Problem creating force torque sensors

[Pouya-moh]

I am at the head of this and gazebo-model repositories. When robot_gazebo is loading, we have four errors related to four sensors:

0.183 [ ERROR  ][ScriptingService] l_arm_ft_joint can not be associated to any FT sensor
0.183 [ Info   ][ScriptingService] Creating Force/Torque Sensor 
0.183 [ ERROR  ][ScriptingService] l_leg_ft_joint can not be associated to any FT sensor
0.183 [ Info   ][ScriptingService] Creating Force/Torque Sensor 
0.183 [ ERROR  ][ScriptingService] r_arm_ft_joint can not be associated to any FT sensor
0.183 [ Info   ][ScriptingService] Creating Force/Torque Sensor 
0.183 [ ERROR  ][ScriptingService] r_leg_ft_joint can not be associated to any FT sensor

It seems somehow force_torque_sensor.cpp:21 returns null. [Maybe] related, is the fact that gazebo server is printing messages of [Wrn] [msgs.cc:1655] Conversion of sensor type[force_torque] not suppported. but according to gazebo issue tracker this is probably only a rendering issue. The force torque sensor outputs are indeed attached and can be read from ignition. Ideas?

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Edit: URDF and SRDF files seem to be okay.

[Pouya-moh]

Updates: I have located the problem, and it is strange... I have a ops file which its relevant part looks like this:

gazebo.spawn_model("coman", model_name, 10)
robot_gazebo.getModel("coman")

robot_gazebo.loadURDFAndSRDF(path_model_urdf, path_model_srdf)
robot_gazebo.configure()

gazebo.toggleDynamicsSimulation(true)

Here is the issue: If I run pass this to deployer as command line argument, in robotsim::gazeboConfigureHook xbot core finds all sensors from srdf, however, SensorManager::Instance()->GetSensors(); finds zero:

std::map<std::string,int> ft_srdf = _xbotcore_model.get_ft_sensors();
// ft_srdf.size() is equal to 4 but
gazebo::sensors::Sensor_V sensors = gazebo::sensors::SensorManager::Instance()->GetSensors();
// sensors.size() is equal to 0

Here is the strange part: If I don't pass ops as arg and instead, run deployer and copy paste the stuff, then ft_srdf.size() is equal to 4 and sensors.size() is equal to 5! (4ft+1imu). So I guess the issue is not from urdf/srdf. Ideas?

[xwavex]

@Pouya-moh can you please check if my fix also works for you? https://github.com/cogimon/rtt-gazebo-robot-sim/commit/fa064a975fae44cc7207abd002c8f8bcdf01756f I directly pushed it to the master, since it does not affect anything else.

[xwavex]

Will close this, as it seems to work. Otherwise please reopen this issue!