When I runroslaunch cheetah_control cheetah_control_position.launch, I got the error
`roslaunch cheetah_control cheetah_control_position.launch
... logging to /home/lq/.ros/log/cf1543fa-c7cb-11ed-b893-04421a0c6c44/roslaunch-lq3090-4782.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.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://lq3090:46321/
SUMMARY
PARAMETERS
- /gazebo/enable_ros_network: True
- /mini_chee/FL_calf_position_controller/joint: FL_calf_joint
- /mini_chee/FL_calf_position_controller/pid/d: 0.9
- /mini_chee/FL_calf_position_controller/pid/i: 5
- /mini_chee/FL_calf_position_controller/pid/p: 10
- /mini_chee/FL_calf_position_controller/type: effort_controller...
- /mini_chee/FL_hip_position_controller/joint: FL_hip_joint
- /mini_chee/FL_hip_position_controller/pid/d: 0.9
- /mini_chee/FL_hip_position_controller/pid/i: 5
- /mini_chee/FL_hip_position_controller/pid/p: 10
- /mini_chee/FL_hip_position_controller/type: effort_controller...
- /mini_chee/FL_thigh_position_controller/joint: FL_thigh_joint
- /mini_chee/FL_thigh_position_controller/pid/d: 0.9
- /mini_chee/FL_thigh_position_controller/pid/i: 5
- /mini_chee/FL_thigh_position_controller/pid/p: 10
- /mini_chee/FL_thigh_position_controller/type: effort_controller...
- /mini_chee/FR_calf_position_controller/joint: FR_calf_joint
- /mini_chee/FR_calf_position_controller/pid/d: 0.9
- /mini_chee/FR_calf_position_controller/pid/i: 5
- /mini_chee/FR_calf_position_controller/pid/p: 10
- /mini_chee/FR_calf_position_controller/type: effort_controller...
- /mini_chee/FR_hip_position_controller/joint: FR_hip_joint
- /mini_chee/FR_hip_position_controller/pid/d: 0.9
- /mini_chee/FR_hip_position_controller/pid/i: 5
- /mini_chee/FR_hip_position_controller/pid/p: 10
- /mini_chee/FR_hip_position_controller/type: effort_controller...
- /mini_chee/FR_thigh_position_controller/joint: FR_thigh_joint
- /mini_chee/FR_thigh_position_controller/pid/d: 0.9
- /mini_chee/FR_thigh_position_controller/pid/i: 5
- /mini_chee/FR_thigh_position_controller/pid/p: 10
- /mini_chee/FR_thigh_position_controller/type: effort_controller...
- /mini_chee/RL_calf_position_controller/joint: RL_calf_joint
- /mini_chee/RL_calf_position_controller/pid/d: 0.9
- /mini_chee/RL_calf_position_controller/pid/i: 5
- /mini_chee/RL_calf_position_controller/pid/p: 10
- /mini_chee/RL_calf_position_controller/type: effort_controller...
- /mini_chee/RL_hip_position_controller/joint: RL_hip_joint
- /mini_chee/RL_hip_position_controller/pid/d: 0.9
- /mini_chee/RL_hip_position_controller/pid/i: 5
- /mini_chee/RL_hip_position_controller/pid/p: 10
- /mini_chee/RL_hip_position_controller/type: effort_controller...
- /mini_chee/RL_thigh_position_controller/joint: RL_thigh_joint
- /mini_chee/RL_thigh_position_controller/pid/d: 0.9
- /mini_chee/RL_thigh_position_controller/pid/i: 5
- /mini_chee/RL_thigh_position_controller/pid/p: 10
- /mini_chee/RL_thigh_position_controller/type: effort_controller...
- /mini_chee/RR_calf_position_controller/joint: RR_calf_joint
- /mini_chee/RR_calf_position_controller/pid/d: 0.9
- /mini_chee/RR_calf_position_controller/pid/i: 5
- /mini_chee/RR_calf_position_controller/pid/p: 10
- /mini_chee/RR_calf_position_controller/type: effort_controller...
- /mini_chee/RR_hip_position_controller/joint: RR_hip_joint
- /mini_chee/RR_hip_position_controller/pid/d: 0.9
- /mini_chee/RR_hip_position_controller/pid/i: 5
- /mini_chee/RR_hip_position_controller/pid/p: 10
- /mini_chee/RR_hip_position_controller/type: effort_controller...
- /mini_chee/RR_thigh_position_controller/joint: RR_thigh_joint
- /mini_chee/RR_thigh_position_controller/pid/d: 0.9
- /mini_chee/RR_thigh_position_controller/pid/i: 5
- /mini_chee/RR_thigh_position_controller/pid/p: 10
- /mini_chee/RR_thigh_position_controller/type: effort_controller...
- /mini_chee/joint_state_controller/publish_rate: 50
- /mini_chee/joint_state_controller/type: joint_state_contr...
- /robot_description: <?xml version="1....
- /rosdistro: melodic
- /rosversion: 1.14.13
- /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
spawn_robot (gazebo_ros/spawn_model)
/mini_chee/
controller_spawner (controller_manager/spawner)
auto-starting new master
process[master]: started with pid [4841]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to cf1543fa-c7cb-11ed-b893-04421a0c6c44
process[rosout-1]: started with pid [4875]
started core service [/rosout]
process[gazebo-2]: started with pid [4884]
process[gazebo_gui-3]: started with pid [4889]
process[spawn_robot-4]: started with pid [4894]
process[mini_chee/controller_spawner-5]: started with pid [4895]
[ INFO] [1679391369.357842201]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1679391369.358784147]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1679391369.394305320]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1679391369.395190510]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1679391369.460849, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1679391370.191021200]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1679391370.203170233, 0.005000000]: Physics dynamic reconfigure ready.
[ INFO] [1679391370.453165359, 0.177000000]: Loading gazebo_ros_control plugin
[ INFO] [1679391370.453224089, 0.177000000]: Starting gazebo_ros_control plugin in namespace: /mini_chee
[ INFO] [1679391370.453495908, 0.177000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1679391370.567108817, 0.177000000]: Loaded gazebo_ros_control.
[spawn_robot-4] process has finished cleanly
log file: /home/lq/.ros/log/cf1543fa-c7cb-11ed-b893-04421a0c6c44/spawn_robot-4*.log
[INFO] [1679391370.665215, 0.275000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1679391370.666914, 0.277000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1679391370.668045, 0.278000]: Loading controller: joint_state_controller
[INFO] [1679391370.672958, 0.283000]: Loading controller: FR_hip_position_controller
[ERROR] [1679391370.675313132, 0.285000000]: Could not load controller 'FR_hip_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391370.675343198, 0.285000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391371.675876, 1.285000]: Failed to load FR_hip_position_controller
[INFO] [1679391371.677133, 1.286000]: Loading controller: FR_thigh_position_controller
[ERROR] [1679391371.679795115, 1.289000000]: Could not load controller 'FR_thigh_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391371.679839138, 1.289000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391372.680958, 2.289000]: Failed to load FR_thigh_position_controller
[INFO] [1679391372.682271, 2.290000]: Loading controller: FR_calf_position_controller
[ERROR] [1679391372.685105813, 2.293000000]: Could not load controller 'FR_calf_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391372.685134186, 2.293000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391373.686400, 3.294000]: Failed to load FR_calf_position_controller
[INFO] [1679391373.687400, 3.295000]: Loading controller: FL_hip_position_controller
[ERROR] [1679391373.690067336, 3.298000000]: Could not load controller 'FL_hip_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391373.690091521, 3.298000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391374.691337, 4.298000]: Failed to load FL_hip_position_controller
[INFO] [1679391374.692324, 4.299000]: Loading controller: FL_thigh_position_controller
[ERROR] [1679391374.694771216, 4.302000000]: Could not load controller 'FL_thigh_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391374.694797565, 4.302000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391375.695798, 5.302000]: Failed to load FL_thigh_position_controller
[INFO] [1679391375.697232, 5.303000]: Loading controller: FL_calf_position_controller
[ERROR] [1679391375.700160330, 5.306000000]: Could not load controller 'FL_calf_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391375.700196508, 5.306000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391376.700978, 6.307000]: Failed to load FL_calf_position_controller
[INFO] [1679391376.702209, 6.308000]: Loading controller: RL_hip_position_controller
[ERROR] [1679391376.705269420, 6.311000000]: Could not load controller 'RL_hip_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391376.705300769, 6.311000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391377.706537, 7.311000]: Failed to load RL_hip_position_controller
[INFO] [1679391377.707613, 7.312000]: Loading controller: RL_thigh_position_controller
[ERROR] [1679391377.710420338, 7.315000000]: Could not load controller 'RL_thigh_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391377.710451216, 7.315000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391378.711711, 8.316000]: Failed to load RL_thigh_position_controller
[INFO] [1679391378.713022, 8.318000]: Loading controller: RL_calf_position_controller
[ERROR] [1679391378.715820624, 8.321000000]: Could not load controller 'RL_calf_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391378.715860769, 8.321000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391379.717137, 9.321000]: Failed to load RL_calf_position_controller
[INFO] [1679391379.718334, 9.322000]: Loading controller: RR_hip_position_controller
[ERROR] [1679391379.721053926, 9.325000000]: Could not load controller 'RR_hip_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391379.721083722, 9.325000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391380.721845, 10.325000]: Failed to load RR_hip_position_controller
[INFO] [1679391380.722849, 10.326000]: Loading controller: RR_thigh_position_controller
[ERROR] [1679391380.725154855, 10.328000000]: Could not load controller 'RR_thigh_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391380.725176395, 10.328000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391381.725889, 11.328000]: Failed to load RR_thigh_position_controller
[INFO] [1679391381.726849, 11.329000]: Loading controller: RR_calf_position_controller
[ERROR] [1679391381.729352065, 11.332000000]: Could not load controller 'RR_calf_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391381.729386870, 11.332000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391382.730663, 12.332000]: Failed to load RR_calf_position_controller
[INFO] [1679391382.731954, 12.333000]: Controller Spawner: Loaded controllers: joint_state_controller
[INFO] [1679391382.734877, 12.337000]: Started controllers: joint_state_controller
`
When I run
roslaunch cheetah_control cheetah_control_position.launch, I got the error`roslaunch cheetah_control cheetah_control_position.launch
... logging to /home/lq/.ros/log/cf1543fa-c7cb-11ed-b893-04421a0c6c44/roslaunch-lq3090-4782.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.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://lq3090:46321/
SUMMARY
PARAMETERS
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
spawn_robot (gazebo_ros/spawn_model)
/mini_chee/
controller_spawner (controller_manager/spawner)
auto-starting new master
process[master]: started with pid [4841]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to cf1543fa-c7cb-11ed-b893-04421a0c6c44
process[rosout-1]: started with pid [4875]
started core service [/rosout]
process[gazebo-2]: started with pid [4884]
process[gazebo_gui-3]: started with pid [4889]
process[spawn_robot-4]: started with pid [4894]
process[mini_chee/controller_spawner-5]: started with pid [4895]
[ INFO] [1679391369.357842201]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1679391369.358784147]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1679391369.394305320]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1679391369.395190510]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1679391369.460849, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1679391370.191021200]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1679391370.203170233, 0.005000000]: Physics dynamic reconfigure ready.
[ INFO] [1679391370.453165359, 0.177000000]: Loading gazebo_ros_control plugin
[ INFO] [1679391370.453224089, 0.177000000]: Starting gazebo_ros_control plugin in namespace: /mini_chee
[ INFO] [1679391370.453495908, 0.177000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1679391370.567108817, 0.177000000]: Loaded gazebo_ros_control.
[spawn_robot-4] process has finished cleanly
log file: /home/lq/.ros/log/cf1543fa-c7cb-11ed-b893-04421a0c6c44/spawn_robot-4*.log
[INFO] [1679391370.665215, 0.275000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1679391370.666914, 0.277000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1679391370.668045, 0.278000]: Loading controller: joint_state_controller
[INFO] [1679391370.672958, 0.283000]: Loading controller: FR_hip_position_controller
[ERROR] [1679391370.675313132, 0.285000000]: Could not load controller 'FR_hip_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391370.675343198, 0.285000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391371.675876, 1.285000]: Failed to load FR_hip_position_controller
[INFO] [1679391371.677133, 1.286000]: Loading controller: FR_thigh_position_controller
[ERROR] [1679391371.679795115, 1.289000000]: Could not load controller 'FR_thigh_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391371.679839138, 1.289000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391372.680958, 2.289000]: Failed to load FR_thigh_position_controller
[INFO] [1679391372.682271, 2.290000]: Loading controller: FR_calf_position_controller
[ERROR] [1679391372.685105813, 2.293000000]: Could not load controller 'FR_calf_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391372.685134186, 2.293000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391373.686400, 3.294000]: Failed to load FR_calf_position_controller
[INFO] [1679391373.687400, 3.295000]: Loading controller: FL_hip_position_controller
[ERROR] [1679391373.690067336, 3.298000000]: Could not load controller 'FL_hip_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391373.690091521, 3.298000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391374.691337, 4.298000]: Failed to load FL_hip_position_controller
[INFO] [1679391374.692324, 4.299000]: Loading controller: FL_thigh_position_controller
[ERROR] [1679391374.694771216, 4.302000000]: Could not load controller 'FL_thigh_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391374.694797565, 4.302000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391375.695798, 5.302000]: Failed to load FL_thigh_position_controller
[INFO] [1679391375.697232, 5.303000]: Loading controller: FL_calf_position_controller
[ERROR] [1679391375.700160330, 5.306000000]: Could not load controller 'FL_calf_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391375.700196508, 5.306000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391376.700978, 6.307000]: Failed to load FL_calf_position_controller
[INFO] [1679391376.702209, 6.308000]: Loading controller: RL_hip_position_controller
[ERROR] [1679391376.705269420, 6.311000000]: Could not load controller 'RL_hip_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391376.705300769, 6.311000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391377.706537, 7.311000]: Failed to load RL_hip_position_controller
[INFO] [1679391377.707613, 7.312000]: Loading controller: RL_thigh_position_controller
[ERROR] [1679391377.710420338, 7.315000000]: Could not load controller 'RL_thigh_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391377.710451216, 7.315000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391378.711711, 8.316000]: Failed to load RL_thigh_position_controller
[INFO] [1679391378.713022, 8.318000]: Loading controller: RL_calf_position_controller
[ERROR] [1679391378.715820624, 8.321000000]: Could not load controller 'RL_calf_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391378.715860769, 8.321000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391379.717137, 9.321000]: Failed to load RL_calf_position_controller
[INFO] [1679391379.718334, 9.322000]: Loading controller: RR_hip_position_controller
[ERROR] [1679391379.721053926, 9.325000000]: Could not load controller 'RR_hip_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391379.721083722, 9.325000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391380.721845, 10.325000]: Failed to load RR_hip_position_controller
[INFO] [1679391380.722849, 10.326000]: Loading controller: RR_thigh_position_controller
[ERROR] [1679391380.725154855, 10.328000000]: Could not load controller 'RR_thigh_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391380.725176395, 10.328000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391381.725889, 11.328000]: Failed to load RR_thigh_position_controller
[INFO] [1679391381.726849, 11.329000]: Loading controller: RR_calf_position_controller
[ERROR] [1679391381.729352065, 11.332000000]: Could not load controller 'RR_calf_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1679391381.729386870, 11.332000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1679391382.730663, 12.332000]: Failed to load RR_calf_position_controller
[INFO] [1679391382.731954, 12.333000]: Controller Spawner: Loaded controllers: joint_state_controller
[INFO] [1679391382.734877, 12.337000]: Started controllers: joint_state_controller
`