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RethinkRobotics / sawyer_simulator

Gazebo Simulation interface for the Sawyer Robot
http://sdk.rethinkrobotics.com/intera/Gazebo_Tutorial
Apache License 2.0
50 stars 65 forks source link

Question? I get something wrong with protobuf when I roslaunch files? #45

Closed zhaolongkzz closed 4 years ago

zhaolongkzz commented 5 years ago

Thanks for your code~ Here I get some question, when I run roslaunch sawyer_gazebo sawyer_world.launch, it shows that This program requires version 3.6.1 of the Protocol Buffer runtime library, but the installed version is 2.6.1. Please update your library. But in my computer (ubuntu16 and ros kinetic), the version of protobuf is 2.6, and when I change it with conda( protobuf 3.6), still same question ? can you help me ?

In contrast, I run well in roslaunch baxter_gazebo baxter_world.launch.

NODES
  /io/internal_camera/head_camera/
    rectify_color (nodelet/nodelet)
  /io/internal_camera/right_hand_camera/
    rectify_mono (nodelet/nodelet)
  /
    camera_sim (sawyer_gazebo/cameras_sim_io_node.py)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    intera_camera_nodelets (nodelet/nodelet)
    io_robot (rosbag/play)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    urdf_spawner (gazebo_ros/spawn_model)
  /robot/
    controller_spawner (controller_manager/controller_manager)
    controller_spawner_stopped (controller_manager/controller_manager)
    electric_gripper_controller_spawner_stopped (controller_manager/controller_manager)

auto-starting new master
process[master]: started with pid [26796]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b7091e44-5150-11e9-80cd-dca266407807
process[rosout-1]: started with pid [26809]
started core service [/rosout]
process[gazebo-2]: started with pid [26812]
process[gazebo_gui-3]: started with pid [26813]
process[urdf_spawner-4]: started with pid [26815]
process[robot/controller_spawner-5]: started with pid [26817]
process[robot/controller_spawner_stopped-6]: started with pid [26818]
process[robot/electric_gripper_controller_spawner_stopped-7]: started with pid [26819]
process[robot_state_publisher-8]: started with pid [26820]
process[camera_sim-9]: started with pid [26821]
process[intera_camera_nodelets-10]: started with pid [26864]
process[io/internal_camera/right_hand_camera/rectify_mono-11]: started with pid [26879]
process[io/internal_camera/head_camera/rectify_color-12]: started with pid [26886]
process[io_robot-13]: started with pid [26899]
SpawnModel script started
[INFO] [1553774275.739454, 0.000000]: Loading model XML from ros parameter
[INFO] [1553774275.752054, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1553774275.925415637]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1553774275.925742845]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1553774275.925793775]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1553774275.926163319]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1553774277.264633, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1553774277.808966833, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1553774277.811543157, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1553774277.811698448, 0.001000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1553774277.813304356, 0.001000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[INFO] [1553774277.816968, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1553774277.817247, 0.001000]: Waiting for service /gazebo/set_model_configuration
[INFO] [1553774277.818196, 0.001000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1553774278.408524102, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1553774278.413633583, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /robot
[ INFO] [1553774278.414375196, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[INFO] [1553774278.819395, 0.001000]: Calling service /gazebo/set_model_configuration
[INFO] [1553774278.824308, 0.001000]: Set model configuration status: SetModelConfiguration: success
[urdf_spawner-4] process has finished cleanly
log file: /home/zzl/.ros/log/b7091e44-5150-11e9-80cd-dca266407807/urdf_spawner-4*.log
[libprotobuf FATAL google/protobuf/stubs/common.cc:61] This program requires version 3.6.1 of the Protocol Buffer runtime library, but the installed version is 2.6.1.  Please update your library.  If you compiled the program yourself, make sure that your headers are from the same version of Protocol Buffers as your link-time library.  (Version verification failed in "google/protobuf/any.pb.cc".)
terminate called after throwing an instance of 'google::protobuf::FatalException'
  what():  This program requires version 3.6.1 of the Protocol Buffer runtime library, but the installed version is 2.6.1.  Please update your library.  If you compiled the program yourself, make sure that your headers are from the same version of Protocol Buffers as your link-time library.  (Version verification failed in "google/protobuf/any.pb.cc".)
Aborted
[gazebo-2] process has died [pid 26812, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/zzl/RL/gym_ros/installation/baxter_ws/src/sawyer/sawyer_simulator/sawyer_gazebo/worlds/sawyer.world __name:=gazebo __log:=/home/zzl/.ros/log/b7091e44-5150-11e9-80cd-dca266407807/gazebo-2.log].
log file: /home/zzl/.ros/log/b7091e44-5150-11e9-80cd-dca266407807/gazebo-2*.log