Issue running basic example for gym-gazebo2

[fisherxue]

Environment/Algorithm Trying to run gg_random.py example like so: python3 gg_random.py -g

Describe the bug Getting issue where Gazebo window renders for a second, but then proceeds to crash and process dies.

Error trace

Click to expand

``` user@user:~/gym-gazebo2/examples/MARA$ python3 gg_random.py -g [INFO] [launch]: All log files can be found below /home/user/.ros/log/2019-07-03-14-33-28-791741-user-14014 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gazebo-1]: process started with pid [14021] [INFO] [spawn_mara.py-2]: process started with pid [14022] [INFO] [hros_cognition_mara_components-3]: process started with pid [14023] [INFO] [mara_contact_publisher-4]: process started with pid [14027] [hros_cognition_mara_components-3] node_name hros_cognition_user [hros_cognition_mara_components-3] Couldn't set scheduling priority and policy: Operation not permitted [hros_cognition_mara_components-3] [INFO] [hros_cognition_user]: HROSCognitionMaraComponentsNode::on_configure() is called. [hros_cognition_mara_components-3] ====================== Reading link order ====================== [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000001/trajectory_axis2 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000001/trajectory_axis1 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000002/trajectory_axis1 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000002/trajectory_axis2 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000003/trajectory_axis1 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000003/trajectory_axis2 [hros_cognition_mara_components-3] ====================== Name of the motors ====================== [hros_cognition_mara_components-3] motor_names: motor1 [hros_cognition_mara_components-3] motor_names: motor2 [hros_cognition_mara_components-3] motor_names: motor3 [hros_cognition_mara_components-3] motor_names: motor4 [hros_cognition_mara_components-3] motor_names: motor5 [hros_cognition_mara_components-3] motor_names: motor6 [hros_cognition_mara_components-3] ====================== Subscribers and Publishers ====================== [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000001/state_axis2 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000001/goal_axis2 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000001/state_axis1 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000001/goal_axis1 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000002/state_axis1 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000002/goal_axis1 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000002/state_axis2 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000002/goal_axis2 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000003/state_axis1 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000003/goal_axis1 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000003/state_axis2 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000003/goal_axis2 [hros_cognition_mara_components-3] [INFO] [hros_cognition_user]: HROSCognitionMaraComponentsNode::on_configure() is finished. [INFO] [MARAEnv]: /spawn_entity service not available, waiting again... [gazebo-1] [Err] [REST.cc:205] Error in REST request [gazebo-1] [gazebo-1] libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org' [INFO] [MARAEnv]: /spawn_entity service not available, waiting again... [spawn_mara.py-2] [INFO] [minimal_client]: service not available, waiting again... [spawn_mara.py-2] [INFO] [minimal_client]: service not available, waiting again... [spawn_mara.py-2] [INFO] [minimal_client]: Result True SpawnEntity: Successfully spawned entity [mara] [INFO] [spawn_mara.py-2]: process has finished cleanly [pid 14022] [gazebo-1] gzclient: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed. [ERROR] [gazebo-1]: process has died [pid 14021, exit code 255, cmd 'gazebo -s libgazebo_ros_factory.so -s libgazebo_ros_init.so /home/user/gym-gazebo2/gym_gazebo2/worlds/empty_speed_up.world']. ``` Trace without -g is shown below: ``` user@user:~/gym-gazebo2/examples/MARA$ python3 gg_random.py [INFO] [launch]: All log files can be found below /home/user/.ros/log/2019-07-03-14-39-15-321889-user-14585 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gzserver-1]: process started with pid [14592] [INFO] [spawn_mara.py-2]: process started with pid [14593] [INFO] [hros_cognition_mara_components-3]: process started with pid [14594] [INFO] [mara_contact_publisher-4]: process started with pid [14595] [hros_cognition_mara_components-3] node_name hros_cognition_user [hros_cognition_mara_components-3] Couldn't set scheduling priority and policy: Operation not permitted [hros_cognition_mara_components-3] [INFO] [hros_cognition_user]: HROSCognitionMaraComponentsNode::on_configure() is called. [hros_cognition_mara_components-3] ====================== Reading link order ====================== [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000001/trajectory_axis2 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000001/trajectory_axis1 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000002/trajectory_axis1 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000002/trajectory_axis2 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000003/trajectory_axis1 [hros_cognition_mara_components-3] topic name: /hrim_actuator_rotaryservo_000000000003/trajectory_axis2 [hros_cognition_mara_components-3] ====================== Name of the motors ====================== [hros_cognition_mara_components-3] motor_names: motor1 [hros_cognition_mara_components-3] motor_names: motor2 [hros_cognition_mara_components-3] motor_names: motor3 [hros_cognition_mara_components-3] motor_names: motor4 [hros_cognition_mara_components-3] motor_names: motor5 [hros_cognition_mara_components-3] motor_names: motor6 [hros_cognition_mara_components-3] ====================== Subscribers and Publishers ====================== [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000001/state_axis2 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000001/goal_axis2 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000001/state_axis1 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000001/goal_axis1 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000002/state_axis1 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000002/goal_axis1 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000002/state_axis2 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000002/goal_axis2 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000003/state_axis1 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000003/goal_axis1 [hros_cognition_mara_components-3] Subscribe at /hrim_actuator_rotaryservo_000000000003/state_axis2 [hros_cognition_mara_components-3] New publisher at /hrim_actuator_rotaryservo_000000000003/goal_axis2 [hros_cognition_mara_components-3] [INFO] [hros_cognition_user]: HROSCognitionMaraComponentsNode::on_configure() is finished. [INFO] [MARAEnv]: /spawn_entity service not available, waiting again... [spawn_mara.py-2] [INFO] [minimal_client]: Result True SpawnEntity: Successfully spawned entity [mara] [INFO] [spawn_mara.py-2]: process has finished cleanly [pid 14593] ```

Screenshots Example of what Gazebo renders:

Additional context Running on ROS Dashing inside an Ubuntu 18.04 VM via KVM. Have ran this example using the Docker container: it works there.

[nzlz]

Hi @fisherxue , thanks for the detailed report. You need gazebo 9.9.0, lower version will not work. I just updated the instructions in a PR https://github.com/AcutronicRobotics/gym-gazebo2/pull/40. Please check if this solves your issue.

[fisherxue]

Tried to install gazebo 9.9.0. Unfortunately, now I'm getting a compile error when trying to compile the ROS workspace:

--- stderr: gazebo_plugins
CMake Error at CMakeLists.txt:15 (find_package):
  By not providing "Findcamera_info_manager.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "camera_info_manager", but CMake did not find one.

  Could not find a package configuration file provided by
  "camera_info_manager" with any of the following names:

    camera_info_managerConfig.cmake
    camera_info_manager-config.cmake

  Add the installation prefix of "camera_info_manager" to CMAKE_PREFIX_PATH
  or set "camera_info_manager_DIR" to a directory containing one of the above
  files.  If "camera_info_manager" provides a separate development package or
  SDK, be sure it has been installed.

---
Failed   <<< gazebo_plugins [ Exited with code 1 ]
Aborted  <<< robotiq_gripper_gazebo_plugins        
Aborted  <<< mara_gazebo_plugins                                             

Summary: 28 packages finished [17.5s]
  1 package failed: gazebo_plugins
  2 packages aborted: mara_gazebo_plugins robotiq_gripper_gazebo_plugins
  1 package had stderr output: gazebo_plugins
  1 package not processed

[nzlz]

Plese follow the instructions in the Dependent tools section. There you will install ros-dashing-camera-info-manager, and other required packages.

[nzlz]

This should be solved, closing. Continue reporting here if not.