When I tried to launch the simulated PR2 by
roslaunch gps_agent_pkg pr2_gazebo.launch
This error occurred:
ros@ros-K401UB:~/research/gps/src/gps_agent_pkg$ roslaunch gps_agent_pkg pr2_gazebo.launch ... logging to /home/ros/.ros/log/10b10e84-bbe8-11e7-944c-82ea96c4b45e/roslaunch-ros-K401UB-7307.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. Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 307, in main p.start() File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start self._start_infrastructure() File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure self._load_config() File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default loader.load(f, config, verbose=verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 746, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 718, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 682, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 625, in _include_tag default_machine, is_core, verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 682, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 587, in _include_tag inc_filename = self.resolve_args(tag.attributes['file'].value, context) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 316, in resolve_args resolved = _resolve_args(resolved, context, resolve_anon, commands) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 329, in _resolve_args resolved = commands[command](resolved, a, args, context) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 142, in _find source_path_to_packages=source_path_to_packages) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 188, in _find_executable full_path = _get_executable_path(rp.get_path(args[0]), path) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path raise ResourceNotFound(name, ros_paths=self._ros_paths) ResourceNotFound: gazebo_worlds ROS path [0]=/opt/ros/indigo/share/ros ROS path [1]=/home/ros/rosbuild_ws/package_dir ROS path [2]=/opt/ros/indigo/share ROS path [3]=/opt/ros/indigo/stacks ROS path [4]=/home/ros/research/gps ROS path [5]=/home/ros/research/gps/src/gps_agent_pkg
This happened because gazebo_worlds only exists in the version before ROS Groovy. So, you can modify the launch file by rosed gps_agent_pkg pr2_gazebo_no_controller.launch :
<launch> <!-- Use the following for ROS hydro or later: <include file="$(find gazebo_ros)/launch/empty_world.launch"> --> <include file="$(find gazebo_ros)/launch/empty_world.launch"> </include> <include file="$(find pr2_gazebo)/launch/pr2_no_controllers.launch" /> </launch>
After modification, the error changes. Obviously, this is another problem (import glob error).
Mr.pojenlai 