【ROS總結】ROS故障排除

前言

  在ROS學習與開發中，難免遇到各種各樣的問題，除了一些可以解決問題（語法問題）外，其他一些問題有時很難發現並解決，在這裏，總結下在開發中遇到的各種問題，不定期更新中。。。

  爲了方便和管理，每一個標題都是一些問題模塊，現在有catkin_make編譯模塊。

catkin_make問題

問題1：在使用catkin_make過程中，明明有需要編譯的包，但是系統提示找不到該路徑，具體輸出如下：

Traceback (most recent call last):
  File "/opt/ros/indigo/share/genjava/cmake/../../../lib/genjava/genjava_gradle_project.py", line 14, in <module>
    genjava.main(sys.argv)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/genjava/genjava_main.py", line 82, in main
    gradle_project.create(args.package, args.output_dir)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/genjava/gradle_project.py", line 152, in create
    raise IOError("could not find %s on the ros package path" % msg_pkg_name)
IOError: could not find turtlebot2i_marker_manipulation on the ros package path
make[2]: *** [turtlebot2i_marker_manipulation/java/turtlebot2i_marker_manipulation/build.gradle] Error 1
make[1]: *** [turtlebot2i_marker_manipulation/CMakeFiles/turtlebot2i_marker_manipulation_generate_messages_java_gradle.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Traceback (most recent call last):
  File "/opt/ros/indigo/share/genjava/cmake/../../../lib/genjava/genjava_gradle_project.py", line 14, in <module>
    genjava.main(sys.argv)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/genjava/genjava_main.py", line 82, in main
    gradle_project.create(args.package, args.output_dir)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/genjava/gradle_project.py", line 152, in create
    raise IOError("could not find %s on the ros package path" % msg_pkg_name)
IOError: could not find turtlebot2i_marker_manipulation on the ros package path

IOError: could not find turtlebot2i_marker_manipulationon the ros package path

解決方案：

  下載genjava就可以正常編譯。原因不明。命令如下：

$ sudo apt-get remove ros-indigo-genjava

 
Moveit! 問題

問題1：當運行

roslaunch moveit_setup_assistant setup_assistant.launch

選擇模型加載時，會突然系統崩潰。提示如下信息：

[rospack] Error: no package given
[librospack]: error while executing command
[ INFO] [1496720764.674712823]: Running 'rosrun xacro xacro.py /home/carl/Desktop/Project/turtlebot2i/src/turtlebot2i/turtlebot2i_description/robots/kobuki_interbotix_zr300.urdf.xacro'...
[ INFO] [1496720765.546447152]: Loaded turtlebot robot model.
[ INFO] [1496720765.546519891]: Setting Param Server with Robot Description
[ INFO] [1496720765.555161202]: Robot semantic model successfully loaded.
[ INFO] [1496720765.555195476]: Setting Param Server with Robot Semantic Description
[ INFO] [1496720765.570819680]: Loading robot model 'turtlebot'...
[ INFO] [1496720765.570888991]: No root/virtual joint specified in SRDF. Assuming fixed joint
================================================================================REQUIRED process [moveit_setup_assistant-1] has died!
process has died [pid 8123, exit code -11, cmd /opt/ros/indigo/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/carl/.ros/log/689c9c26-4a64-11e7-8883-d85de2b5c407/moveit_setup_assistant-1.log].
log file: /home/carl/.ros/log/689c9c26-4a64-11e7-8883-d85de2b5c407/moveit_setup_assistant-1*.log
Initiating shutdown!
================================================================================
[moveit_setup_assistant-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

說明：

1.單獨加載模型沒問題.

2.使用moveit_setup加載其他模型有的沒問題（例如，Turtlebot）。

3.只是使用有些模型會出現突然崩潰的情況。

解決方案：

  方式1：檢查模型中模型的<collision>屬性，裏面的<geometry>是否加載的是.dae或.stl文件，如果有，將.dae或.stl替換成urdf本身自有的屬性，例如<cylinder>，<box>等。

舉例：將

      <collision>
        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot2i_description/meshes/sensors/sr300.stl" scale="2.0 2.0 2.0" />
        </geometry>
      </collision>

替換成

      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.006" radius="0.170"/>
        </geometry>
      </collision>

  方式2：測試了下moveit_setup_assistant，發現模型加載mesh時，會出錯，方式1是將現有屬性替換，另外一種方式是改變自己製作的dae或stl文件名，不清楚什麼原因，moveit_setup_assistant加載dae或stl時，模型名必須爲小寫，如果有大寫出現就會報錯，例如將Test_Finger.dae修改爲test_finger.dae就不會造成崩潰。

  方式3：如果是在加載別人做的dae或stl文件時，需要將dae或stl文件重寫，我使用的是blender，將stl重新導出stl就不會造成崩潰。其他3D建模也可以嘗試下，3D Max，solidworks，inventor等等。

其他解決方案如果有請告知。

ROS_Control + Gazebo問題

問題1：使用ros_control爲模型添加Gazebo接口時，模型單獨顯示沒有問題，在Gazebo中添加會錯誤，從而導致加載不了ros_control接口，報錯如下：

[ERROR] [1497406213.064550049, 0.172000000]: No valid hardware interface element found in joint 'wheel_joint_fl'.
[ERROR] [1497406213.064681421, 0.172000000]: Failed to load joints for transmission 'wheel_trans_fl'.
[ERROR] [1497406213.064711210, 0.172000000]: No valid hardware interface element found in joint 'caster_joint_fl'.
[ERROR] [1497406213.064765673, 0.172000000]: Failed to load joints for transmission 'caster_trans_fl'.
[ERROR] [1497406213.064781965, 0.172000000]: No valid hardware interface element found in joint 'wheel_joint_fr'.
[ERROR] [1497406213.064794358, 0.172000000]: Failed to load joints for transmission 'wheel_trans_fr'.
[ERROR] [1497406213.064806668, 0.172000000]: No valid hardware interface element found in joint 'caster_joint_fr'.
[ERROR] [1497406213.064815775, 0.172000000]: Failed to load joints for transmission 'caster_trans_fr'.
[ERROR] [1497406213.064826099, 0.172000000]: No valid hardware interface element found in joint 'wheel_joint_bl'.
[ERROR] [1497406213.064837826, 0.172000000]: Failed to load joints for transmission 'wheel_trans_bl'.
[ERROR] [1497406213.064850074, 0.172000000]: No valid hardware interface element found in joint 'caster_joint_bl'.
[ERROR] [1497406213.064861368, 0.172000000]: Failed to load joints for transmission 'caster_trans_bl'.
[ERROR] [1497406213.064874445, 0.172000000]: No valid hardware interface element found in joint 'wheel_joint_br'.
[ERROR] [1497406213.064884656, 0.172000000]: Failed to load joints for transmission 'wheel_trans_br'.
[ERROR] [1497406213.064893785, 0.172000000]: No valid hardware interface element found in joint 'caster_joint_br'.
[ERROR] [1497406213.064902338, 0.172000000]: Failed to load joints for transmission 'caster_trans_br'.
[ERROR] [1497406213.064913362, 0.172000000]: No valid hardware interface element found in joint 'arm_joint_1'.
[ERROR] [1497406213.064923217, 0.172000000]: Failed to load joints for transmission 'arm_trans_1'.
[ERROR] [1497406213.064932655, 0.172000000]: No valid hardware interface element found in joint 'arm_joint_2'.
[ERROR] [1497406213.064942810, 0.172000000]: Failed to load joints for transmission 'arm_trans_2'.
[ERROR] [1497406213.064956180, 0.172000000]: No valid hardware interface element found in joint 'arm_joint_3'.
[ERROR] [1497406213.064965970, 0.172000000]: Failed to load joints for transmission 'arm_trans_3'.
[ERROR] [1497406213.064976051, 0.172000000]: No valid hardware interface element found in joint 'arm_joint_4'.
[ERROR] [1497406213.064985608, 0.172000000]: Failed to load joints for transmission 'arm_trans_4'.
[ERROR] [1497406213.064995977, 0.172000000]: No valid hardware interface element found in joint 'arm_joint_5'.
[ERROR] [1497406213.065005730, 0.172000000]: Failed to load joints for transmission 'arm_trans_5'.
[ERROR] [1497406213.065017694, 0.172000000]: No valid hardware interface element found in joint 'gripper_finger_joint_l'.
[ERROR] [1497406213.065026496, 0.172000000]: Failed to load joints for transmission 'gripper_finger_l_trans'.
[ERROR] [1497406213.065036557, 0.172000000]: No valid hardware interface element found in joint 'gripper_finger_joint_r'.
[ERROR] [1497406213.065046327, 0.172000000]: Failed to load joints for transmission 'gripper_finger_r_trans'.

解決：該問題原因是ros_control接口更新，有的舊的會不兼容，通過給<joint>選項添加<hardwareinterface>標籤，這個錯誤會消失，比如，在rrbot.xacro文件中，改變：

<joint name="joint1"/>

爲：

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>