[ros-users] Problem during ros run with stage

Federico Rinaldi federico.rinaldi84 at gmail.com
Fri Jul 30 11:53:31 UTC 2010 

Hi all!
We are two university students doing a research project on robotics
navigation using ros and stage.
We have installed and compiled successfully the system from svn (we used the
boxturtle_wg_all.rosinstall file).
It's the first time we use this simulation system so we started from
examples already present in the move_base_stage package.
After launching this command *roslaunch
move_base_fake_localization_5cm.launch* we expected some windows opening and
the simulation working, but the all system fails and the shell returns the
log at the bottom of this mail.
The programs specifically returns this error:
*process[nav_view-7]: started with pid [2996]*
*nav_view: OgreGLSupport.cpp:57: virtual void
Ogre::GLSupport::initialiseExtensions(): Asserzione "pcVer && "Problems
getting GL version string using glGetString"" non riuscita.*
*[nav_view-7] process has died [pid 2996, exit code -6].*
Roslaunch still opens the stage simulator window but it seems that the
simulation isn't working; we see the simulation time running on the window
but on console the program doesn't print anything. After closing the
simulation window the console returns warning after warning and then stops
until we kill it with ctrl+c.
Have you ever encountered same or similar problem? What can we do?
Otherwise, can you suggest us another example/tutorial to learn how to use
ros with stage?
thanks in advance

Federico
Francesco

*
*
*My system:*
Ubuntu 9.10 with kernel 2.6.31-14-generic as a VM on VMware Fusion (Host:
MacBook Pro early 2008 with Snow Leopard 10.6.4)

*Error Screenshot:*
http://img801.imageshack.us/img801/6350/schermata20100729a19553.jpg

*Console Log:*
federico at ros:~$ roscd move_base_stage
federico at ros:~/ros/wg-ros-pkg-unreleased/demos/move_base_stage$ roslaunch
move_base_fake_localization_5cm.launch
... logging to
/home/federico/.ros/log/5f67478c-9bcf-11df-9729-000c2957c99f/roslaunch-ros-2917.log

started roslaunch server http://ros:46614/

SUMMARY
========

PARAMETERS
 * /use_sim_time
 * /move_base_node/global_costmap/observation_sources
 * /move_base_node/local_costmap/origin_y
 * /move_base_node/local_costmap/origin_x
 * /move_base_node/local_costmap/update_frequency
 * /move_base_node/local_costmap/origin_z
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/origin_z
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/global_costmap/mark_threshold
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/local_costmap/max_obstacle_height
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/global_costmap/map_type
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/local_costmap/unknown_threshold
 * /move_base_node/global_costmap/footprint
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/z_resolution
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/local_costmap/map_type
 * /move_base_node/global_costmap/lethal_cost_threshold
 * /move_base_node/local_costmap/lethal_cost_threshold
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/z_voxels
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/transform_tolerance
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/rolling_window
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /move_base_node/local_costmap/width
 * /stageros/base_watchdog_timeout
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/local_costmap/publish_frequency
 * /move_base_node/local_costmap/height
 * /move_base_node/TrajectoryPlannerROS/acc_limit_th
 * /move_base_node/local_costmap/static_map
 * /move_base_node/global_costmap/cost_scaling_factor
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/controller_frequency
 * /move_base_node/local_costmap/cost_scaling_factor
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /move_base_node/global_costmap/raytrace_range
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/local_costmap/mark_threshold
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/obstacle_range
 * /move_base_node/local_costmap/robot_base_frame
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/global_costmap/z_resolution
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/TrajectoryPlannerROS/acc_limit_x
 * /move_base_node/TrajectoryPlannerROS/acc_limit_y
 * /move_base_node/local_costmap/footprint
 * /move_base_node/global_costmap/rolling_window
 * /move_base_node/TrajectoryPlannerROS/transform_tolerance
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/raytrace_range
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/global_costmap/unknown_threshold
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/global_costmap/max_obstacle_height
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/z_voxels
 * /move_base_node/local_costmap/resolution
 * /move_base_node/footprint_padding
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base_node/NavfnROS/transform_tolerance
 * /move_base_node/global_costmap/footprint_padding
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/footprint_padding
 * /move_base_node/local_costmap/publish_voxel_map
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance

NODES
  /
    move_base_node (move_base/move_base)
    map_server (map_server/map_server)
    stageros (stage/stageros)
    fake_localization (fake_localization/fake_localization)
    nav_view (nav_view/nav_view)
  /local_costmap/
    voxel_grid_throttle (topic_tools/throttle)

WARNING: IP address 127.0.1.1 for local hostname 'ros' does not appear to
match
any local IP address (127.0.0.1,172.16.216.136). Your ROS nodes may fail to
communicate.

Please use ROS_IP to set the correct IP address to use.
starting new master (master configured for auto start)
process[master]: started with pid [2938]
ROS_MASTER_URI=http://ros:11311/

setting /run_id to 5f67478c-9bcf-11df-9729-000c2957c99f
process[rosout-1]: started with pid [2949]
started core service [/rosout]
process[voxel_grid_throttle-2]: started with pid [2960]
process[move_base_node-3]: started with pid [2965]
process[map_server-4]: started with pid [2973]
process[stageros-5]: started with pid [2984]
process[fake_localization-6]: started with pid [2991]
process[nav_view-7]: started with pid [2996]
nav_view: OgreGLSupport.cpp:57: virtual void
Ogre::GLSupport::initialiseExtensions(): Asserzione "pcVer && "Problems
getting GL version string using glGetString"" non riuscita.
[nav_view-7] process has died [pid 2996, exit code -6].
log files:
/home/federico/.ros/log/5f67478c-9bcf-11df-9729-000c2957c99f/nav_view-7*.log
[ INFO] 0.000000000: Subscribed to Topics: base_scan
[ INFO] 0.200000000: Requesting the map...

[ INFO] 0.200000000: Still waiting on map...

[ INFO] 1.200000000: Still waiting on map...

[ INFO] 2.200000000: Received a 1165 X 945 map at 0.050000 m/pix

[ WARN] 2.600000000: The base_scan observation buffer has not been updated
for 1.40 seconds, and it should be updated every 0.40 seconds.
[ INFO] 2.600000000: MAP SIZE: 1165, 945
[ INFO] 2.600000000: Subscribed to Topics: base_scan
[ WARN] 2.800000000: The base_scan observation buffer has not been updated
for 1.60 seconds, and it should be updated every 0.40 seconds.
[ERROR] 2.800000000: You are using acc_limit_x where you should be using
acc_lim_x. Please change your configuration files appropriately. The
documentation used to be wrong on this, sorry for any confusion.
[ERROR] 2.800000000: You are using acc_limit_y where you should be using
acc_lim_y. Please change your configuration files appropriately. The
documentation used to be wrong on this, sorry for any confusion.
[ERROR] 2.800000000: You are using acc_limit_th where you should be using
acc_lim_th. Please change your configuration files appropriately. The
documentation used to be wrong on this, sorry for any confusion.
[ WARN] 2.900000000: The base_scan observation buffer has not been updated
for 1.70 seconds, and it should be updated every 0.40 seconds.
[ WARN] 3.000000000: The base_scan observation buffer has not been updated
for 1.80 seconds, and it should be updated every 0.40 seconds.
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