_io.dir/qrc_sim_io.cxx.o
/home/ssnover/catkin_ws/src/baxter_simulator/baxter_sim_kinematics/src/arm_kinematics.cpp: In member function ‘bool arm_kinematics::Kinematics::readJoints(urdf::Model&)’:
/home/ssnover/catkin_ws/src/baxter_simulator/baxter_sim_kinematics/src/arm_kinematics.cpp:248:65: error: conversion from ‘urdf::LinkConstSharedPtr {aka std::shared_ptr<const urdf::Link>}’ to non-scalar type ‘boost::shared_ptr<const urdf::Link>’ requested
   boost::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
                                              ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
/home/ssnover/catkin_ws/src/baxter_simulator/baxter_sim_kinematics/src/arm_kinematics.cpp:255:60: error: no match for ‘operator=’ (operand types are ‘boost::shared_ptr<const urdf::Joint>’ and ‘urdf::JointConstSharedPtr {aka std::shared_ptr<const urdf::Joint>}’)
       joint = robot_model.getJoint(link->parent_joint->name);
                                                            ^
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
                 from /opt/ros/melodic/include/ros/forwards.h:37,
                 from /opt/ros/melodic/include/ros/common.h:37,
                 from /opt/ros/melodic/include/ros/ros.h:43,
                 from /home/ssnover/catkin_ws/src/baxter_simulator/baxter_sim_kinematics/src/arm_kinematics.cpp:35:
/usr/include/boost/smart_ptr/shared_ptr.hpp:547:18: note: candidate: boost::shared_ptr<T>& boost::shared_ptr<T>::operator=(const boost::shared_ptr<T>&) [with T = const urdf::Joint]
     shared_ptr & operator=( shared_ptr const & r ) BOOST_SP_NOEXCEPT
                  ^~~~~~~~

It appears that one of the dependencies has updated to use modern C++ std::shared_ptr instead of boost::shared_ptr and it broke compilation.

Hi,
I am a student who want to use the torque mode in simulator, so I test this using the command:
rostopic pub /robot/limb/right/joint_command baxter_core_msgs/JointCommand "mode:3 command: -5 names: -'right_s0'"
This command will pub -5Nm torque to the joint "right_s0", and move "right_s0" a little. But when I pub -1Nm torque to the same joint, I found that the joint will move a big angle. So I confused.
Another question is that in simulator, the "timeout" seems have no effect.
Looking forward to your answer.
Thank you very much.
GeWei

Currently is installed ros with ros-indigo-desktop-full, and the default version is gazebo 2.2.3 which is deprecated. i found gazebo7 have more useful tools and convenient for research. will this simulator supports gazebo7?

After running

rosrun baxter_examples joint_position_joystick.py

the example just waits for input commands. This is due to the fact that External devices like joystick, Xbox and Ps3 are not supported.

Hi,

I have an issue with running any of the code to move the robot. I get the below error when I run the joint position waypoints example:

$ rosrun baxter_examples joint_position_waypoints.py -l right Initializing node... Traceback (most recent call last): File "/home/pipothy/ros_ws/src/baxter_examples/scripts/joint_position_waypoints.py", line 191, in
main() File "/home/pipothy/ros_ws/src/baxter_examples/scripts/joint_position_waypoints.py", line 181, in main
waypoints = Waypoints(args.limb, args.speed, args.accuracy) File "/home/pipothy/ros_ws/src/baxter_examples/scripts/joint_position_waypoints.py", line 45, in init
self._limb = baxter_interface.Limb(self._arm) File "/home/pipothy/ros_ws/src/baxter_interface/src/baxter_interface/limb.py", line 121, in init
timeout_msg=err_msg) File "/home/pipothy/ros_ws/src/baxter_interface/src/baxter_dataflow/wait_for.py", line 55, in wait_for
raise OSError(errno.ETIMEDOUT, timeout_msg) OSError: [Errno 110] Right limb init failed to get current joint_states from robot/joint_states

EDIT: When I echo the joint_states topic, I can see data on it so the topic isn't empty.

I already had ROS installed, but other than that, I followed the installation instructions at the link below line by line. I used the commands for kinetic and stopped after launching the baxter world: http://sdk.rethinkrobotics.com/wiki/Simulator_Installation
I then enabled the robot and ran the command to start the example: http://sdk.rethinkrobotics.com/wiki/Joint_Position_Waypoints_Example
This produced the above error.

Am I being silly and have forgot to do something, or is this a genuine error? Apologies if it is me being silly, I can't seem to find anything in the rest of the issues.

Missing the file with fresh copy in ubuntu 16.04 ros kinetic

Gravity is only enabled for the base of the robot and not the arms, see comment. Is there a reason for this? I think it should be enabled again

Dear All

I am running the simulation on the Gazebo7. I can see the controller is learning but the error(MAE) is around 0.1 after several trials which is almost ten times worse than the results from the real robot that the authors have reported in their paper. Does anyone have any idea why the simulation result is so bad and the robot end-effector does not go through a nice circular or eight-like trajectory after learning process is done?

rosrun baxter_examples analog_io_rampup.py

yields

ETIMEOUT error