API tools faq
paste
Advertisement
AbdealiJK

roslaunch hector_quadrotor 1

AbdealiJK
May 13th, 2015
759
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 7.75 KB | None | 0 0
raw download clone embed print report
  1. $ roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch
  2. ... logging to /home/ajk/.ros/log/f80b22a8-f9f1-11e4-afff-88532e962f4e/roslaunch-ajk-VPCSB38GG-5338.log
  3. Checking log directory for disk usage. This may take awhile.
  4. Press Ctrl-C to interrupt
  5. Done checking log file disk usage. Usage is <1GB.
  6.  
  7. started roslaunch server http://ajk-VPCSB38GG:46779/
  8.  
  9. SUMMARY
  10. ========
  11.  
  12. PARAMETERS
  13. * /controller/imu_topic:
  14. * /controller/motor/type: hector_quadrotor_...
  15. * /controller/pose/type: hector_quadrotor_...
  16. * /controller/pose/xy/k_d: 0.0
  17. * /controller/pose/xy/k_i: 0.0
  18. * /controller/pose/xy/k_p: 2.0
  19. * /controller/pose/xy/limit_output: 5.0
  20. * /controller/pose/yaw/k_d: 0.0
  21. * /controller/pose/yaw/k_i: 0.0
  22. * /controller/pose/yaw/k_p: 2.0
  23. * /controller/pose/yaw/limit_output: 1.0
  24. * /controller/pose/z/k_d: 0.0
  25. * /controller/pose/z/k_i: 0.0
  26. * /controller/pose/z/k_p: 2.0
  27. * /controller/pose/z/limit_output: 5.0
  28. * /controller/state_topic:
  29. * /controller/twist/angular/xy/k_d: 5.0
  30. * /controller/twist/angular/xy/k_i: 5.0
  31. * /controller/twist/angular/xy/k_p: 10.0
  32. * /controller/twist/angular/xy/time_constant: 0.01
  33. * /controller/twist/angular/z/k_d: 0.0
  34. * /controller/twist/angular/z/k_i: 2.5
  35. * /controller/twist/angular/z/k_p: 5.0
  36. * /controller/twist/angular/z/limit_output: 3.0
  37. * /controller/twist/angular/z/time_constant: 0.1
  38. * /controller/twist/limits/force/z: 30.0
  39. * /controller/twist/limits/load_factor: 1.5
  40. * /controller/twist/limits/torque/xy: 10.0
  41. * /controller/twist/limits/torque/z: 1.0
  42. * /controller/twist/linear/xy/k_d: 0.0
  43. * /controller/twist/linear/xy/k_i: 1.0
  44. * /controller/twist/linear/xy/k_p: 5.0
  45. * /controller/twist/linear/xy/limit_output: 10.0
  46. * /controller/twist/linear/xy/time_constant: 0.05
  47. * /controller/twist/linear/z/k_d: 0.0
  48. * /controller/twist/linear/z/k_i: 1.0
  49. * /controller/twist/linear/z/k_p: 5.0
  50. * /controller/twist/linear/z/limit_output: 10.0
  51. * /controller/twist/linear/z/time_constant: 0.05
  52. * /controller/twist/type: hector_quadrotor_...
  53. * /ground_truth_to_tf/frame_id: /world
  54. * /ground_truth_to_tf/odometry_topic: ground_truth/state
  55. * /ground_truth_to_tf/tf_prefix:
  56. * /quadrotor_aerodynamics/C_mxy: 0.074156208
  57. * /quadrotor_aerodynamics/C_mz: 0.050643264
  58. * /quadrotor_aerodynamics/C_wxy: 0.12
  59. * /quadrotor_aerodynamics/C_wz: 0.1
  60. * /quadrotor_propulsion/CT0s: 1.53819048398e-05
  61. * /quadrotor_propulsion/CT1s: -0.00025224
  62. * /quadrotor_propulsion/CT2s: 0.0
  63. * /quadrotor_propulsion/J_M: 2.5730480633e-05
  64. * /quadrotor_propulsion/Psi: 0.00724217982751
  65. * /quadrotor_propulsion/R_A: 0.201084219222
  66. * /quadrotor_propulsion/alpha_m: 0.104863758314
  67. * /quadrotor_propulsion/beta_m: 0.549262344778
  68. * /quadrotor_propulsion/k_m: -7.01163190977e-05
  69. * /quadrotor_propulsion/k_t: 0.0153368647144
  70. * /quadrotor_propulsion/l_m: 0.275
  71. * /robot_description: <?xml version="1....
  72. * /robot_state_publisher/publish_frequency: 50.0
  73. * /rosdistro: indigo
  74. * /rosversion: 1.11.10
  75. * /tf_prefix:
  76. * /use_sim_time: True
  77.  
  78. NODES
  79. /
  80. controller_spawner (controller_manager/spawner)
  81. gazebo (gazebo_ros/gzserver)
  82. gazebo_gui (gazebo_ros/gzclient)
  83. ground_truth_to_tf (message_to_tf/message_to_tf)
  84. robot_state_publisher (robot_state_publisher/robot_state_publisher)
  85. rviz (rviz/rviz)
  86. spawn_robot (gazebo_ros/spawn_model)
  87.  
  88. auto-starting new master
  89. process[master]: started with pid [5353]
  90. ROS_MASTER_URI=http://localhost:11311
  91.  
  92. setting /run_id to f80b22a8-f9f1-11e4-afff-88532e962f4e
  93. process[rosout-1]: started with pid [5366]
  94. started core service [/rosout]
  95. process[gazebo-2]: started with pid [5369]
  96. process[gazebo_gui-3]: started with pid [5373]
  97. process[spawn_robot-4]: started with pid [5377]
  98. process[robot_state_publisher-5]: started with pid [5384]
  99. process[ground_truth_to_tf-6]: started with pid [5406]
  100. process[controller_spawner-7]: started with pid [5409]
  101. process[rviz-8]: started with pid [5410]
  102. /opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
  103. [ WARN] [1431577840.910017198]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
  104. [INFO] [WallTime: 1431577844.181686] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
  105. Gazebo multi-robot simulator, version 2.2.3
  106. Copyright (C) 2012-2014 Open Source Robotics Foundation.
  107. Released under the Apache 2 License.
  108. http://gazebosim.org
  109.  
  110. Gazebo multi-robot simulator, version 2.2.3
  111. Copyright (C) 2012-2014 Open Source Robotics Foundation.
  112. Released under the Apache 2 License.
  113. http://gazebosim.org
  114.  
  115. Msg Waiting for master
  116. Msg Connected to gazebo master @ http://127.0.0.1:11345
  117. Msg Publicized address: 10.21.171.44
  118. [ INFO] [1431577845.676727321]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
  119. [ INFO] [1431577845.688011852]: Finished loading Gazebo ROS API Plugin.
  120. Msg Waiting for master
  121. Msg Connected to gazebo master @ http://127.0.0.1:11345
  122. Msg Publicized address: 10.21.171.44
  123. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  124. Warning [gazebo.cc:215] Waited 1seconds for namespaces.
  125. spawn_model script started
  126. [INFO] [WallTime: 1431577848.692784] [0.000000] Loading model xml from ros parameter
  127. [INFO] [WallTime: 1431577848.697671] [0.000000] Waiting for service /gazebo/spawn_urdf_model
  128. [INFO] [WallTime: 1431577848.701129] [0.000000] Calling service /gazebo/spawn_urdf_model
  129. [ INFO] [1431577849.961270831, 0.001000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
  130. [ INFO] [1431577850.212977228, 0.001000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
  131. [ INFO] [1431577851.446580458, 0.001000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
  132. [ INFO] [1431577851.446763949, 0.001000000]: Starting Laser Plugin (ns = /)!
  133. [INFO] [WallTime: 1431577851.448902] [0.001000] Spawn status: SpawnModel: Successfully spawned model
  134. [ INFO] [1431577851.486592896, 0.001000000]: Laser Plugin (ns = /) <tf_prefix_>, set to ""
  135. [spawn_robot-4] process has finished cleanly
  136. log file: /home/ajk/.ros/log/f80b22a8-f9f1-11e4-afff-88532e962f4e/spawn_robot-4*.log
  137. [ INFO] [1431577851.777145187, 0.001000000]: imu plugin missing <xyzOffset>, defaults to 0s
  138. [ INFO] [1431577851.777216695, 0.001000000]: imu plugin missing <rpyOffset>, defaults to 0s
  139. [ INFO] [1431577852.597640732, 0.001000000]: Loading gazebo_ros_control plugin
  140. [ WARN] [1431577852.597774382, 0.001000000]: Desired controller update period (0.010000000 s) is slower than the gazebo simulation period (0.001000000 s).
  141. [ INFO] [1431577852.597856010, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /
  142. [ INFO] [1431577852.599147494, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
  143. [ INFO] [1431577852.994238821, 0.001000000]: Loaded gazebo_ros_control.
  144. [ INFO] [1431577853.109167643, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
  145. [ INFO] [1431577853.152876673, 0.050000000]: Physics dynamic reconfigure ready.
  146. [INFO] [WallTime: 1431577853.239159] [0.107000] Controller Spawner: Waiting for service controller_manager/switch_controller
  147. [INFO] [WallTime: 1431577853.241289] [0.109000] Controller Spawner: Waiting for service controller_manager/unload_controller
  148. [INFO] [WallTime: 1431577853.243638] [0.110000] Loading controller: controller/twist
  149. [INFO] [WallTime: 1431577853.445352] [0.180000] Controller Spawner: Loaded controllers: controller/twist
  150. [INFO] [WallTime: 1431577853.460144] [0.190000] Started controllers: controller/twist
  151. Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!