Hi Ugo,

I believe that that launch file has just not been edited to reflect the new
distribution set up.  It loads the paths for the PR2 gazebo resources for
every empty world even though it is meant to be generic.

So, you can edit out the paths of resources that you dont have with the
standard distribution.  Take out pr2_ogre, pr2_description, and
pr2_gazebo_plugins.

For example change GAZEBO_RESOURCE_PATH to:

    <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_worlds):$(find
gazebo)/gazebo/share/gazebo" />

I have a similar modified launch file setting up my own simulation.

Regards,
Adam Stambler

On Mon, Mar 29, 2010 at 8:24 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:

> Hi all,
>
> Do I need to install pr2_gazebo to use the command:
> roslaunch gazebo_worlds empty_world.launch ? Even if I won't use the PR2
> robot?
>
> I just installed gazebo_tools and gazebo_worlds but I get an error when
> I try to start empty_world. (see below)
>
> Cheers,
>
> Ugo
>
>
>
> Traceback (most recent call last):
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/__init__.py",
> line 198, in main
>     p.start()
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/parent.py",
> line 217, in start
>     self._start_infrastructure()
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/parent.py",
> line 180, in _start_infrastructure
>     self._load_config()
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/parent.py",
> line 106, in _load_config
>     self.config =
> roslaunch.config.load_config_default(self.roslaunch_files, self.port)
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/config.py",
> line 371, in load_config_default
>     loader.load(f, config, verbose=verbose)
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py",
> line 662, in load
>     self._load_launch(launch, ros_config, is_core=core,
> filename=filename, verbose=verbose)
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py",
> line 637, in _load_launch
>     self._recurse_load(ros_config, launch.childNodes,
> self.root_context, None, is_core, verbose)
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py",
> line 590, in _recurse_load
>     n = self._node_tag(tag, context.child(''), ros_config,
> default_machine, verbose=verbose)
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py",
> line 359, in _node_tag
>     self._env_tag(t, context, ros_config)
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py",
> line 502, in _env_tag
>     self.load_env(context, ros_config, *self.reqd_attrs(tag, context,
> XmlLoader.ENV_ATTRS))
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py",
> line 175, in reqd_attrs
>     return [self.resolve_args(tag.attributes[a].value, context) for a
> in attrs]
>   File "/home/hand/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py",
> line 146, in resolve_args
>     return roslib.substitution_args.resolve_args(args,
> context=context.resolve_dict, resolve_anon=self.resolve_anon)
>   File
> "/home/hand/ros/ros/core/roslib/src/roslib/substitution_args.py", line
> 105, in resolve_args
>     resolved = resolved[0:idx-len(arg)] +
> roslib.packages.get_pkg_dir(args[0]) + resolved[idx:]
>   File "/home/hand/ros/ros/core/roslib/src/roslib/packages.py", line
> 213, in get_pkg_dir
>     raise InvalidROSPkgException("Cannot locate installation of package
> %s: %s. ROS_ROOT[%s] ROS_PACKAGE_PATH[%s]"%(package, rperr.strip(),
> ros_root, ros_package_path))
> InvalidROSPkgException: Cannot locate installation of package
> pr2_gazebo_plugins: [rospack] couldn't find package
> [pr2_gazebo_plugins]. ROS_ROOT[/home/hand/ros/ros]
>
> ROS_PACKAGE_PATH[/home/hand/ros/stacks:/home/hand/Projects/Projects/ROS_can_interface/shadowhand]
>
>
>
> --
> Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com
> Software Engineer      251 Liverpool Road
> need a Hand?           London  N1 1LX       | +44 20 7700 2487
> http://www.shadowrobot.com/hand/              @shadowrobot
>
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