[ros-users] building a map in simulation

nitinDhiman nitinkdhiman at gmail.com
Thu Jul 15 05:44:50 UTC 2010

Hi Johh,
Thanks for correcting me.
I tried compiling after downloading  from mentioned link.  But I am not
ablet to find one dependency 'arm_navigation_pr2_app'. It is not present in
trunk_boxturtle. I am getting following messgae : 

nitin at tangri:/opt/ros/boxturtle/wg-ros-pkg/trunk_boxturtle$ rosmake gmapping
pr2_gazebo_wg pr2_teleop rviz 2dnav_pr2
[ rosmake ] Packages requested are: ['gmapping', 'pr2_gazebo_wg',
'pr2_teleop', 'rviz', '2dnav_pr2']
[ rosmake ] Logging to directory
[ rosmake ] /home/nitin/.ros/rosmake/rosmake_output-20100715-111205
[ rosmake ] Expanded args ['gmapping', 'pr2_gazebo_wg', 'pr2_teleop',
'rviz', '2dnav_pr2'] to:
['gmapping', 'pr2_gazebo_wg', 'pr2_teleop', 'rviz', '2dnav_pr2']
[ rosmake ] Checking rosdeps compliance for packages gmapping,
pr2_gazebo_wg, pr2_teleop, rviz, 2dnav_pr2.  This may take a few seconds.
[rospack] woah! expanding the dependency tree made it blow up.
 There must be a circular dependency somewhere.
[rosstack] circular dependency
[rosstack] couldn't find dependency [arm_navigation_pr2_app] of
[rosstack] missing dependency
.[ rosmake ] [ 140 of 144  Completed ]
[rosmake-1] >>> explore_wg >>> [ make ]
[ rosmake ] [ 141 of 144  Completed ]
[rosmake-0] >>> move_base >>> [ make ]
[rosmake-0] <<< move_base <<< ROS_NOBUILD in package move_base

[rosmake-1] <<< explore_wg <<< [PASS] [ 0.70 seconds ]
[ rosmake ] [ 143 of 144  Completed ]
[rosmake-1] >>> 2dnav_pr2 >>> [ make ]
[rosmake-1] <<< 2dnav_pr2 <<< [PASS] [ 1.01 seconds ]
[ rosmake ] Summary output to directory
[ rosmake ] /home/nitin/.ros/rosmake/rosmake_output-20100715-111205

On trying " roslaunch pr2_gazebo_wg map_building_demo.launch", Gazebo starts
but it immediately crashes. Following is the part of console output::

ignoring link without visual tag:
ignoring link without visual tag:
ignoring link without visual tag: wide_stereo_optical_frame
[INFO] 1279172476.033854: Waiting for controller manager to start
ignoring link without visual tag: l_forearm_cam_optical_frame
XRequest.136: BadDrawable (invalid Pixmap or Window parameter) 0x4c00002
ignoring link without visual tag: l_gripper_led_frame
ignoring link without visual tag: r_forearm_cam_optical_frame
ignoring link without visual tag: r_gripper_led_frame
[ INFO] 0.000000000: waiting for gazebo factory, usually launched by
'roslaunch `rospack find gazebo`/launch/empty_world.launch'
directory [/tmp/gazebo-nitin-0] already exists (previous crash?)
but the owner gazebo server (pid=4276) is not running.
deleting the old information of the directory [/tmp/gazebo-nitin-0]
Gazebo successfully initialized
[ INFO] 0.001000000: Callback thread id=0x8a8c7a0
[gazebo-2] process has died [pid 7434, exit code -11].
log files:
[ERROR] 0.023000000: File
does not exist
[ INFO] 0.028000000: [stereo_image_proc] Reconfigure request received
[ INFO] 0.028000000: [stereo_image_proc] Reconfigure request received
[ INFO] 0.026000000: [stereo_image_proc] Reconfigure request received
terminate called after throwing an instance of 'std::string'
[pr2_gazebo_model-3] process has died [pid 7435, exit code -6].
log files:

One more thing I would like to know is " Is there a known better way to find
location of dependent packages?". I spent a lot of time in figuring out


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