gazebo GUI doesn't show up

[RIckyBan]

Hi gym-gazebo2 developers, thank you for your wonderful product. I have a problem as below.

Version Ubuntu: 18.04.2 LTS (Bionic Beaver) gazebo: 9.0.0 python: 3.6.7 ROS: crystal

Bug & Error trace After completely following INSTALL.md, when I run

~/gym-gazebo2/examples/MARA$ python3 gg_random.py -g

it fails and gazebo GUI doesn't show up like this.

Click to expand

``` ~/gym-gazebo2/examples/MARA$ python3 gg_random.py -g [INFO] [launch]: process[gazebo-1]: started with pid [19349] [INFO] [launch]: process[spawn_mara.py-2]: started with pid [19350] [INFO] [launch]: process[hros_cognition_mara_components-3]: started with pid [19351] [INFO] [launch]: process[mara_contact_publisher-4]: started with pid [19352] [INFO] [launch]: process[spawn_mara.py-2]: process has finished cleanly [ERROR] [launch]: process[mara_contact_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [launch]: sending signal 'SIGTERM' to process[mara_contact_publisher-4] [ERROR] [launch]: process[mara_contact_publisher-4] process has died [pid 19170, exit code -15, cmd '/home/USERNAME/ros2_mara_ws/install/lib/mara_contact_publisher/mara_contact_publisher']. [ERROR] [launch]: process[gazebo-1] process has died [pid 19349, exit code 255, cmd 'gazebo --verbose -s libgazebo_ros_factory.so -s libgazebo_ros_init.so /home/USERNAME/gym-gazebo2/gym_gazebo2/worlds/empty__state_plugin__speed_up.world']. ^CTraceback (most recent call last): File "gg_random.py", line 16, in [WARNING] [launch.LaunchService]: user interrupted with ctrl-c (SIGINT) observation, reward, done, info = env.step(env.action_space.sample()) File "/home/USERNAME/gym-gazebo2/gym_gazebo2/envs/MARA/mara.py", line 308, in step obs = self.take_observation() File "/home/USERNAME/gym-gazebo2/gym_gazebo2/envs/MARA/mara.py", line 235, in take_observation rclpy.spin_once(self.node) File "/opt/ros/crystal/lib/python3.6/site-packages/rclpy/__init__.py", line 98, in spin_once executor.spin_once(timeout_sec=timeout_sec) File "/opt/ros/crystal/lib/python3.6/site-packages/rclpy/executors.py", line 566, in spin_once handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) File "/opt/ros/crystal/lib/python3.6/site-packages/rclpy/executors.py", line 549, in wait_for_ready_callbacks return next(self._cb_iter) File "/opt/ros/crystal/lib/python3.6/site-packages/rclpy/executors.py", line 445, in _wait_for_ready_callbacks _rclpy.rclpy_wait(wait_set, timeout_nsec) File "/opt/ros/crystal/lib/python3.6/site-packages/launch/utilities/signal_management.py", line 120, in __on_sigint __original_sigint_handler(signum, frame) KeyboardInterrupt [INFO] [launch]: process[hros_cognition_mara_components-3]: process has finished cleanly ```

In turn running the specific died process,

~/gym-gazebo2/examples/MARA$ gazebo --verbose -s libgazebo_ros_factory.so -s libgazebo_ros_init.so /home/USERNAME/gym-gazebo2/gym_gazebo2/worlds/empty__state_plugin__speed_up.world

it turns out that the gazebo cannot find config file.

Click to expand

``` ~/gym-gazebo2/examples/MARA$ gazebo --verbose -s libgazebo_ros_factory.so -s libgazebo_ros_init.so /home/USERNAME/gym-gazebo2/gym_gazebo2/worlds/empty__state_plugin__speed_up.world Gazebo multi-robot simulator, version 9.0.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [Msg] Waiting for master. Gazebo multi-robot simulator, version 9.0.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org [Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 172.16.0.119 [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/physics/contacts, deleting message. This warning is printed only once. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 172.16.0.119 [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/ament_index" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/colcon-core" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/doc" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/gripper_minimal_service" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/gripper_minimal_subscriber" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hans_modular_gazebo" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hans_t30_description" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hans_t49_description" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hans_t9_4_description" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hrim_actuator_gripper_msgs" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hrim_actuator_gripper_srvs" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hrim_actuator_rotaryservo_actions" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hrim_actuator_rotaryservo_msgs" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hrim_actuator_rotaryservo_srvs" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hrim_generic_msgs" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hrim_generic_srvs" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/hros_cognition_mara_components" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/mara_bringup" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/mara_contact_publisher" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/mara_description" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/mara_gazebo" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/mara_gazebo_plugins" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/mara_minimal_publisher" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/mara_minimal_subscriber" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/mara_minimal_trajectory_action" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/mara_utils_scripts" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/orocos_kdl" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/python_orocos_kdl" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/robotiq_140_gripper_description" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/robotiq_85_gripper_description" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/robotiq_gazebo" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/robotiq_gripper_gazebo_plugins" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/robotiq_hande_gripper_description" [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/USERNAME/ros2_mara_ws/install/share/urdfdom_py" [Err] [REST.cc:205] Error in REST request libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org' ```

As in ros2_mara_ws/install/share I can't find no config file in each directory so it's natural but I don't understand how I made a mistake. Is there any way to avoid this?

Thank you.

[alesolano]

Hi @RIckyBan, thanks for reporting! You need gazebo 9.9.0. Please refer to this for the upgrade.

[RIckyBan]

Hi @alesolano, thank you for quick response! I'm sorry I haven't read closed issues, I'll try and report it to you.

[RIckyBan]

After upgrade to gazebo 9.9.0, it worked fine! Thank you very much.