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I am trying to follow 'PR2 Navigation Stack Demo' in pr2_simulator/Tutorials/BasicPR2Controls.

Unfortunately, it does not work on my computer (Ubuntu + groovy).

  • I have done to rosmake every required packages.
  • When I type 'roslaunch ~/pr2_nav_tutorial.launch', I got the following error messages:

process[interpolate_missing_tilt_laser_data_filter-6]: started with pid [28137] ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter] process[base_shadow_filter-8]: started with pid [28143] ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter] ERROR: cannot launch node of type [semantic_point_annotator/sac_inc_ground_removal_node]: can't locate node [sac_inc_ground_removal_node] in package [semantic_point_annotator]

...

File "/opt/ros/groovy/stacks/pr2_navigation/pr2_move_base/scripts/pr2_move_base.py", line 45, in from pr2_msgs.msg import LaserTrajCmd ImportError: No module named pr2_msgs.msg [r_arm_controller/joint_trajectory_generator-12] process has died [pid 28721, exit code -6, cmd /opt/ros/groovy/stacks/pr2_common_actions/joint_trajectory_generator/bin/joint_trajectory_generator __name:=joint_trajectory_generator __log:=/home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/r_arm_controller-joint_trajectory_generator-12.log]. log file: /home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/r_arm_controller-joint_trajectory_generator-12*.log [l_arm_controller/joint_trajectory_generator-13] process has died [pid 28746, exit code -6, cmd /opt/ros/groovy/stacks/pr2_common_actions/joint_trajectory_generator/bin/joint_trajectory_generator __name:=joint_trajectory_generator __log:=/home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/l_arm_controller-joint_trajectory_generator-13.log]. log file: /home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/l_arm_controller-joint_trajectory_generator-13*.log

  • Despite the error messages, it constantly generates the following pattern of logs:

[tilt_shadow_filter-5] process has died [pid 29406, exit code -6, cmd /opt/ros/groovy/stacks/laser_filters/bin/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/tilt_shadow_filter-5.log]. log file: /home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/tilt_shadow_filter-5*.log respawning... [tilt_shadow_filter-5] restarting process process[tilt_shadow_filter-5]: started with pid [29489] [base_shadow_filter-8] process has died [pid 29422, exit code -6, cmd /opt/ros/groovy/stacks/laser_filters/bin/scan_to_cloud_filter_chain scan:=base_scan cloud_filtered:=base_scan_shadow_filtered __name:=base_shadow_filter __log:=/home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/base_shadow_filter-8.log]. log file: /home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/base_shadow_filter-8*.log respawning... [base_shadow_filter-8] restarting process process[base_shadow_filter-8]: started with pid [29505] terminate called after throwing an instance of 'pluginlib::LibraryLoadException' what(): Could not find library corresponding to plugin pr2_navigation_perception/PR2PointCloudFootprintFilterNew. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. terminate called after throwing an instance of 'pluginlib::LibraryLoadException' what(): Could not find library corresponding to plugin pr2_navigation_perception/PR2PointCloudFootprintFilterNew. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

  • So, ignoring the error messages, I typed 'roslaunch pr2_navigation_global rviz_move_base.launch', but the pr2 robot does not appear in rviz. Under Display tap, Status of RobotModel is labeled with Error.

Thanks in advance.


Originally posted by kenomuseki on ROS Answers with karma: 1 on 2014-07-13

Post score: 0


Original comments

Comment by DevonW on 2014-07-14:
What is being done to launch the PR2? I think these tutorials require the minimal PR2 to be brought up before they can be run.

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The errors you're getting indicate that the nodes you're trying to run don't exist; either they aren't built they aren't in a package on your ROS_PACKAGE_PATH.

This really looks like you haven't built your packages properly. Are you certain the rosmake process was successful?


Originally posted by ahendrix with karma: 47576 on 2014-07-13

This answer was ACCEPTED on the original site

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Original comments

Comment by kenomuseki on 2014-07-13:
I checked the packages by typing 'rospack find':

$ rospack find pr2_navigation_self_filter /opt/ros/groovy/stacks/pr2_navigation/pr2_navigation_self_filter $ rospack find semantic_point_annotator /opt/ros/groovy/stacks/pr2_navigation/semantic_point_annotator

Is there something else I should check?

Comment by ahendrix on 2014-07-13:
You should look to make sure that the nodes themselves are built in those packages; probably within the bin/ dir of the package. Since your package directories is in /opt/ros/, I assume you've installed pr2_navigation from debs?

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