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ArduPilot / ardupilot_gazebo

Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers
GNU Lesser General Public License v3.0
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Models: fix world orientation #68

Closed srmainwaring closed 7 months ago

srmainwaring commented 8 months ago

This PR reviews and fixes the orientation of models and worlds to ensure compliance with the conventions used by ROS and ArduPilot.

Edit <cma> fix below moved to #73

There is also a fix for planes on Harmonic where a change in behaviour of the LiftDrag plugin requires the moment coefficient <cma> to be set to zero in order to disable the adjustment (it was previously ignored).

Details

Checks

Models

Worlds

Tests

Ryanf55 commented 8 months ago 
ryan@B650-970:~/Dev/ros2_ws/src/ardupilot_gazebo$ gz sim -v4 -r zephyr_runway.sdf
[Msg] Gazebo Sim GUI    v8.0.0
[Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
[Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
[Dbg] [Gui.cc:263] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [zephyr_runway.sdf] from the GUI.
[Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
[Msg] Gazebo Sim Server v8.0.0
[Msg] Loading SDF world file[/home/ryan/Dev/ros2_ws/src/ardupilot_gazebo/worlds/zephyr_runway.sdf].
[Dbg] [Application.cc:101] Initializing application.
[Dbg] [Application.cc:175] Qt using OpenGL graphics interface
[GUI] [Dbg] [Application.cc:662] Create main window
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/zephyr_runway/create]
[Msg] Remove service on [/world/zephyr_runway/remove]
[Msg] Pose service on [/world/zephyr_runway/set_pose]
[Msg] Pose service on [/world/zephyr_runway/set_pose_vector]
[Msg] Light configuration service on [/world/zephyr_runway/light_config]
[Msg] Physics service on [/world/zephyr_runway/set_physics]
[Msg] SphericalCoordinates service on [/world/zephyr_runway/set_spherical_coordinates]
[Msg] Enable collision service on [/world/zephyr_runway/enable_collision]
[Msg] Disable collision service on [/world/zephyr_runway/disable_collision]
[Msg] Material service on [/world/zephyr_runway/visual_config]
[Msg] Material service on [/world/zephyr_runway/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Imu] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::NavSat] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::JointStatePublisher] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::LiftDrag] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/zephyr_with_ardupilot/joint/zephyr::propeller_joint/cmd_force]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/zephyr_with_ardupilot/joint/zephyr::flap_left_joint/cmd_force]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[Msg] ApplyJointForce subscribing to Double messages on [/model/zephyr_with_ardupilot/joint/zephyr::flap_right_joint/cmd_force]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15]
[libprotobuf ERROR google/protobuf/descriptor_database.cc:175] Symbol name "gz.sim.private_msgs.PerformerAffinity" conflicts with the existing symbol "gz.sim.private_msgs.PerformerAffinity".
[libprotobuf FATAL google/protobuf/descriptor.cc:1382] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): 
terminate called after throwing an instance of 'google::protobuf::FatalException'
  what():  CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): 
Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d14c00, in gz::sim::v8::SdfEntityCreator::CreateEntities(sdf::v14::Model const*)
#30   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3cecf55, in 
#29   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d4d268, in gz::sim::v8::SimulationRunner::LoadPlugins(unsigned long, std::vector<sdf::v14::Plugin, std::allocator<sdf::v14::Plugin> > const&)
#28   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d59d33, in gz::sim::v8::SystemManager::LoadPlugin(unsigned long, sdf::v14::Plugin const&)
#27   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d594e9, in gz::sim::v8::SystemLoader::LoadPlugin(sdf::v14::Plugin const&)
#26   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f48c3d584a8, in 
#25   Object "/lib/x86_64-linux-gnu/libgz-plugin2-loader.so.2", at 0x7f48c89f556f, in gz::plugin::Loader::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
#24   Object "/lib/x86_64-linux-gnu/libgz-plugin2-loader.so.2", at 0x7f48c89f44dd, in gz::plugin::Loader::Implementation::LoadLib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
#23   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a906c7, in dlopen
#22   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a9012d, in 
#21   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8b74972, in _dl_catch_error
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8b748a7, in _dl_catch_exception
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a9063b, in 
#18   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f48c92f134d, in 
#17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8b748a7, in _dl_catch_exception
#16   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f48c92f0ff5, in 
#15   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8b74904, in _dl_catch_exception
#14   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f48c92e9567, in 
#13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f48c92e947d, in 
#12   Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f48808b3d08, in 
#11   Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x7f48c3181951, in google::protobuf::internal::AddDescriptors(google::protobuf::internal::DescriptorTable const*)
#10   Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x7f48c3181966, in google::protobuf::internal::AddDescriptors(google::protobuf::internal::DescriptorTable const*)
#9    Object "/lib/x86_64-linux-gnu/libprotobuf.so.23", at 0x7f48c3092c35, in 
#8    Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7f48c8c782dc, in _Unwind_Resume
#7    Object "/lib/x86_64-linux-gnu/libgcc_s.so.1", at 0x7f48c8c77883, in 
#6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f48c4cad958, in __gxx_personality_v0
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f48c4cad1e8, in 
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f48c4cae20b, in 
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f48c4ca2b9d, in 
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a287f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a42475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48c8a969fc, in pthread_kill
Aborted (Signal sent by tkill() 59000 1000)
[GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Dbg] [Gui.cc:343] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [SignalHandler.cc:142] Received signal[2].
[GUI] [Dbg] [SignalHandler.cc:142] Received signal[2].
[GUI] [Dbg] [Application.cc:242] Terminating application.

Runtime crash when loading. This happens on the old version (before this PR).

srmainwaring commented 8 months ago

[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ApplyJointForce] for entity [15] [libprotobuf ERROR google/protobuf/descriptor_database.cc:175] Symbol name "gz.sim.private_msgs.PerformerAffinity" conflicts with the existing symbol "gz.sim.private_msgs.PerformerAffinity". [libprotobuf FATAL google/protobuf/descriptor.cc:1382] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size): terminate called after throwing an instance of 'google::protobuf::FatalException' what(): CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):

That looks like a possible version conflict between Gazebo Garden and Harmonic in your environment, or possibly the build of the ArduPilot plugin (can try disabling the plugin in the model to verify). The gz-msg and gz-transport libraries may have different protbuf dependencies in Gazebo and Harmonic.