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UniversalRobots / Universal_Robots_ROS2_Gazebo_Simulation

BSD 3-Clause "New" or "Revised" License
54 stars 24 forks source link

Build Error #79

Closed JJayaL closed 2 days ago

JJayaL commented 1 month ago

Error is as follows:

--- stderr: controller_manager                                           
/home/jayalekshmijayakumar/.local/lib/python3.10/site-packages/setuptools/_distutils/cmd.py:66: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()
during RTL pass: ud_dce
In file included from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/jayalekshmijayakumar/workspaces/ur_gazebo/install/controller_interface/include/controller_interface/controller_interface_base.hpp:28,
                 from /home/jayalekshmijayakumar/workspaces/ur_gazebo/install/controller_interface/include/controller_interface/chainable_controller_interface.hpp:20,
                 from /home/jayalekshmijayakumar/workspaces/ur_gazebo/src/ros2_control/controller_manager/include/controller_manager/controller_manager.hpp:26,
                 from /home/jayalekshmijayakumar/workspaces/ur_gazebo/src/ros2_control/controller_manager/src/controller_manager.cpp:15:
/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp: In member function ‘void rclcpp::Subscription<MessageT, AllocatorT, SubscribedT, ROSMessageT, MessageMemoryStrategyT>::return_message(std::shared_ptr<void>&) [with MessageT = std_msgs::msg::String_<std::allocator<void> >; AllocatorT = std::allocator<void>; SubscribedT = std_msgs::msg::String_<std::allocator<void> >; ROSMessageT = std_msgs::msg::String_<std::allocator<void> >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void> >]’:
/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:402:3: **internal compiler error:** Segmentation fault
  402 |   }
      |   ^
0x7491b064251f ???
    ./signal/../sysdeps/unix/sysv/linux/x86_64/libc_sigaction.c:0
Please submit a full bug report,
with preprocessed source if appropriate.
Please include the complete backtrace with any bug report.
See <file:///usr/share/doc/gcc-11/README.Bugs> for instructions.
gmake[2]: *** [CMakeFiles/controller_manager.dir/build.make:76: CMakeFiles/controller_manager.dir/src/controller_manager.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:208: CMakeFiles/controller_manager.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< controller_manager [14.5s, exited with code 2]
Aborted  <<< moveit_msgs [25.9s]                                    

Summary: 14 packages finished [26.1s]
  1 package failed: controller_manager
  1 package aborted: moveit_msgs
  5 packages had stderr output: controller_manager moveit_configs_utils ros2_controllers_test_nodes rqt_controller_manager rqt_joint_trajectory_controller
  58 packages not processed

I have been getting the following error when building the package using the following command: colcon build --symlink-install --mixin rel-with-deb-info compile-commands ccache

fmauch commented 1 month ago

**internal compiler error:** Segmentation fault seems like a problem on your end. Maybe you ran out of RAM while building?

However, we should probably update the README. It should not be necessary anymore (neither desirable) to build all those upstream packages in your workspace anymore. The build instructions should be

cd $COLCON_WS/src
git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation.git
rosdep update && rosdep install --ignore-src --from-paths . -y
cd ..
colcon build --symlink-install

Could you try that?

JJayaL commented 1 month ago

The build was successful, but I am still facing some issues

[INFO] [launch]: All log files can be found below /home/jayalekshmijayakumar/.ros/log/2024-05-29-13-07-28-322937-galadriel-5146
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [5148]
[INFO] [spawner-2]: process started with pid [5150]
[INFO] [spawner-3]: process started with pid [5152]
[INFO] [gzserver-4]: process started with pid [5154]
[INFO] [gzclient-5]: process started with pid [5156]
[INFO] [spawn_entity.py-6]: process started with pid [5158]
[robot_state_publisher-1] [INFO] [1717002448.913136999] [robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1717002448.913203578] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1717002448.913211512] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-1] [INFO] [1717002448.913217231] [robot_state_publisher]: got segment flange
[robot_state_publisher-1] [INFO] [1717002448.913222302] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-1] [INFO] [1717002448.913227399] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-1] [INFO] [1717002448.913232228] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-1] [INFO] [1717002448.913236984] [robot_state_publisher]: got segment tool0
[robot_state_publisher-1] [INFO] [1717002448.913241743] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-1] [INFO] [1717002448.913246429] [robot_state_publisher]: got segment world
[robot_state_publisher-1] [INFO] [1717002448.913251159] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-1] [INFO] [1717002448.913255840] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-1] [INFO] [1717002448.913260469] [robot_state_publisher]: got segment wrist_3_link
[spawn_entity.py-6] [INFO] [1717002449.164126428] [spawn_ur]: Spawn Entity started
[spawn_entity.py-6] [INFO] [1717002449.164252712] [spawn_ur]: Loading entity published on topic robot_description
[spawn_entity.py-6] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-6]   warnings.warn(
[spawn_entity.py-6] [INFO] [1717002449.166522707] [spawn_ur]: Waiting for entity xml on robot_description
[spawn_entity.py-6] [INFO] [1717002449.177395134] [spawn_ur]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-6] [INFO] [1717002449.177652821] [spawn_ur]: Waiting for service /spawn_entity
[spawn_entity.py-6] [INFO] [1717002449.687171787] [spawn_ur]: Calling service /spawn_entity
[spawn_entity.py-6] [INFO] [1717002449.945854167] [spawn_ur]: Spawn status: SpawnEntity: Successfully spawned entity [ur]
[INFO] [spawn_entity.py-6]: process has finished cleanly [pid 5158]
[spawner-2] [INFO] [1717002451.094438473] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1717002451.103598217] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-2] [INFO] [1717002453.105772885] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1717002453.115980655] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-2] [INFO] [1717002455.117985930] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1717002455.129465954] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-2] [INFO] [1717002457.131219928] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1717002457.141715259] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-2] [ERROR] [1717002459.145403558] [spawner_joint_state_broadcaster]: Controller manager not available
[spawner-3] [ERROR] [1717002459.162250582] [spawner_joint_trajectory_controller]: Controller manager not available
[ERROR] [spawner-2]: process has died [pid 5150, exit code 1, cmd '/home/jayalekshmijayakumar/workspace/ur_gazebo/install/controller_manager/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-3]: process has died [pid 5152, exit code 1, cmd '/home/jayalekshmijayakumar/workspace/ur_gazebo/install/controller_manager/lib/controller_manager/spawner joint_trajectory_controller -c /controller_manager --ros-args'].
[INFO] [rviz2-7]: process started with pid [6010]
[rviz2-7] [INFO] [1717002459.482041180] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1717002459.482118750] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-7] [INFO] [1717002459.509652583] [rviz2]: Stereo is NOT SUPPORTED
[gzserver-4] [INFO] [1717002472.039488882] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-4] [INFO] [1717002472.040549030] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-4] [INFO] [1717002472.040635144] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-4] [INFO] [1717002472.041300182] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-4] [INFO] [1717002472.041580141] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-4] [INFO] [1717002472.041598646] [gazebo_ros2_control]: Loading parameter files /home/jayalekshmijayakumar/workspace/ur_gazebo/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur_controllers.yaml
[gzserver-4] [INFO] [1717002472.054627970] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint
[gzserver-4] [INFO] [1717002472.054666311] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1717002472.054670498] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054681293] [gazebo_ros2_control]:        found initial value: 0.000000
[gzserver-4] [INFO] [1717002472.054686581] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054689092] [gazebo_ros2_control]:        effort
[gzserver-4] [INFO] [1717002472.054694700] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1717002472.054696894] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054822193] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054826217] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint
[gzserver-4] [INFO] [1717002472.054828584] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1717002472.054830636] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054833287] [gazebo_ros2_control]:        found initial value: -1.570000
[gzserver-4] [INFO] [1717002472.054835832] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054837958] [gazebo_ros2_control]:        effort
[gzserver-4] [INFO] [1717002472.054839936] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1717002472.054842039] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054847415] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054849948] [gazebo_ros2_control]: Loading joint: elbow_joint
[gzserver-4] [INFO] [1717002472.054852020] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1717002472.054854141] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054856091] [gazebo_ros2_control]:        found initial value: 0.000000
[gzserver-4] [INFO] [1717002472.054858380] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054860303] [gazebo_ros2_control]:        effort
[gzserver-4] [INFO] [1717002472.054862663] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1717002472.054864606] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054868988] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054871396] [gazebo_ros2_control]: Loading joint: wrist_1_joint
[gzserver-4] [INFO] [1717002472.054873462] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1717002472.054875455] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054877330] [gazebo_ros2_control]:        found initial value: -1.570000
[gzserver-4] [INFO] [1717002472.054879513] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054881382] [gazebo_ros2_control]:        effort
[gzserver-4] [INFO] [1717002472.054883295] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1717002472.054885211] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054889066] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054891442] [gazebo_ros2_control]: Loading joint: wrist_2_joint
[gzserver-4] [INFO] [1717002472.054893414] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1717002472.054895294] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054897081] [gazebo_ros2_control]:        found initial value: 0.000000
[gzserver-4] [INFO] [1717002472.054899248] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054901099] [gazebo_ros2_control]:        effort
[gzserver-4] [INFO] [1717002472.054902966] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1717002472.054904890] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054908490] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054910955] [gazebo_ros2_control]: Loading joint: wrist_3_joint
[gzserver-4] [INFO] [1717002472.054912889] [gazebo_ros2_control]:   State:
[gzserver-4] [INFO] [1717002472.054914965] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054916733] [gazebo_ros2_control]:        found initial value: 0.000000
[gzserver-4] [INFO] [1717002472.054934585] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054937398] [gazebo_ros2_control]:        effort
[gzserver-4] [INFO] [1717002472.054939400] [gazebo_ros2_control]:   Command:
[gzserver-4] [INFO] [1717002472.054941381] [gazebo_ros2_control]:        position
[gzserver-4] [INFO] [1717002472.054944213] [gazebo_ros2_control]:        velocity
[gzserver-4] [INFO] [1717002472.054970455] [resource_manager]: Initialize hardware 'ur' 
[gzserver-4] [INFO] [1717002472.055037973] [resource_manager]: Successful initialization of hardware 'ur'
[gzserver-4] [INFO] [1717002472.055226776] [resource_manager]: 'configure' hardware 'ur' 
[gzserver-4] [INFO] [1717002472.055231268] [resource_manager]: Successful 'configure' of hardware 'ur'
[gzserver-4] [INFO] [1717002472.055239100] [resource_manager]: 'activate' hardware 'ur' 
[gzserver-4] [INFO] [1717002472.055241782] [resource_manager]: Successful 'activate' of hardware 'ur'
[gzserver-4] [INFO] [1717002472.055276506] [gazebo_ros2_control]: Loading controller_manager
[gzserver-4] [WARN] [1717002472.076810351] [gazebo_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-4] [INFO] [1717002472.076912582] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[ERROR] [rviz2-7]: process has died [pid 6010, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/jayalekshmijayakumar/workspace/ur_gazebo/install/ur_description/share/ur_description/rviz/view_robot.rviz --ros-args -r __node:=rviz2'].

Screenshot from 2024-05-29 13-11-57

Screenshot from 2024-05-29 13-15-11

fmauch commented 1 month ago

The error you are facing seems to be similar to #78 Could you try increasing the spawner timeout as suggested in https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/issues/78#issuecomment-2133013415? If that helps we can increase that by default.

fmauch commented 2 days ago

Tracking the spawner problem in #78, so I'll close this issue.