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Laser scan data missing #2

Closed jrharbin-york closed 1 year ago

jrharbin-york commented 1 year ago

I don't know if you have already found and fixed this, as I know you're aware of at least one bug, but I was looking again today at the laser scans and they are all empty?

The scan topics published by gazebo e.g. /omni1/scan_rear_raw and /omni1/scan_rear_front have constant range data of -inf and intensities of 1.0.

This is probably a Gazebo error then, given that Gazebo should be the publisher of the raw laser scan data? I found the following errors in /home/jharbin/.gazebo/client-11345 related to the model files, which I don't know if they are related?

Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

(1692978340 861701746) [Msg] Waiting for master.
(1692978340 861943477) Failed to create connection to remote host[localhost:11345]
(1692978341 865966294) [Msg] Connected to gazebo master @ http://127.0.0.1:11345
(1692978341 866013434) [Msg] Publicized address: 192.168.1.28
(1692978341 866422705) Loaded .ini file from: "/home/jharbin/.gazebo/gui.ini"
(1692978342 252699559) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/brsu_building_c_a"
(1692978342 252809569) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/brsu_building_c_a"]
(1692978342 252900000) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/brsu_building_c_angle"
(1692978342 253003290) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/brsu_building_c_angle"]
(1692978342 253623012) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/brsu_building_c_recreation"
(1692978342 253739723) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/brsu_building_c_recreation"]
(1692978342 254697716) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/hbrs"
(1692978342 254791937) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/hbrs"]
(1692978342 254868447) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/hbrs_2000"
(1692978342 254959837) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/hbrs_2000"]
(1692978342 255037028) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/hospital"
(1692978342 255124608) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/hospital"]
(1692978342 255206128) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration"
(1692978342 255303959) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration"]
(1692978342 255390199) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_1314"
(1692978342 255508789) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_1314"]
(1692978342 255623430) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_1567"
(1692978342 255744660) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_1567"]
(1692978342 255835860) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_2077"
(1692978342 255931571) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_2077"]
(1692978342 256017771) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_2542"
(1692978342 256118542) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_2542"]
(1692978342 256210812) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_3016"
(1692978342 256319302) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_3016"]
(1692978342 256429033) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_3860"
(1692978342 256526813) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_3860"]
(1692978342 256609623) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_4794"
(1692978342 256703784) model.config file is missing in directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/models/illustration_4794"]
(1692978342 257247246) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/basement.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GAZEBO_MODEL>
(1692978342 257333936) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GAZEB>
(1692978342 257426426) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_1331.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a >
(1692978342 257525306) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_4006.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a >
(1692978342 257621497) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_7783.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a >
(1692978342 257729537) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_8711.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a >
(1692978342 257836898) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_level_0.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in>
(1692978342 257955908) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_level_1.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in>
(1692978342 258069488) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_level_2.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in>
(1692978342 258175299) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_level_3.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in>
(1692978342 258280789) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_level_4.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in>
(1692978342 258379379) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_level_5.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in>
(1692978342 258480930) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_with_doors.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files>
(1692978342 258584400) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/brsu_building_c_with_doorways.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra fi>
(1692978342 258689701) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/cart_basement.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GAZEBO_>
(1692978342 258779661) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/cart_basement_1189.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GA>
(1692978342 258874411) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/cart_basement_1331.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GA>
(1692978342 258973312) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/cart_basement_6551.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GA>
(1692978342 259071472) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/cart_basement_8229.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GA>
(1692978342 259171932) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/cart_basement_9289.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GA>
(1692978342 259266983) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/column_basement.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GAZEB>
(1692978342 259359943) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/empty_basement.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GAZEBO>
(1692978342 259450783) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/floorplan_hospital.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GA>
(1692978342 259545794) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/office.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GAZEBO_MODEL_P>
(1692978342 259629044) Invalid filename or directory["/home/jharbin/catkin_ws/src/floorplan-dsl-environments/worlds/office_two.world"] in GAZEBO_MODEL_PATH. It's not a good idea to put extra files in a GAZEBO_MOD>
(1692978342 273060222) [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/jharbin/catkin_ws/src/pal_gazebo_worlds/models/willowgarage"
(1692978342 273257743) model.config file is missing in directory["/home/jharbin/catkin_ws/src/pal_gazebo_worlds/models/willowgarage"]
(1692978343 257370510) No spacenav daemon found. Spacenav functionality is disabled
(1692978609 164387034) [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/world/user_camera/pose, deleting message. This warning is printed only once.
jrharbin-york commented 1 year ago

I managed to fix it myself... I think it was to do with using the GPU plugin, libgazebo_ros_gpu_laser.so which was not compatible with my current AMD RX580 GPU, and therefore silently failing.

Editing pmb2_description/urdf/sensors/sick_tim571_laser.gazebo.xacro and changing the plugin filename from libgazebo_ros_gpu_laser.so to libgazebo_ros_laser.so, and the sensor type from "gpu_ray" to "ray" fixed it.

Now the lasers are shown on Gazebo and the costmaps etc shown.

Soon I will be able to test it on a new PC with an Nvidia 3060 GPU, I suspect it works without this workaround on a recent Nvidia GPU.