gazebo上でhuskyを動かしたいのですが、エラーが表示されます。

Question

以下のサイトを参考に、gazebo上でhuskyを動かしたいのですが、以下のエラーが表示され、『clearpath_playpen.world』ファイルが反映されません。

解決策がわかる方がいましたら、教えていただけると幸いです。

参考記事

Navigation Stack を理解する - 2.1 move_base: ROSで遊んでみる

ターミナルでの実行

roslaunch husky_gazebo husky_playpen.launch

【エラー内容】

... logging to /home/ecb/.ros/log/1f000c8e-d7e4-11ec-afba-d8bbc1224b6b/roslaunch-ecb-GP76-25713.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ecb-GP76:36517/

SUMMARY
========

PARAMETERS
 * /ekf_localization/base_link_frame: base_link
 * /ekf_localization/frequency: 50
 * /ekf_localization/imu0: imu/data
 * /ekf_localization/imu0_config: [False, False, Fa...
 * /ekf_localization/imu0_differential: True
 * /ekf_localization/imu0_queue_size: 10
 * /ekf_localization/imu0_remove_gravitational_acceleration: True
 * /ekf_localization/odom0: husky_velocity_co...
 * /ekf_localization/odom0_config: [False, False, Fa...
 * /ekf_localization/odom0_differential: False
 * /ekf_localization/odom0_queue_size: 10
 * /ekf_localization/odom_frame: odom
 * /ekf_localization/predict_to_current_time: True
 * /ekf_localization/two_d_mode: True
 * /ekf_localization/world_frame: odom
 * /gazebo/enable_ros_network: True
 * /husky_joint_publisher/publish_rate: 50
 * /husky_joint_publisher/type: joint_state_contr...
 * /husky_velocity_controller/angular/z/has_acceleration_limits: True
 * /husky_velocity_controller/angular/z/has_velocity_limits: True
 * /husky_velocity_controller/angular/z/max_acceleration: 6.0
 * /husky_velocity_controller/angular/z/max_velocity: 2.0
 * /husky_velocity_controller/base_frame_id: base_link
 * /husky_velocity_controller/cmd_vel_timeout: 0.25
 * /husky_velocity_controller/enable_odom_tf: False
 * /husky_velocity_controller/estimate_velocity_from_position: False
 * /husky_velocity_controller/left_wheel: ['front_left_whee...
 * /husky_velocity_controller/linear/x/has_acceleration_limits: True
 * /husky_velocity_controller/linear/x/has_velocity_limits: True
 * /husky_velocity_controller/linear/x/max_acceleration: 3.0
 * /husky_velocity_controller/linear/x/max_velocity: 1.0
 * /husky_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/publish_rate: 50
 * /husky_velocity_controller/right_wheel: ['front_right_whe...
 * /husky_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/type: diff_drive_contro...
 * /husky_velocity_controller/velocity_rolling_window_size: 2
 * /husky_velocity_controller/wheel_radius_multiplier: 1.0
 * /husky_velocity_controller/wheel_separation_multiplier: 1.875
 * /joy_teleop/joy_node/autorepeat_rate: 20
 * /joy_teleop/joy_node/deadzone: 0.1
 * /joy_teleop/joy_node/dev: /dev/input/ps4
 * /joy_teleop/teleop_twist_joy/axis_angular: 0
 * /joy_teleop/teleop_twist_joy/axis_linear: 1
 * /joy_teleop/teleop_twist_joy/enable_button: 4
 * /joy_teleop/teleop_twist_joy/enable_turbo_button: 5
 * /joy_teleop/teleop_twist_joy/scale_angular: 1.4
 * /joy_teleop/teleop_twist_joy/scale_linear: 0.4
 * /joy_teleop/teleop_twist_joy/scale_linear_turbo: 2.0
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /twist_mux/locks: [{'topic': 'e_sto...
 * /twist_mux/topics: [{'topic': 'joy_t...
 * /use_sim_time: True

NODES
  /
    base_controller_spawner (controller_manager/spawner)
    ekf_localization (robot_localization/ekf_localization_node)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_husky_model (gazebo_ros/spawn_model)
    twist_marker_server (interactive_marker_twist_server/marker_server)
    twist_mux (twist_mux/twist_mux)
  /joy_teleop/
    joy_node (joy/joy_node)
    teleop_twist_joy (teleop_twist_joy/teleop_node)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [25764]
process[gazebo_gui-2]: started with pid [25768]
process[base_controller_spawner-3]: started with pid [25774]
process[ekf_localization-4]: started with pid [25775]
process[twist_marker_server-5]: started with pid [25776]
process[robot_state_publisher-6]: started with pid [25777]
process[twist_mux-7]: started with pid [25783]
process[joy_teleop/joy_node-8]: started with pid [25788]
process[joy_teleop/teleop_twist_joy-9]: started with pid [25796]
process[spawn_husky_model-10]: started with pid [25803]
[ INFO] [1653198184.999467842]: [twist_marker_server] Initialized.
[ERROR] [1653198185.021171824]: Couldn't open joystick /dev/input/ps4. Will retry every second.
[WARN] [1653198185.320793, 0.000000]: wait_for_service(/controller_manager/load_controller): failed to contact, will keep trying
[ INFO] [1653198185.392218361]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1653198185.393159195]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1653198185.459296096]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1653198185.460042820]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1653198186.258738428]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1653198186.266844639]: Physics dynamic reconfigure ready.
[ WARN] [1653198186.944654175, 1298.480000000]: Failed to meet update rate! Took 1298.4800000000000182
[ WARN] [1653198186.945614782, 1298.480000000]: Failed to meet update rate! Took 1298.4600000000000364
[ERROR] [1653198186.945973, 1298.480000]: Spawn service failed. Exiting.
[ INFO] [1653198186.986981146, 1298.480000000]: Loading gazebo_ros_control plugin
[ INFO] [1653198186.987062629, 1298.480000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1653198186.987424627, 1298.480000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1653198187.094427580, 1298.480000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_left_wheel
[ERROR] [1653198187.094856302, 1298.480000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_right_wheel
[ERROR] [1653198187.095225073, 1298.480000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/rear_left_wheel
[ERROR] [1653198187.095561865, 1298.480000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/rear_right_wheel
[ INFO] [1653198187.097145547, 1298.480000000]: Loaded gazebo_ros_control.
[ INFO] [1653198187.101046509, 1298.480000000]: imu plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1653198187.101060498, 1298.480000000]: imu plugin missing <rpyOffset>, defaults to 0s
[spawn_husky_model-10] process has died [pid 25803, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -x 0.0 -y 0.0 -z 0.0 -Y 0.0 -unpause -urdf -param robot_description -model husky -robot_namespace / __name:=spawn_husky_model __log:=/home/ecb/.ros/log/1f000c8e-d7e4-11ec-afba-d8bbc1224b6b/spawn_husky_model-10.log].
log file: /home/ecb/.ros/log/1f000c8e-d7e4-11ec-afba-d8bbc1224b6b/spawn_husky_model-10*.log
[ INFO] [1653198187.146481420, 1298.510000000]: Controller state will be published at 50Hz.
[ INFO] [1653198187.146829500, 1298.510000000]: Wheel separation will be multiplied by 1.875.
[ INFO] [1653198187.147039997, 1298.510000000]: Left wheel radius will be multiplied by 1.
[ INFO] [1653198187.147049197, 1298.510000000]: Right wheel radius will be multiplied by 1.
[ INFO] [1653198187.147284842, 1298.510000000]: Velocity rolling window size of 2.
[ INFO] [1653198187.147521281, 1298.510000000]: Velocity commands will be considered old if they are older than 0.25s.
[ INFO] [1653198187.147646303, 1298.510000000]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1653198187.147876821, 1298.510000000]: Base frame_id set to base_link
[ INFO] [1653198187.147996338, 1298.510000000]: Odometry frame_id set to odom
[ INFO] [1653198187.148217078, 1298.510000000]: Publishing to tf is disabled
[ INFO] [1653198187.151861136, 1298.510000000]: left wheel to origin: 0.256,0.2854, 0.03282
[ INFO] [1653198187.151876481, 1298.510000000]: right wheel to origin: 0.256,-0.2854, 0.03282
[ INFO] [1653198187.151912264, 1298.510000000]: Odometry params : wheel separation 1.07025, left wheel radius 0.1651, right wheel radius 0.1651
[ INFO] [1653198187.152641884, 1298.520000000]: Adding left wheel with joint name: front_left_wheel and right wheel with joint name: front_right_wheel
[ INFO] [1653198187.152667448, 1298.520000000]: Adding left wheel with joint name: rear_left_wheel and right wheel with joint name: rear_right_wheel
[ INFO] [1653198187.156373753, 1298.520000000]: Dynamic Reconfigure:
DynamicParams:
	Odometry parameters:
		left wheel radius multiplier: 1
		right wheel radius multiplier: 1
		wheel separation multiplier: 1.875
	Publication parameters:
		Publish executed velocity command: disabled
		Publication rate: 50
		Publish frame odom on tf: disabled

gazeboで表示画面

Answer 1

Sorry for answering in English.
I had same problem too, so I will let you know that how to solve it.
It should now appear structure object .

cd ~/.gazebo
mkdir models
cd models

Open the “clearpath_playpen.world” file, then find name “model://”~. example:[model://construction_barrel/meshes/construction_barrel.dae]

Visit http://models.gazebosim.org/.
And find each construction names. Example:”construction_barrel.dae”.
Download each ~.tar.gz ZIP file.

Move these files in the models directory.

Others:
Normally Laser scan setting is disabled. So We need to rewrite a part of below words.
Open the “husky.urdf.xacro” file.

Line:28
<xacro:arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED 0)" />
to
<xacro:arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED 1)" />

Line:36
<xacro:arg name="laser_ust10_front_enabled" default="$(optenv HUSKY_UST10_ENABLED 0)" />
to
<xacro:arg name="laser_ust10_front_enabled" default="$(optenv HUSKY_UST10_ENABLED 1)" />