# Error when setting up Stretch simulation on Gazebo

**URL:** <https://forum.hello-robot.com/t/error-when-setting-up-stretch-simulation-on-gazebo/213>\
**Category:** Ask\
**Created:** [June 18, 2021, 10:09pm UTC](https://forum.hello-robot.com/t/error-when-setting-up-stretch-simulation-on-gazebo/213 "2021-06-18T22:09:04Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![lstegner](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/lstegner/32/90_2.png) [@lstegner](https://forum.hello-robot.com/u/lstegner)\
**Post date:** [June 18, 2021, 10:09pm UTC](https://forum.hello-robot.com/t/error-when-setting-up-stretch-simulation-on-gazebo/213/1 "2021-06-18T22:09:04Z")

</div>

First I want to say thanks for releasing simulation support for Stretch! I was trying to set it up, but have run into an error.

For some background, I have Gazebo 11 installed, and am running ROS Melodic. Gazebo seems to work fine. I followed the stretch\_gazebo installation/setup instructions from the GitHub. I am running the simulation on my laptop, not on the Stretch.

When I run `roslaunch stretch_gazebo gazebo.launch rviz:=true`, there is a lot of text output (full text at end), but eventually an error:  
[ERROR] [1624052991.338308953, 0.184000000]: GetModelState: model [robot] does not exist

When I run `roslaunch stretch_gazebo teleop_joy.launch`, it results in the following error:  
ERROR: cannot launch node of type [joy/joy\_node]: joy  
ROS path [0]=/opt/ros/melodic/share/ros  
ROS path [1]=/home/hcilab/catkin\_ws/src  
ROS path [2]=/opt/ros/melodic/share  
ERROR: cannot launch node of type [teleop\_twist\_joy/teleop\_node]: teleop\_twist\_joy  
ROS path [0]=/opt/ros/melodic/share/ros  
ROS path [1]=/home/hcilab/catkin\_ws/src  
ROS path [2]=/opt/ros/melodic/share

I was wondering if there is some file I need to copy over from the robot, or if you had any other ideas on how to solve it?

Thanks!!

**Full output from `roslaunch stretch_gazebo gazebo.launch rviz:=true`:**  
… logging to /home/hcilab/.ros/log/1a31f266-d07f-11eb-a65e-d0577b4196c8/roslaunch-hcilab-HP-Pavilion-23706.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.

started roslaunch server [http://10.134.71.251:38575/](http://10.134.71.251:38575/)

# SUMMARY

PARAMETERS

- /gazebo/enable\_ros\_network: True
- /robot\_description: \<?xml version="1…
- /robot\_state\_publisher/publish\_frequency: 30.0
- /rosdistro: melodic
- /rosversion: 1.14.10
- /stretch\_arm\_controller/allow\_partial\_joints\_goal: True
- /stretch\_arm\_controller/constraints/action\_monitor\_rate: 10
- /stretch\_arm\_controller/constraints/goal\_time: 0.6
- /stretch\_arm\_controller/constraints/joint\_arm\_l0/goal: 0.1
- /stretch\_arm\_controller/constraints/joint\_arm\_l0/trajectory: 0.1
- /stretch\_arm\_controller/constraints/joint\_arm\_l1/goal: 0.1
- /stretch\_arm\_controller/constraints/joint\_arm\_l1/trajectory: 0.1
- /stretch\_arm\_controller/constraints/joint\_arm\_l2/goal: 0.1
- /stretch\_arm\_controller/constraints/joint\_arm\_l2/trajectory: 0.1
- /stretch\_arm\_controller/constraints/joint\_arm\_l3/goal: 0.1
- /stretch\_arm\_controller/constraints/joint\_arm\_l3/trajectory: 0.1
- /stretch\_arm\_controller/constraints/joint\_lift/goal: 0.1
- /stretch\_arm\_controller/constraints/joint\_lift/trajectory: 0.1
- /stretch\_arm\_controller/constraints/joint\_wrist\_yaw/goal: 0.1
- /stretch\_arm\_controller/constraints/joint\_wrist\_yaw/trajectory: 0.1
- /stretch\_arm\_controller/constraints/state\_publish\_rate: 25
- /stretch\_arm\_controller/constraints/stop\_trajectory\_duration: 0.5
- /stretch\_arm\_controller/constraints/stopped\_velocity\_tolerance: 0.05
- /stretch\_arm\_controller/joints: [‘joint\_lift’, 'j…
- /stretch\_arm\_controller/type: position\_controll…
- /stretch\_diff\_drive\_controller/angular/z/has\_acceleration\_limits: True
- /stretch\_diff\_drive\_controller/angular/z/has\_velocity\_limits: True
- /stretch\_diff\_drive\_controller/angular/z/max\_acceleration: 6.0
- /stretch\_diff\_drive\_controller/angular/z/max\_velocity: 2.0
- /stretch\_diff\_drive\_controller/base\_frame\_id: base\_link
- /stretch\_diff\_drive\_controller/left\_wheel: [‘joint\_left\_wheel’]
- /stretch\_diff\_drive\_controller/linear/x/has\_acceleration\_limits: True
- /stretch\_diff\_drive\_controller/linear/x/has\_velocity\_limits: True
- /stretch\_diff\_drive\_controller/linear/x/max\_acceleration: 1.0
- /stretch\_diff\_drive\_controller/linear/x/max\_velocity: 0.5
- /stretch\_diff\_drive\_controller/pose\_covariance\_diagonal: [0.001, 0.001, 0…
- /stretch\_diff\_drive\_controller/publish\_rate: 50
- /stretch\_diff\_drive\_controller/right\_wheel: ['joint\_right\_whe…
- /stretch\_diff\_drive\_controller/twist\_covariance\_diagonal: [0.001, 0.001, 0…
- /stretch\_diff\_drive\_controller/type: diff\_drive\_contro…
- /stretch\_diff\_drive\_controller/wheel\_radius: 0.05
- /stretch\_diff\_drive\_controller/wheel\_separation: 0.315
- /stretch\_gripper\_controller/allow\_partial\_joints\_goal: True
- /stretch\_gripper\_controller/constraints/action\_monitor\_rate: 10
- /stretch\_gripper\_controller/constraints/goal\_time: 0.6
- /stretch\_gripper\_controller/constraints/joint\_gripper\_finger\_left/goal: 0.1
- /stretch\_gripper\_controller/constraints/joint\_gripper\_finger\_left/trajectory: 0.1
- /stretch\_gripper\_controller/constraints/joint\_gripper\_finger\_right/goal: 0.1
- /stretch\_gripper\_controller/constraints/joint\_gripper\_finger\_right/trajectory: 0.1
- /stretch\_gripper\_controller/constraints/state\_publish\_rate: 25
- /stretch\_gripper\_controller/constraints/stop\_trajectory\_duration: 0.5
- /stretch\_gripper\_controller/constraints/stopped\_velocity\_tolerance: 0.05
- /stretch\_gripper\_controller/joints: ['joint\_gripper\_f…
- /stretch\_gripper\_controller/type: position\_controll…
- /stretch\_head\_controller/allow\_partial\_joints\_goal: True
- /stretch\_head\_controller/constraints/action\_monitor\_rate: 10
- /stretch\_head\_controller/constraints/goal\_time: 0.6
- /stretch\_head\_controller/constraints/joint\_head\_pan/goal: 0.1
- /stretch\_head\_controller/constraints/joint\_head\_pan/trajectory: 0.1
- /stretch\_head\_controller/constraints/joint\_head\_tilt/goal: 0.1
- /stretch\_head\_controller/constraints/joint\_head\_tilt/trajectory: 0.1
- /stretch\_head\_controller/constraints/state\_publish\_rate: 25
- /stretch\_head\_controller/constraints/stop\_trajectory\_duration: 0.5
- /stretch\_head\_controller/constraints/stopped\_velocity\_tolerance: 0.05
- /stretch\_head\_controller/joints: [‘joint\_head\_pan’…
- /stretch\_head\_controller/type: position\_controll…
- /stretch\_joint\_state\_controller/publish\_rate: 50
- /stretch\_joint\_state\_controller/type: joint\_state\_contr…
- /use\_sim\_time: True

NODES  
/  
gazebo (gazebo\_ros/gzserver)  
gazebo\_gui (gazebo\_ros/gzclient)  
publish\_ground\_truth\_odom (stretch\_gazebo/publish\_ground\_truth\_odom.py)  
robot\_state\_publisher (robot\_state\_publisher/robot\_state\_publisher)  
rviz (rviz/rviz)  
stretch\_controller\_spawner (controller\_manager/spawner)  
urdf\_spawner (gazebo\_ros/spawn\_model)

auto-starting new master  
process[master]: started with pid [23719]  
ROS\_MASTER\_URI=[http://10.134.71.251:11311](http://10.134.71.251:11311)

setting /run\_id to 1a31f266-d07f-11eb-a65e-d0577b4196c8  
process[rosout-1]: started with pid [23730]  
started core service [/rosout]  
process[gazebo-2]: started with pid [23736]  
process[gazebo\_gui-3]: started with pid [23742]  
process[urdf\_spawner-4]: started with pid [23747]  
process[robot\_state\_publisher-5]: started with pid [23748]  
process[rviz-6]: started with pid [23749]  
process[stretch\_controller\_spawner-7]: started with pid [23750]  
process[publish\_ground\_truth\_odom-8]: started with pid [23751]  
[WARN] [1624052989.334175983]: The root link base\_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.  
Gazebo multi-robot simulator, version 11.6.0  
Copyright (C) 2012 Open Source Robotics Foundation.  
Released under the Apache 2 License.

> **[Gazebo](https://gazebosim.org/)**
>
> Simulation Driven Robotics. Iterate quickly on design concepts and control strategies with Gazebo's rich suite of tools, libraries, and cloud services.

[Wrn] [GuiIface.cc:200] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin  
Gazebo multi-robot simulator, version 11.6.0  
Copyright (C) 2012 Open Source Robotics Foundation.  
Released under the Apache 2 License.

> **[Gazebo](https://gazebosim.org/)**
>
> Simulation Driven Robotics. Iterate quickly on design concepts and control strategies with Gazebo's rich suite of tools, libraries, and cloud services.

[INFO] [1624052990.132379183]: Finished loading Gazebo ROS API Plugin.  
[INFO] [1624052990.134767420]: waitForService: Service [/gazebo/set\_physics\_properties] has not been advertised, waiting…  
[Msg] Waiting for master.  
[Msg] Connected to gazebo master @ [http://127.0.0.1:11345](http://127.0.0.1:11345)  
[Msg] Publicized address: 10.134.71.251  
[INFO] [1624052990.324984826]: Finished loading Gazebo ROS API Plugin.  
[INFO] [1624052990.326584208]: waitForService: Service [/gazebo\_gui/set\_physics\_properties] has not been advertised, waiting…  
[Msg] Waiting for master.  
[Msg] Connected to gazebo master @ [http://127.0.0.1:11345](http://127.0.0.1:11345)  
[Msg] Publicized address: 10.134.71.251  
[INFO] [1624052990.404672, 0.000000]: Loading model XML from ros parameter robot\_description  
[INFO] [1624052990.436098, 0.000000]: Waiting for service /gazebo/spawn\_urdf\_model  
[Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]  
[INFO] [1624052991.145260993]: waitForService: Service [/gazebo/set\_physics\_properties] is now available.  
[INFO] [1624052991.169385193, 0.020000000]: Physics dynamic reconfigure ready.  
[ERROR] [1624052991.338308953, 0.184000000]: GetModelState: model [robot] does not exist  
[INFO] [1624052991.342108, 0.187000]: Calling service /gazebo/spawn\_urdf\_model  
[INFO] [1624052991.756463276, 0.356000000]: set to: 0  
[INFO] [1624052991.756533694, 0.356000000]: set to: //  
[INFO] [1624052991.756562656, 0.356000000]: set to: //imu/data  
[INFO] [1624052991.756584952, 0.356000000]: set to: base\_link  
[INFO] [1624052991.756623050, 0.356000000]: set to: 25  
[INFO] [1624052991.756648872, 0.356000000]: set to: 0.001  
[INFO] [1624052991.756684303, 0.356000000]: set to: 0 0 0  
[INFO] [1624052991.756748119, 0.356000000]: set to: 0 -0 0  
[INFO] [1624052991.985987860, 0.356000000]: Laser Plugin: Using the ‘robotNamespace’ param: ‘/’  
[INFO] [1624052991.986054966, 0.356000000]: Starting GazeboRosLaser Plugin (ns = /)  
[INFO] [1624052991.991643027, 0.356000000]: GPU Laser Plugin (ns = /) \<tf\_prefix\_\>, set to “”  
[INFO] [1624052991.992610624, 0.356000000]: LoadThread function completed  
[INFO] [1624052991.994848667, 0.356000000]: set to: 0  
[INFO] [1624052991.994921077, 0.356000000]: set to: //  
[INFO] [1624052991.994959935, 0.356000000]: set to: //realsense/imu/data  
[INFO] [1624052991.994987446, 0.356000000]: set to: camera\_gyro\_frame  
[INFO] [1624052991.995019149, 0.356000000]: set to: 50  
[INFO] [1624052991.995051266, 0.356000000]: set to: 0.001  
[INFO] [1624052991.995088867, 0.356000000]: set to: 0 0 0  
[INFO] [1624052991.995123939, 0.356000000]: set to: 0 -0 0  
[INFO] [1624052992.012926963, 0.356000000]: set to: 0  
[INFO] [1624052992.012978756, 0.356000000]: set to: //  
[INFO] [1624052992.013006449, 0.356000000]: set to: //wrist\_imu/data  
[INFO] [1624052992.013030683, 0.356000000]: set to: link\_wrist\_yaw  
[INFO] [1624052992.013061621, 0.356000000]: set to: 25  
[INFO] [1624052992.013092763, 0.356000000]: set to: 0.001  
[INFO] [1624052992.013124927, 0.356000000]: set to: 0 0 0  
[INFO] [1624052992.013156273, 0.356000000]: set to: 0 -0 0  
[INFO] [1624052992.022671, 0.356000]: Spawn status: SpawnModel: Successfully spawned entity  
[urdf\_spawner-4] process has finished cleanly  
log file: /home/hcilab/.ros/log/1a31f266-d07f-11eb-a65e-d0577b4196c8/urdf\_spawner-4\*.log  
[INFO] [1624052993.405040038, 0.356000000]: Loading gazebo\_ros\_control plugin  
[INFO] [1624052993.405173509, 0.356000000]: Starting gazebo\_ros\_control plugin in namespace: /  
[INFO] [1624052993.406018868, 0.356000000]: gazebo\_ros\_control plugin is waiting for model URDF in parameter [robot\_description] on the ROS param server.  
[ERROR] [1624052993.529566328, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_right\_wheel  
[ERROR] [1624052993.530365407, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_left\_wheel  
[ERROR] [1624052993.531104215, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_lift  
[ERROR] [1624052993.531882757, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_arm\_l0  
[ERROR] [1624052993.532639001, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_arm\_l1  
[ERROR] [1624052993.533419976, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_arm\_l2  
[ERROR] [1624052993.534131198, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_arm\_l3  
[ERROR] [1624052993.534882172, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_wrist\_yaw  
[ERROR] [1624052993.535583954, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_head\_pan  
[ERROR] [1624052993.536299604, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_head\_tilt  
[ERROR] [1624052993.537004609, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_gripper\_finger\_left  
[ERROR] [1624052993.537689328, 0.356000000]: No p gain specified for pid. Namespace: /gazebo\_ros\_control/pid\_gains/joint\_gripper\_finger\_right  
[INFO] [1624052993.541483431, 0.356000000]: Loaded gazebo\_ros\_control.  
[INFO] [1624052993.558406457, 0.356000000]: Realsense Gazebo ROS plugin loading.

RealSensePlugin: The realsense\_camera plugin is attach to model robot  
[ERROR] [1624052993.668150007, 0.390000000]: Could not load controller ‘stretch\_joint\_state\_controller’ because controller type ‘joint\_state\_controller/JointStateController’ does not exist.  
[ERROR] [1624052993.668210324, 0.390000000]: Use ‘rosservice call controller\_manager/list\_controller\_types’ to get the available types  
[ERROR] [1624052994.669199, 0.753000]: Failed to load stretch\_joint\_state\_controller  
[ERROR] [1624052994.673825215, 0.755000000]: Could not load controller ‘stretch\_diff\_drive\_controller’ because controller type ‘diff\_drive\_controller/DiffDriveController’ does not exist.  
[ERROR] [1624052994.673878564, 0.755000000]: Use ‘rosservice call controller\_manager/list\_controller\_types’ to get the available types  
[ERROR] [1624052995.675029, 1.129000]: Failed to load stretch\_diff\_drive\_controller  
[ERROR] [1624052995.679247011, 1.131000000]: Could not load controller ‘stretch\_arm\_controller’ because controller type ‘position\_controllers/JointTrajectoryController’ does not exist.  
[ERROR] [1624052995.679294957, 1.131000000]: Use ‘rosservice call controller\_manager/list\_controller\_types’ to get the available types  
[ERROR] [1624052996.680165, 1.540000]: Failed to load stretch\_arm\_controller  
[ERROR] [1624052996.684071243, 1.541000000]: Could not load controller ‘stretch\_head\_controller’ because controller type ‘position\_controllers/JointTrajectoryController’ does not exist.  
[ERROR] [1624052996.684111195, 1.541000000]: Use ‘rosservice call controller\_manager/list\_controller\_types’ to get the available types  
[ERROR] [1624052997.685386, 1.931000]: Failed to load stretch\_head\_controller  
[ERROR] [1624052997.689851462, 1.932000000]: Could not load controller ‘stretch\_gripper\_controller’ because controller type ‘position\_controllers/JointTrajectoryController’ does not exist.  
[ERROR] [1624052997.689895549, 1.932000000]: Use ‘rosservice call controller\_manager/list\_controller\_types’ to get the available types  
[ERROR] [1624052998.691185, 2.317000]: Failed to load stretch\_gripper\_controller  
^C[publish\_ground\_truth\_odom-8] killing on exit  
[stretch\_controller\_spawner-7] killing on exit  
[rviz-6] killing on exit  
[robot\_state\_publisher-5] killing on exit  
[gazebo\_gui-3] killing on exit  
[gazebo-2] killing on exit  
[Wrn] [Publisher.cc:136] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.  
Traceback (most recent call last):  
File “/home/hcilab/catkin\_ws/src/stretch\_ros/stretch\_gazebo/scripts/publish\_ground\_truth\_odom.py”, line 29, in   
r.sleep()  
File “/opt/ros/melodic/lib/python2.7/dist-packages/rospy/timer.py”, line 103, in sleep  
sleep(self.\_remaining(curr\_time))  
File “/opt/ros/melodic/lib/python2.7/dist-packages/rospy/timer.py”, line 165, in sleep  
raise rospy.exceptions.ROSInterruptException(“ROS shutdown request”)  
rospy.exceptions.ROSInterruptException: ROS shutdown request  
[gazebo\_gui-3] escalating to SIGTERM  
[gazebo-2] escalating to SIGTERM  
[rosout-1] killing on exit  
[master] killing on exit  
shutting down processing monitor…  
… shutting down processing monitor complete  
done

**Full output from `roslaunch stretch_gazebo teleop_joy.launch`:**  
… logging to /home/hcilab/.ros/log/1a31f266-d07f-11eb-a65e-d0577b4196c8/roslaunch-hcilab-HP-Pavilion-24590.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.

started roslaunch server [http://10.134.71.251:34283/](http://10.134.71.251:34283/)

# SUMMARY

PARAMETERS

- /joy/autorepeat\_rate: 20
- /joy/dev: /dev/input/js0
- /rosdistro: melodic
- /rosversion: 1.14.10

NODES  
/  
joy (joy/joy\_node)  
teleop\_twist\_joy (teleop\_twist\_joy/teleop\_node)

ROS\_MASTER\_URI=[http://10.134.71.251:11311](http://10.134.71.251:11311)

ERROR: cannot launch node of type [joy/joy\_node]: joy  
ROS path [0]=/opt/ros/melodic/share/ros  
ROS path [1]=/home/hcilab/catkin\_ws/src  
ROS path [2]=/opt/ros/melodic/share  
ERROR: cannot launch node of type [teleop\_twist\_joy/teleop\_node]: teleop\_twist\_joy  
ROS path [0]=/opt/ros/melodic/share/ros  
ROS path [1]=/home/hcilab/catkin\_ws/src  
ROS path [2]=/opt/ros/melodic/share  
No processes to monitor  
shutting down processing monitor…  
… shutting down processing monitor complete

---

<div class="post-metadata">

**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [June 22, 2021, 6:41am UTC](https://forum.hello-robot.com/t/error-when-setting-up-stretch-simulation-on-gazebo/213/2 "2021-06-22T06:41:35Z")

</div>

Hi @lstegner, try installing the following two packages:

```bash
$ sudo apt install ros-melodic-joint-trajectory-controller
$ sudo apt install ros-melodic-diff-drive-controller

```

On my laptop, installing these two packages resolves the `Could not load controller ...` errors. Resolving those errors is enough to try out the MoveIt demo and send velocity commands to the simulated mobile base. These dependencies are already installed on the robot, but since they are missing from Stretch Gazebo’s package.xml, they aren’t installed by rosdep to our laptops. I’ll update the package.xml shortly.

I am still investigating the `GetModelState: model [robot] does not exist` error, however, it doesn’t seem affect the simulation. Let me know if you see any errors related to this issue.

---

<div class="post-metadata">

**Author:** ![tezer](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/tezer/32/97_2.png) [@tezer](https://forum.hello-robot.com/u/tezer)\
**Post date:** [June 22, 2021, 12:16pm UTC](https://forum.hello-robot.com/t/error-when-setting-up-stretch-simulation-on-gazebo/213/3 "2021-06-22T12:16:53Z")

</div>

Hey @lstegner, sorry for the late response.

We are probably missing a few dependencies in package xmls. I didn’t notice them because those packages were already installed in my system before. I’ll open a new PR to update these dependencies. Until it is ready and merged you can apt install `teleop_twist_joy` package via:

`sudo apt-get install ros-melodic-teleop-twist-joy`

For control errors doing what @bshah said above would be enough.

GetModelState stems from the ground\_turth\_odom\_publisher as gazebo is probably opening up slower than this script and it is unable to find the robot for a second. I’ll send a fix for this as well soon, but this shouldn’t affect any functionality.

---

<div class="post-metadata">

**Author:** ![tezer](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/tezer/32/97_2.png) [@tezer](https://forum.hello-robot.com/u/tezer)\
**Post date:** [June 22, 2021, 12:55pm UTC](https://forum.hello-robot.com/t/error-when-setting-up-stretch-simulation-on-gazebo/213/4 "2021-06-22T12:55:49Z")

</div>

Update: PRs are in for Melodic and Noetic [[melodic] Gazebo Dependency and GetModel Fixes by vatanaksoytezer · Pull Request #26 · hello-robot/stretch\_ros · GitHub](https://github.com/hello-robot/stretch_ros/pull/26) and [[noetic] Gazebo Dependency Fixes by vatanaksoytezer · Pull Request #27 · hello-robot/stretch\_ros · GitHub](https://github.com/hello-robot/stretch_ros/pull/27)

---

<div class="post-metadata">

**Author:** ![lstegner](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/lstegner/32/90_2.png) [@lstegner](https://forum.hello-robot.com/u/lstegner)\
**Post date:** [June 22, 2021, 4:15pm UTC](https://forum.hello-robot.com/t/error-when-setting-up-stretch-simulation-on-gazebo/213/5 "2021-06-22T16:15:59Z")

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Thank you @bshah and @tezer! Things are working fine now 🙂  
Since implementing those other fixes, the `GetModelState: model [robot] does not exist` error has also gone away.