Problems with bluerov_ros_playground

Blue Robotics Software
,
1

Hello

I have been trying to install and run the bluerov_ros_playground with ROS Kinetic to simulate the Bluerov2 so that I can prototype faster but I have ran into some problems.

Firstly, when I run
roslaunch mavros apm.launch fcu_url:=udp://0.0.0.0:14550@ after running SITL using sim_vehicle.py --vehicle=ArduSub

I get warnings such as
[ WARN] [1548869476.906399320]: TM : RTT too high for timesync: 32.28 ms.

Is that normal?

Secondly, When I run roslaunch bluerov_ros_playground user_mav.launch after starting SITL like before, I get

[user_node-4] process has died [pid 9092, exit code 1, cmd /home/ashleykoh24/catkin_ws/src/bluerov_ros_playground/src/bluerov/bin/user_mav __name:=user_node __log:=/home/ashleykoh24/.ros/log/cd99d810-24af-11e9-81d0-3ca067af1087/user_node-4.log]. log file: /home/ashleykoh24/.ros/log/cd99d810-24af-11e9-81d0-3ca067af1087/user_node-4*.log

Lastly, When I run roslaunch bluerov_ros_playground gazebo.launch after running SITL like before, I get
Invalid <arg> tag: freefloating_gazebo ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/ashleykoh24/catkin_ws/src ROS path [2]=/opt/ros/kinetic/share.
Arg xml is <arg name="world_name" value="$(find freefloating_gazebo)/world/underwater.world"/> The traceback for the exception was written to the log file

I have cloned freefloating_gazebo but I don’t know why it can’t find it.

I can cd into ~/catkin_ws/src/bluerov_ros_playground/ and run source gazebo.sh and then gazebo worlds/underwater.world -u and the following will pop up:

Screenshot%20from%202019-01-31%2001-58-06
Screenshot%20from%202019-01-31%2001-58-061920×1080 304 KB

Hope you guys can help me :slight_smile:

2

Hi,

That’s normal, it’ll appear while running SITL.

We need the log file to know what is going on, please send it.

Again, the log file is necessary to find the error.
It looks like the freefloating_gazebo plugin was not installed.

The last time that I tested this repository was in the middle of last year, I’ll try to take a look on it again just to make sure and update you.

3

Here is the log file for the roslaunch bluerov_ros_playground user_mav.launch error:

[rospy.client][INFO] 2019-01-31 04:37:48,621: init_node, name[/user_node], pid[12391] [xmlrpc][INFO] 2019-01-31 04:37:48,622: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2019-01-31 04:37:48,622: Started XML-RPC server [http://ashleykoh24-Aspire-S5-371T:33549/] [rospy.init][INFO] 2019-01-31 04:37:48,623: ROS Slave URI: [http://ashleykoh24-Aspire-S5-371T:33549/] [rospy.impl.masterslave][INFO] 2019-01-31 04:37:48,623: _ready: http://ashleykoh24-Aspire-S5-371T:33549/ [rospy.registration][INFO] 2019-01-31 04:37:48,627: Registering with master node http://localhost:11311 [xmlrpc][INFO] 2019-01-31 04:37:48,627: xml rpc node: starting XML-RPC server [rospy.init][INFO] 2019-01-31 04:37:48,723: registered with master [rospy.rosout][INFO] 2019-01-31 04:37:48,724: initializing /rosout core topic [rospy.rosout][INFO] 2019-01-31 04:37:48,728: connected to core topic /rosout [rospy.simtime][INFO] 2019-01-31 04:37:48,731: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic [rosout][DEBUG] 2019-01-31 04:37:48,731: init_node, name[/user_node], pid[12391] [rosout][DEBUG] 2019-01-31 04:37:48,732: binding to 0.0.0.0 0 [rosout][DEBUG] 2019-01-31 04:37:48,733: bound to 0.0.0.0 39653 [rosout][DEBUG] 2019-01-31 04:37:48,735: ... service URL is rosrpc://ashleykoh24-Aspire-S5-371T:39653 [rosout][DEBUG] 2019-01-31 04:37:48,736: [/user_node/get_loggers]: new Service instance [rosout][DEBUG] 2019-01-31 04:37:48,741: ... service URL is rosrpc://ashleykoh24-Aspire-S5-371T:39653 [rosout][DEBUG] 2019-01-31 04:37:48,742: [/user_node/set_logger_level]: new Service instance [rosout][DEBUG] 2019-01-31 04:37:48,752: connecting to ('ashleykoh24-Aspire-S5-371T', 55133) [rosout][DEBUG] 2019-01-31 04:37:48,761: connecting to ashleykoh24-Aspire-S5-371T 55133 [rosout][INFO] 2019-01-31 04:37:48,854: video_udp_port: 5600 [rospy.internal][INFO] 2019-01-31 04:37:48,859: topic[/mavros/rc/out] adding connection to [http://ashleykoh24-Aspire-S5-371T:43737/], count 0 [rospy.internal][INFO] 2019-01-31 04:37:48,862: topic[/mavros/rc/in] adding connection to [http://ashleykoh24-Aspire-S5-371T:43737/], count 0 [rospy.internal][INFO] 2019-01-31 04:37:48,868: topic[/mavros/battery] adding connection to [http://ashleykoh24-Aspire-S5-371T:43737/], count 0 [rosout][DEBUG] 2019-01-31 04:37:48,869: connecting to ashleykoh24-Aspire-S5-371T 55133 [rosout][DEBUG] 2019-01-31 04:37:48,874: connecting to ashleykoh24-Aspire-S5-371T 55133 [rosout][DEBUG] 2019-01-31 04:37:48,878: connecting to ashleykoh24-Aspire-S5-371T 55133 [rospy.internal][INFO] 2019-01-31 04:37:48,889: topic[/joy] adding connection to [http://ashleykoh24-Aspire-S5-371T:43311/], count 0 [rosout][DEBUG] 2019-01-31 04:37:48,905: connecting to ashleykoh24-Aspire-S5-371T 54345 [rosout][INFO] 2019-01-31 04:37:48,911: gst_parse_error: no element "h264parse" (1) [rospy.internal][INFO] 2019-01-31 04:37:48,936: topic[/rosout] adding connection to [/rosout], count 0 [rospy.core][INFO] 2019-01-31 04:37:48,969: signal_shutdown [atexit] [rosout][DEBUG] 2019-01-31 04:37:48,970: connecting to ashleykoh24-Aspire-S5-371T 55133 [rospy.internal][INFO] 2019-01-31 04:37:49,009: topic[/rosout] removing connection to /rosout [rospy.internal][INFO] 2019-01-31 04:37:49,009: topic[/mavros/rc/in] removing connection to http://ashleykoh24-Aspire-S5-371T:43737/ [rospy.internal][INFO] 2019-01-31 04:37:49,010: topic[/joy] removing connection to http://ashleykoh24-Aspire-S5-371T:43311/ [rospy.internal][INFO] 2019-01-31 04:37:49,010: topic[/mavros/rc/out] removing connection to http://ashleykoh24-Aspire-S5-371T:43737/ [rospy.internal][INFO] 2019-01-31 04:37:49,011: topic[/mavros/battery] removing connection to http://ashleykoh24-Aspire-S5-371T:43737/ [rospy.impl.masterslave][INFO] 2019-01-31 04:37:49,011: atexit [rosout][DEBUG] 2019-01-31 04:37:49,151: TCPServer[39653] shutting down

I can’t find the log file for the roslaunch bluerov_ros_playground gazebo.launch error as it did not provide me one.

But I assume my error is that I failed to install the freefloating_gazebo plugin. When I clicked on the freefloating_gazebo link on the bluerov_ros_playground github page, it brought me to the freefloating_gazebo page but there were not any instructions on how to install it properly. Can you help me with that?

``

4

I’m trying to control the BlueROV2 with a joystick controller in a simulation environment.
Could someone kindly elaborate on what the steps are supposed to be followed?

I’m trying to follow this as of now:

  1. Launch bluerov2 node
    command: roslaunch bluerov_ros_playground bluerov2_node.launch bluerov_node_device:=udp:localhost:14550

Screenshot from 2020-02-05 14-00-17
Screenshot from 2020-02-05 14-00-171853×877 122 KB

It keeps on saying no SYS_STATUS, SERVO_OUTPUT_RAW, ATTITUDE data, What does this imply?

  1. Launch user example
    command: roslaunch bluerov_ros_playground user_mav.launch
    This outputs a lot of things few being…

process[mavros-1]: started with pid [19499]
ERROR: cannot launch node of type [joy/joy_node]: joy
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/DJain6/sandbox/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
.
.
.
(‘Get data error:’, KeyError(‘voltage’,))
(‘joy error:’, KeyError(‘axes’,))
(‘rc error:’, KeyError(‘channels’,))

Also the tutorials says: " To run QGC parallel with user_mav, it’s necessary to run user_mav first. If it’s necessary to change the input, the parameter joy_dev can be used to set the one used." Could someone explain what this means?

5

Hi,

You need to follow the getting started, running and running with SITL.

It appears that it failed to call the joy service, check if you have it installed.
Keep in mind that this project is a bit old already, ROS breaks compatibility in every version making things hard to maintain.

6

Is there a new version of this coming up sometime ahead?
Would it be too complicated for me to figure out these error messages and fix it?

7

Hi @DJ95,

Not in the near future.

That’s a simple problem to fix, but if you are questioning this, I would recommend to do the entire ROS tutorial before going any further.

8

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