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Could not load controller 'wolf_controller'

Open Magicyw opened this issue 10 months ago • 4 comments

@graiola Hi, I have encountered a problem and would appreciate your assistance. I installed Wolf directly using the install.sh script on Ubuntu 20.04. After completing the installation, I ran the command roslaunch wolf_controller wolf_controller_bringup.launch, but I encountered the following error. Additionally, the Wolf keyboard controls plugin remains black and unresponsive. I look forward to your response. Thank you.

`docker@MagicServer:/opt/ros/noetic/share/wolf_controller/launch$ roslaunch wolf_controller wolf_controller_bringup.launch ... logging to /home/docker/.ros/log/5de4c9d4-4c63-11f0-8ffd-00e070e3eb97/roslaunch-MagicServer-10746.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. xacro: in-order processing became default in ROS Melodic. You can drop the option. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://MagicServer:40947/

SUMMARY

PARAMETERS

  • /gazebo_robot_description: <?xml version="1....
  • /joint_state_publisher/publish_rate: 1000
  • /joint_state_publisher/type: joint_state_contr...
  • /robot_description: <?xml version="1....
  • /robot_description_semantic: <?xml version="1....
  • /robot_model: spot
  • /robot_name:
  • /rosdistro: noetic
  • /rosversion: 1.17.0
  • /spawn_robot/initial_rpy: [0,0,0]
  • /spawn_robot/initial_xyz: [0,0,0]
  • /spawn_robot/robot_model: spot
  • /spawn_robot/robot_name:
  • /tf_prefix:
  • /use_sim_time: True
  • /wolf_controller/activate_push_recovery: True
  • /wolf_controller/activate_step_reflex: True
  • /wolf_controller/default_base_angular_velocity: 0.5
  • /wolf_controller/default_base_linear_velocity_x: 0.8
  • /wolf_controller/default_base_linear_velocity_y: 0.5
  • /wolf_controller/default_base_linear_velocity_z: 0.5
  • /wolf_controller/default_contact_threshold: 25.0
  • /wolf_controller/default_duty_factor: 0.3
  • /wolf_controller/default_push_recovery_sensibility: 0.5
  • /wolf_controller/default_step_height: 0.2
  • /wolf_controller/default_swing_frequency: 4.5
  • /wolf_controller/estimation_orientation_type: ground_truth
  • /wolf_controller/estimation_position_type: ground_truth
  • /wolf_controller/gains/CoM/Kd/x: 20.0
  • /wolf_controller/gains/CoM/Kd/y: 20.0
  • /wolf_controller/gains/CoM/Kd/z: 20.0
  • /wolf_controller/gains/CoM/Kp/x: 100.0
  • /wolf_controller/gains/CoM/Kp/y: 100.0
  • /wolf_controller/gains/CoM/Kp/z: 100.0
  • /wolf_controller/gains/CoM/weight: 1.0
  • /wolf_controller/gains/Kd_leg/haa: 1.0
  • /wolf_controller/gains/Kd_leg/hfe: 1.0
  • /wolf_controller/gains/Kd_leg/kfe: 0.1
  • /wolf_controller/gains/Kp_leg/haa: 100.0
  • /wolf_controller/gains/Kp_leg/hfe: 100.0
  • /wolf_controller/gains/Kp_leg/kfe: 1
  • /wolf_controller/gains/angular_momentum/weight: 0.1
  • /wolf_controller/gains/lf_foot/Kd/pitch: 0
  • /wolf_controller/gains/lf_foot/Kd/roll: 0
  • /wolf_controller/gains/lf_foot/Kd/x: 63.0
  • /wolf_controller/gains/lf_foot/Kd/y: 63.0
  • /wolf_controller/gains/lf_foot/Kd/yaw: 0
  • /wolf_controller/gains/lf_foot/Kd/z: 63.0
  • /wolf_controller/gains/lf_foot/Kp/pitch: 0
  • /wolf_controller/gains/lf_foot/Kp/roll: 0
  • /wolf_controller/gains/lf_foot/Kp/x: 1000.0
  • /wolf_controller/gains/lf_foot/Kp/y: 1000.0
  • /wolf_controller/gains/lf_foot/Kp/yaw: 0
  • /wolf_controller/gains/lf_foot/Kp/z: 1000.0
  • /wolf_controller/gains/lf_foot/weight: 100.0
  • /wolf_controller/gains/lh_foot/Kd/pitch: 0
  • /wolf_controller/gains/lh_foot/Kd/roll: 0
  • /wolf_controller/gains/lh_foot/Kd/x: 63.0
  • /wolf_controller/gains/lh_foot/Kd/y: 63.0
  • /wolf_controller/gains/lh_foot/Kd/yaw: 0
  • /wolf_controller/gains/lh_foot/Kd/z: 63.0
  • /wolf_controller/gains/lh_foot/Kp/pitch: 0
  • /wolf_controller/gains/lh_foot/Kp/roll: 0
  • /wolf_controller/gains/lh_foot/Kp/x: 1000.0
  • /wolf_controller/gains/lh_foot/Kp/y: 1000.0
  • /wolf_controller/gains/lh_foot/Kp/yaw: 0
  • /wolf_controller/gains/lh_foot/Kp/z: 1000.0
  • /wolf_controller/gains/lh_foot/weight: 100.0
  • /wolf_controller/gains/rf_foot/Kd/pitch: 0
  • /wolf_controller/gains/rf_foot/Kd/roll: 0
  • /wolf_controller/gains/rf_foot/Kd/x: 63.0
  • /wolf_controller/gains/rf_foot/Kd/y: 63.0
  • /wolf_controller/gains/rf_foot/Kd/yaw: 0
  • /wolf_controller/gains/rf_foot/Kd/z: 63.0
  • /wolf_controller/gains/rf_foot/Kp/pitch: 0
  • /wolf_controller/gains/rf_foot/Kp/roll: 0
  • /wolf_controller/gains/rf_foot/Kp/x: 1000.0
  • /wolf_controller/gains/rf_foot/Kp/y: 1000.0
  • /wolf_controller/gains/rf_foot/Kp/yaw: 0
  • /wolf_controller/gains/rf_foot/Kp/z: 1000.0
  • /wolf_controller/gains/rf_foot/weight: 100.0
  • /wolf_controller/gains/rh_foot/Kd/pitch: 0
  • /wolf_controller/gains/rh_foot/Kd/roll: 0
  • /wolf_controller/gains/rh_foot/Kd/x: 63.0
  • /wolf_controller/gains/rh_foot/Kd/y: 63.0
  • /wolf_controller/gains/rh_foot/Kd/yaw: 0
  • /wolf_controller/gains/rh_foot/Kd/z: 63.0
  • /wolf_controller/gains/rh_foot/Kp/pitch: 0
  • /wolf_controller/gains/rh_foot/Kp/roll: 0
  • /wolf_controller/gains/rh_foot/Kp/x: 1000.0
  • /wolf_controller/gains/rh_foot/Kp/y: 1000.0
  • /wolf_controller/gains/rh_foot/Kp/yaw: 0
  • /wolf_controller/gains/rh_foot/Kp/z: 1000.0
  • /wolf_controller/gains/rh_foot/weight: 100.0
  • /wolf_controller/gains/waist/Kd/pitch: 23.0
  • /wolf_controller/gains/waist/Kd/roll: 31.0
  • /wolf_controller/gains/waist/Kd/x: 0.0
  • /wolf_controller/gains/waist/Kd/y: 0.0
  • /wolf_controller/gains/waist/Kd/yaw: 18.0
  • /wolf_controller/gains/waist/Kd/z: 0.0
  • /wolf_controller/gains/waist/Kp/pitch: 140.0
  • /wolf_controller/gains/waist/Kp/roll: 240.0
  • /wolf_controller/gains/waist/Kp/x: 0.0
  • /wolf_controller/gains/waist/Kp/y: 0.0
  • /wolf_controller/gains/waist/Kp/yaw: 80.0
  • /wolf_controller/gains/waist/Kp/z: 0.0
  • /wolf_controller/gains/waist/weight: 1.0
  • /wolf_controller/input_device: keyboard
  • /wolf_controller/max_base_height: 0.55
  • /wolf_controller/max_base_pitch: 0.523
  • /wolf_controller/max_base_roll: 0.523
  • /wolf_controller/max_step_height: 0.3
  • /wolf_controller/max_step_length: 0.7
  • /wolf_controller/min_base_pitch: -0.523
  • /wolf_controller/min_base_roll: -0.523
  • /wolf_controller/min_forces_weight: 0.01
  • /wolf_controller/min_qddot_weight: 0.1
  • /wolf_controller/period: 0.001
  • /wolf_controller/publish_odom_msg: True
  • /wolf_controller/publish_odom_tf: True
  • /wolf_controller/publish_rate: 1000
  • /wolf_controller/type: wolf_controller/C...
  • /wolf_controller/use_contact_sensors: False

NODES / controller_spawner (controller_manager/spawner) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) keyboard_node (wolf_controller/keyboard_node) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawn_robot (wolf_description_utils/go0) wolf_gui (rqt_reconfigure/rqt_reconfigure)

auto-starting new master process[master]: started with pid [10760] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5de4c9d4-4c63-11f0-8ffd-00e070e3eb97 process[rosout-1]: started with pid [10770] started core service [/rosout] process[gazebo-2]: started with pid [10777] process[gazebo_gui-3]: started with pid [10779] process[spawn_robot-4]: started with pid [10784] process[keyboard_node-5]: started with pid [10788] process[controller_spawner-6]: started with pid [10789] process[robot_state_publisher-7]: started with pid [10790] process[wolf_gui-8]: started with pid [10791] [ WARN] [1750265011.758291835]: Converting unknown joint type of joint 'floating_base_joint' into a fixed joint pygame 1.9.6 Hello from the pygame community. https://www.pygame.org/contribute.html [INFO] [1750265011.993709, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1750265012.029360626]: Finished loading Gazebo ROS API Plugin. [ INFO] [1750265012.030154279]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1750265012.074171646]: Finished loading Gazebo ROS API Plugin. [ INFO] [1750265012.075218180]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-docker' [INFO] [1750265012.606168, 0.000000]: spawning spot with pose [0,0,0,0,0,0] [INFO] [1750265012.607264, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1750265012.609609, 0.000000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1750265012.637431972]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1750265012.903210, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity [INFO] [1750265012.907590, 0.000000]: Waiting for service /gazebo/set_model_configuration [ INFO] [1750265012.908786254]: Physics dynamic reconfigure ready. [INFO] [1750265012.909261, 0.000000]: temporary hack to fix the -J joint position option (issue #93), sleeping for 1 second to avoid race condition. [ INFO] [1750265012.913724155]: Loading gazebo_ros_control plugin [ INFO] [1750265012.913797867]: Starting gazebo_ros_control plugin in namespace: [ INFO] [1750265012.914021080]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ WARN] [1750265013.021781118]: Could not find base IMU sensor in gazebo, using the ground truth to fill the IMU data instead. [ INFO] [1750265013.023622563]: Loaded gazebo_ros_control. [INFO] [1750265013.198879, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1750265013.200736, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1750265013.202673, 0.000000]: Loading controller: wolf_controller [ERROR] [1750265013.204809158]: Could not load controller 'wolf_controller' because controller type 'wolf_controller/Controller' does not exist. [ERROR] [1750265013.204844627]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [INFO] [1750265013.910902, 0.000000]: Calling service /gazebo/set_model_configuration [INFO] [1750265013.913409, 0.000000]: Set model configuration status: SetModelConfiguration: success [ERROR] [1750265014.205490, 0.000000]: Failed to load wolf_controller [INFO] [1750265014.206625, 0.000000]: Loading controller: joint_state_publisher [INFO] [1750265014.212602, 0.000000]: Controller Spawner: Loaded controllers: joint_state_publisher [INFO] [1750265014.918690, 0.001000]: Started controllers: joint_state_publisher [spawn_robot-4] process has finished cleanly log file: /home/docker/.ros/log/1fc7ccb8-4c64-11f0-9af7-00e070e3eb97/spawn_robot-4*.log

Image

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Magicyw avatar Jun 18 '25 16:06 Magicyw