I followed Teleop PR2 arm in simulation.
I run:
roslaunch pr2_gazebo pr2_empty_world.launch
And jtteleop launch file:
sam@sam:~/code/ros/test$ roslaunch jtteleop.launch
... logging to /home/sam/.ros/log/cab3d0b6-c687-11e1-bd65-20cf30a23845/roslaunch-sam-26533.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://sam:57702/
SUMMARY
========
PARAMETERS
* /r_cart/joint_max_effort/r_forearm_roll_joint
* /r_cart/pose_command_filter
* /r_cart/joint_max_effort/r_shoulder_pan_joint
* /r_cart/joint_feedforward/r_shoulder_lift_joint
* /r_cart/joint_feedforward/r_elbow_flex_joint
* /r_cart/joint_max_effort/r_wrist_flex_joint
* /r_cart/joint_max_effort/r_upper_arm_roll_joint
* /r_cart/joint_feedforward/r_shoulder_pan_joint
* /rosdistro
* /r_cart/vel_saturation_trans
* /r_cart/joint_feedforward/r_wrist_roll_joint
* /r_cart/cart_gains/trans/d
* /rosversion
* /r_cart/joint_max_effort/r_shoulder_lift_joint
* /r_cart/cart_gains/trans/p
* /r_cart/type
* /r_cart/tip_name
* /r_cart/vel_saturation_rot
* /r_cart/joint_feedforward/r_forearm_roll_joint
* /r_cart/cart_gains/rot/p
* /r_cart/root_name
* /r_cart/jacobian_inverse_damping
* /r_cart/joint_max_effort/r_elbow_flex_joint
* /r_cart/k_posture
* /r_cart/cart_gains/rot/d
* /r_cart/joint_max_effort/r_wrist_roll_joint
* /r_cart/joint_feedforward/r_upper_arm_roll_joint
* /r_cart/joint_feedforward/r_wrist_flex_joint
NODES
/
stop_r_arm (pr2_controller_manager/pr2_controller_manager)
spawn_cart (pr2_controller_manager/spawner)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[stop_r_arm-1]: started with pid [26551]
process[spawn_cart-2]: started with pid [26552]
[stop_r_arm-1] process has finished cleanly.
log file: /home/sam/.ros/log/cab3d0b6-c687-11e1-bd65-20cf30a23845/stop_r_arm-1*.log
[ERROR] [WallTime: 1341482270.896231] [32.088000] Failed to load r_cart
How to solve it?
Thank you~
I followed the answer.
I try this launch:
<launch>
<node name="stop_r_arm" pkg="pr2_controller_manager" type="pr2_controller_manager" args="stop r_arm_controller"/>
<rosparam ns="r_cart">
type: robot_mechanism_controllers/JTTCartesianController
root_name: torso_lift_link
tip_name: r_gripper_tool_frame
k_posture: 25.0
jacobian_inverse_damping: 0.01
pose_command_filter: 0.01
cart_gains:
trans:
p: 800.0
d: 15.0
rot:
p: 80.0
d: 1.2
joint_feedforward:
r_shoulder_pan_joint: 3.33
r_shoulder_lift_joint: 1.16
r_upper_arm_roll_joint: 0.1
r_elbow_flex_joint: 0.25
r_forearm_roll_joint: 0.133
r_wrist_flex_joint: 0.0727
r_wrist_roll_joint: 0.0727
joint_max_effort:
r_shoulder_pan_joint: 11.88
r_shoulder_lift_joint: 11.64
r_upper_arm_roll_joint: 6.143
r_elbow_flex_joint: 6.804
r_forearm_roll_joint: 8.376
r_wrist_flex_joint: 5.568
r_wrist_roll_joint: 5.568
vel_saturation_trans: 2.0
vel_saturation_rot: 4.0
</rosparam>
<node name="spawn_cart" pkg="pr2_controller_manager" type="spawner" args="r_cart"/>
</launch>
And I got this error:
sam@sam:~/code/ros/test$ roslaunch t3.launch
... logging to /home/sam/.ros/log/a8d96ed0-d495-11e1-a466-20cf30a23845/roslaunch-sam-12098.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://sam:32831/
SUMMARY
========
PARAMETERS
* /r_cart/r_upper_arm_roll_joint
* /r_cart/pose_command_filter
* /r_cart/joint_max_effort
* /r_cart/cart_gains
* /r_cart/r_wrist_roll_joint
* /r_cart/joint_feedforward
* /r_cart/r_elbow_flex_joint
* /r_cart/k_posture
* /r_cart/p
* /r_cart/trans
* /rosdistro
* /r_cart/vel_saturation_trans
* /r_cart/r_wrist_flex_joint
* /r_cart/rot
* /rosversion
* /r_cart/root_name
* /r_cart/d
* /r_cart/type
* /r_cart/tip_name
* /r_cart/vel_saturation_rot
* /r_cart/r_forearm_roll_joint
* /r_cart/jacobian_inverse_damping
* /r_cart/r_shoulder_lift_joint
* /r_cart/r_shoulder_pan_joint
NODES
/
stop_r_arm (pr2_controller_manager/pr2_controller_manager)
spawn_cart (pr2_controller_manager/spawner)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
load_parameters: unable to set parameters (last param was [/r_cart/r_shoulder_pan_joint=11.88]): cannot marshal None unless allow_none is enabled
Traceback (most recent call last):
File "/opt/ros/electric/stacks/ros_comm/tools/roslaunch/src/roslaunch/__init__.py", line 252, in main
p.start()
File "/opt/ros/electric/stacks/ros_comm/tools/roslaunch/src/roslaunch/parent.py", line 265, in start
self.runner.launch()
File "/opt/ros/electric/stacks/ros_comm/tools/roslaunch/src/roslaunch/launch.py", line 644, in launch
self._setup()
File "/opt/ros/electric/stacks/ros_comm/tools/roslaunch/src/roslaunch/launch.py", line 631, in _setup
self._load_parameters()
File "/opt/ros/electric/stacks/ros_comm/tools/roslaunch/src/roslaunch/launch.py", line 322, in _load_parameters
r = param_server_multi()
File "/usr/lib/python2.6/xmlrpclib.py", line 1042, in __call__
return MultiCallIterator(self.__server.system.multicall(marshalled_list))
File "/usr/lib/python2.6/xmlrpclib.py", line 1199, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.6/xmlrpclib.py", line 1483, in __request
allow_none=self.__allow_none)
File "/usr/lib/python2.6/xmlrpclib.py", line 1132, in dumps
data = m.dumps(params)
File "/usr/lib/python2.6/xmlrpclib.py", line 677, in dumps
dump(v, write)
File "/usr/lib/python2.6/xmlrpclib.py", line 699, in __dump
f(self, value, write)
File "/usr/lib/python2.6/xmlrpclib.py", line 759, in dump_array
dump(v, write)
File "/usr/lib/python2.6/xmlrpclib.py", line 699, in __dump
f(self, value, write)
File "/usr/lib/python2.6/xmlrpclib.py", line 780, in dump_struct
dump(v, write)
File "/usr/lib/python2.6/xmlrpclib.py", line 699, in __dump
f(self, value, write)
File "/usr/lib/python2.6/xmlrpclib.py", line 759, in dump_array
dump(v, write)
File "/usr/lib/python2.6/xmlrpclib.py", line 699, in __dump
f(self, value, write)
File "/usr/lib/python2.6/xmlrpclib.py", line 703, in dump_nil
raise TypeError, "cannot marshal None unless allow_none is enabled"
TypeError: cannot marshal None unless allow_none is enabled
sam@sam:~/code/ros/test$
How to solve it?
Thank you~
Originally posted by sam on ROS Answers with karma: 2570 on 2012-07-05
Post score: 0
Original comments
Comment by Sarah Osentoski on 2012-07-16:
Can you provide a little bit more information? What does jtteleop.launch look like? Or at least, which package is the launch file from?
Comment by sam on 2012-07-17:
I totally follow that page. That jtteleop.launch is in Cartesian Controller section of the doc.