mora200217
commented
1 year ago Same problem here with macOS Monterey 12.6.2. Ros Noetic, Gazebo 11.10 via Robostack
Closed troiwill closed 1 year ago
mora200217
commented
1 year ago Same problem here with macOS Monterey 12.6.2. Ros Noetic, Gazebo 11.10 via Robostack
mora200217
commented
1 year ago It also crashes when trying to pause de sim? @troiwill
mora200217
commented
1 year ago Well. First update. downgrading the python version to 3.7, there's no problem installing gazebo 11.12.0. However, still the same crashing behaviour.
traversaro
commented
1 year ago How are you adding models to the world, via the Gazebo gui? In that case, it may be useful to check if this happens also on an environment with just gazebo, i.e. :
# In a new terminal in which the previous ros environment is not activated
mamba create -n gazebo gazebo
mamba activate gazebo
# launch gazebo and check if the problem is still thereThanks!
troiwill
commented
1 year ago It also crashes when trying to pause de sim? @troiwill
@mora200217: Yes. Furthermore, the (real and simulated) times, FPS, and so on at the bottom of the gazebo window do not work at all (even if I do a simple roslaunch gazebo_ros empty_world.launch.
troiwill
commented
1 year ago How are you adding models to the world, via the Gazebo gui? In that case, it may be useful to check if this happens also on an environment with just gazebo, i.e. :
# In a new terminal in which the previous ros environment is not activated mamba create -n gazebo gazebo mamba activate gazebo # launch gazebo and check if the problem is still thereThanks!
@traversaro: I tried to add models via roslaunch and the gazebo GUI for ROS Noetic. Both resulted in crashes.
I also tried what you suggested:
mamba create -n gazebo gazebo -c conda-forge(create fails if I do not add the channel). This installs gazebo=11.12.0, but gazebo does not work in this case either. If this information is helpful, the gazebo version that works on the Mac M1 is gazebo=11.10.1 and comes from robostack. And the gazebo version for the Intel chip is gazebo=11.10.2 and comes from conda-forge. Could the issue stem from the channel installation source or slight version difference?
mora200217
commented
1 year ago @troiwill Update: I've created a conda env with python=3.7 and install gazebo 11.5. It works.
traversaro
commented
1 year ago Sorry for taking long to look at this. This is unfortunatly a known issue with gazebo=5.12.9=h2a607e2_5, see https://github.com/conda-forge/gazebo-feedstock/issues/119 . Once we rebuild everything with qt-main 5.15, everything should be solved, in the meanwhile for each environment in which you have `` installed, you should be able to solve this by installing:
mamba install qt=5.12.9=hda022c4_4I guess that on macOS arm you do not have gazebo=5.12.9=h2a607e2_5, that why you are not having the problem.
troiwill
commented
1 year ago @troiwill Update: I've created a conda env with python=3.7 and install gazebo 11.5. It works.
@mora200217, thanks for the suggestion. But I get errors when I try to install ros-noetic-desktop-full with the proposed setup. ☹️
mora200217
commented
1 year ago @troiwill Update: I've created a conda env with python=3.7 and install gazebo 11.5. It works.
@mora200217, thanks for the suggestion. But I get errors when I try to install
ros-noetic-desktop-fullwith the proposed setup. ☹️
What kind of errors? @troiwill
Tobias-Fischer
commented
1 year ago Please try again with the robostack-staging channel.
simonbogh
commented
1 year ago Sorry for taking long to look at this. This is unfortunatly a known issue with
gazebo=5.12.9=h2a607e2_5, see conda-forge/gazebo-feedstock#119 . Once we rebuild everything with qt-main 5.15, everything should be solved, in the meanwhile for each environment in which you have `` installed, you should be able to solve this by installing:mamba install qt=5.12.9=hda022c4_4I guess that on macOS arm you do not have
gazebo=5.12.9=h2a607e2_5, that why you are not having the problem.
I am not able to run mamba install qt=5.12.9=hda022c4_4, it gives nothing provides requested qt ==5.12.9 hda022c4_4. Running macOS Ventura 13.2 on Macbook Intel. I can still only install Gazebo 11.12 and ros-noetic-desktop where Gazebo will not work. Any suggestions how to fix it?
Tobias-Fischer
commented
1 year ago Have you tried the robostack-staging channel?
simonbogh
commented
1 year ago Isn't that the default channel used during setup? Here are my channels currently in use.
(ros_noetic_env) user ~ % conda config --show channels
channels:
- conda-forge
- robostack-staging
- defaultsYes - what happens if you create a new env with ros-noetic-desktop and gazebo? That should work.
ps: I would recommend disabling the defaults channel
simonbogh
commented
1 year ago Made a new clean conda environment with ros-noetic-desktop and gazebo. I still can't install that specific version of qt, it is not available.
PackagesNotFoundError: The following packages are not available from current channels:
- qt==5.12.9=hda022c4_4Hello @simonbogh, probably I was not clear in my post. The mamba install qt=5.12.9=hda022c4_4 was a workaround necessary before the ros-noetic packages were rebuilt to use qt 5.15 that is not affected by this problem. Now that new packages are available in robostack-staging, it should be sufficient to just install gazebo and ros, without any specific qt-related package to be installed.
simonbogh
commented
1 year ago That's what I tried first, just installing gazebo and ROS, and gazebo still behaves the same way.
gazebo 11.12.0 hd5c0442_5 conda-forge
qt 5.15.6 h93fa01e_0 conda-forge
ros-noetic-desktop 1.5.0 py39h00b06ca_17 robostack-stagingInteresting, so you can't add any model? Is this happening also if you just install gazebo on its own, i.e. mamba create -n gazebo gazebo ? If that is the case, can you please open an issue at https://github.com/conda-forge/gazebo-feedstock, with all the information that the issue template ask for (mainly mamba info and mamba list)? Thanks!
simonbogh
commented
1 year ago Correct, no models can be added. The simulation is not running as seen in the screenshot below (RTF, SIM TIME etc. is not shown at the bottom). The GUI is not frozen, so maybe it is gzserver hanging. The same goes for 11.11 and 11.10.
Gazebo 11.9 (11.9.1-ha2fdce5_2) works, but then the conda environment cannot be solved when trying to install ros-noetic-desktop
traversaro
commented
1 year ago The problem seems to be similar to https://github.com/conda-forge/gazebo-feedstock/issues/148, that in theory has been fixed with https://github.com/conda-forge/gazebo-feedstock/pull/152, i.e. since 11.12.0=*_1 builds. For completeness, can you try if it happens also on an environment with just gazebo, and open an issue with the info mentioned in https://github.com/RoboStack/ros-noetic/issues/323#issuecomment-1431746150 ? Thanks!
Tobias-Fischer
commented
1 year ago Thanks for fixing this @traversaro! A new build should be available in the next few hours - could you please try again then @simonbogh?
simonbogh
commented
1 year ago Great, thanks!
Gazebo 11.12 hd5c0442_6 works when it is the only thing I have installed in the environment, but if I go ahead and install ros-noetic-desktop afterwards, then it wants change back to build hd5c0442_5
Change:
________________
- gazebo 11.12.0 hd5c0442_6 conda-forge
+ gazebo 11.12.0 hd5c0442_5 conda-forge/osx-64Indeed, that is what I was afraid of and the reason I am trying to mark those as broken in https://github.com/conda-forge/admin-requests/pull/677 . In the meanwhile can you try to install a build without the problem, i.e. :
mamba install gazebo=11.12.0=*_2?
Tobias-Fischer
commented
1 year ago Ah, do you know what pin is causing the issue @traversaro? I could rebuild the parts of noetic if needed with whatever package has been updated and causes incompatibilities
traversaro
commented
1 year ago Ah, do you know what pin is causing the issue @traversaro? I could rebuild the parts of noetic if needed with whatever package has been updated and causes incompatibilities
Looking at the merged PRs in gazebo-feedstock, I would guess ffmpeg=5 (ros-noetic is on 4.4) and libgdal 3.6 (ros is on 3.5), but I would guess the ffmpeg one as it is far more used (see https://index.ros.org/d/ffmpeg/ and https://index.ros.org/d/libgdal-dev/). However, ffmpeg removed several APIs, so it is possible that the migration is not effortless.
simonbogh
commented
1 year ago Maybe this is relevant. When trying to install gazebo=11.12.0=*_6 with ros-noetic-desktop already installed, I get this:
$ mamba install "gazebo=11.12.0=*_6"
Encountered problems while solving:
- package gazebo-11.12.0-hba8d896_6 requires qt-main >=5.15.8,<5.16.0a0, but none of the providers can be installedHello @simonbogh, were you able to check if mamba install gazebo=11.12.0=*_2 works?
simonbogh
commented
1 year ago Yes, and Gazebo runs now, but models can still not be spawned. Gazebo works with that build, but if I run a standard moveit_config example such as demo_gazebo.launch with a Franka, it starts Gazebo paused, which it shouldn't according to the launch-file argument, and when Gazebo is unpaused the urdf spawn service crashes.
Here are the immediate errors I found in the terminal:
2023-02-16 11:33:50.716 rviz[60256:4295570] IMKClient Stall detected, *please Report* your user scenario attaching a spindump (or sysdiagnose) that captures the problem - (imkxpc_bundleIdentifierWithReply:) block performed very slowly (9.54 secs).
...
[ERROR] [1676543358.522506, 10.004000]: Spawn service failed. Exiting.
[spawn_gazebo_model-4] process has died [pid 60244, exit code 1, cmd /Users/user/miniconda3/envs/ros_noetic_env/lib/gazebo_ros/spawn_model -urdf -param robot_description -model robot -unpause -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0 -J panda_1_finger_joint1 0.04 -J panda_1_joint1 0 -J panda_1_joint2 0 -J panda_1_joint3 0 -J panda_1_joint4 -1.5708 -J panda_1_joint5 0 -J panda_1_joint6 1.6396 -J panda_1_joint7 0 __name:=spawn_gazebo_model __log:=/Users/user/.ros/log/5e2c9ddc-ade5-11ed-a8f7-8c85905cd4a9/spawn_gazebo_model-4.log].In the end, rviz loads with the model, but no models are ever spawned in Gazebo. MoveIt demo.launch with rviz only works fine, it is only when Gazebo is also launched and models have to be spawned that it fails. I will test the same code in Ubuntu 20.04 and Noetic.
traversaro
commented
1 year ago Ok, but the basic models that do not use ROS are working, right? I think the cause behind this new errors are different, can you please open a new issue in this repo with all the details (i.e. mamba info and mamba list), thanks!
simonbogh
commented
1 year ago Yes, indeed they do. I will do some more testing and open a new issue if necessary.
Thanks a lot!
gazebo 11.12.0 h8bc65b3_2 conda-forge
traversaro
commented
1 year ago Great, thanks!
simonbogh
commented
1 year ago Just a quick follow-up. Tried the same code (Franka, moveit) on a computer running Ubuntu 22.04, conda/mamba, robostack, noetic, same package versions, same python version. On the Ubuntu computer it works, on my mac gazebo still pauses, and if unpaused the spawn service fails and no models are added in gazebo.
[INFO] [1676542770.942941, 10.001000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name robot
[ERROR] [1676542770.945070, 10.004000]: Spawn service failed. Exiting.
[spawn_gazebo_model-4] process has died [pid 57788, exit code 1Minimal example, the model is not spawned. Maybe some incompatibility between gazebo and ros-noetic-gazebo-ros.
rosrun gazebo_ros gazebo
rosrun gazebo_ros spawn_model -file my_model.urdf -urdf -z 0 -model my_objectPerfect! Can you open a new issue at https://github.com/RoboStack/ros-noetic/issues/new/choose . Closed issue are a bit difficult to manage in the longer term.
Tobias-Fischer
commented
1 year ago FYI - not being able to install ros-noetic-desktop and the most recent gazebo comes down to needing https://github.com/conda-forge/qt-webengine-feedstock/pull/24 (ros-noetic-desktop needs qt-webengine needs qt-main 5.15.6 which does not have the most recent migrations ..)
traversaro
commented
1 year ago FYI - not being able to install ros-noetic-desktop and the most recent gazebo comes down to needing conda-forge/qt-webengine-feedstock#24 (ros-noetic-desktop needs qt-webengine needs qt-main 5.15.6 which does not have the most recent migrations ..)
Ok! Apparently we can't mark the broken builds as broken (see https://github.com/conda-forge/admin-requests/pull/677). It is sufficient to merge https://github.com/conda-forge/admin-requests/pull/677 to avoid that gazebo _3/_4/_5 builds are installed?
Issue:
Hi, this issue is a follow up from another issue (#279); this post provides more detail than what I mentioned at the end of #279 (see thread start here). Basically, I cannot add any model (including the stock cube and spheres) to a Gazebo world on macOS; I experienced the same issue as the other user. However, I can confirm that this issue only happens on an Intel-based Mac. I do not have this issue on an M1 Mac.
Fixes Tried:
Update Gazebo: I tried to update gazebo from
11.10.2 -> 11.12.0(as mention at this link). However, I get the following error when I try to update gazebobecause
ros-noetic-rvizrequires the currently installed version ofassimp.Remap gazebo softlinks: I also installed
gazebo 11.12.0locally on my machine (viahomebrew). Then I changed the gazebo softlinks in thecondaenvironment to point to the locally installed gazebo. However, this attempt did not work.System Specs + Environment Setup:
Here is the specs for the Intel-based Mac.
Here is the list of conda packages.