Gimbal controller plugin throwing OGRE_EXCEPTION

[L4ncelot]

Hi,

I've been playing with gimbal and it's controller plugin in Gazebo. I'm using the same model of camera and gimbal as in typhoon_h480 model.

Everything works fine until I add to the model librotors_gazebo_gimbal_controller_plugin with this code:

<plugin name='gimbal_controller' filename='librotors_gazebo_gimbal_controller_plugin.so'>
            <joint_yaw>iris::cgo3_vertical_arm_joint</joint_yaw>
            <joint_roll>iris::cgo3_horizontal_arm_joint</joint_roll>
            <joint_pitch>iris::cgo3_camera_joint</joint_pitch>
            <imu>camera_imu</imu>
</plugin>

Then the Gazebo throws this message:

terminate called after throwing an instance of 'Ogre::ItemIdentityException'
  what():  OGRE EXCEPTION(5:ItemIdentityException): Can not find codec for 'png' image format.
There are no formats supported (no codecs registered). in Codec::getCodec at /build/buildd/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreCodec.cpp (line 69)

I'm using fresh installation of Gazebo 7.4 and latest version of px4 firmware.

Has anyone idea what's going on here? Thank you for any advice.

[bkueng]

Hi Looks like you're missing some png library on your system. Seems strange though that it fails on gimbal_controller, as it does not use images. Which OS & version do you use? Did you follow the dev-guide installation? Can you test with gdb to see from where the exception is thrown?

Do you have the same problem with the typhoon_h480 config?

[L4ncelot]

Hi @bkueng, yeah it is very strange since I think it worked for me previously. The error is thrown even when I use typhoon_h480 model with make posix gazebo_typhoon_h480 command. I'm running it on Ubuntu version 14.04.

Btw, I've installed everything that's listed on dev-guide and is required for simulations.

Edit: So now I've tried to reinstall Gazebo7, libpng12-dev and libogre-dev versions 1.8 and 1.9. Still the same error...

Edit2: After running in gdb, here's what I've received:

terminate called after throwing an instance of 'Ogre::ItemIdentityException'
  what():  OGRE EXCEPTION(5:ItemIdentityException): Can not find codec for 'png' image format.
There are no formats supported (no codecs registered). in Codec::getCodec at /build/buildd/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreCodec.cpp (line 69)

Program received signal SIGABRT, Aborted.
0x00007ffff68b2c37 in __GI_raise (sig=sig@entry=6)
    at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
56  ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.

Can this be perhaps my graphics card driver problem? I hope not, because the last time I upgraded my graphics card driver I also almost killed my computer with it and it's pretty difficult on Linux with all those bumblebees etc :).

Edit3: So I took the risk and reinstalled and updated nvidia drivers to version 370. But getting the same error...

[L4ncelot]

So after some struggle with graphic card drivers I ended up reinstalling my current OS and installing Ubuntu 16.04. I wanted to do this a long time ago, because of some graphical and other issues with my old OS (it was just broken) anyway...

Now I no longer have any issues with OGRE exception and everything works fine.

[julianoes]

Cool, thanks for the feedback.