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gazebosim / gz-sim

Open source robotics simulator. The latest version of Gazebo.
https://gazebosim.org
Apache License 2.0
686 stars 263 forks source link

Warning for some example world's models #1056

Open matosinho opened 3 years ago

matosinho commented 3 years ago

Environment

``` 19:29:01: Creating resource group General 19:29:01: Creating resource group Internal 19:29:01: Creating resource group Autodetect 19:29:01: SceneManagerFactory for type 'DefaultSceneManager' registered. 19:29:01: Registering ResourceManager for type Material 19:29:01: Registering ResourceManager for type Mesh 19:29:01: Registering ResourceManager for type Skeleton 19:29:01: MovableObjectFactory for type 'ParticleSystem' registered. 19:29:01: ArchiveFactory for archive type FileSystem registered. 19:29:01: ArchiveFactory for archive type Zip registered. 19:29:01: ArchiveFactory for archive type EmbeddedZip registered. 19:29:01: DDS codec registering 19:29:01: FreeImage version: 3.18.0 19:29:01: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details 19:29:01: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,psb,cut,xbm,xpm,gif,hdr,g3,sgi,rgb,rgba,bw,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti,x3f,webp,jxr,wdp,hdp 19:29:01: PVRTC codec registering 19:29:01: ETC codec registering 19:29:01: Registering ResourceManager for type HighLevelGpuProgram 19:29:01: Registering ResourceManager for type Compositor 19:29:01: MovableObjectFactory for type 'Entity' registered. 19:29:01: MovableObjectFactory for type 'Light' registered. 19:29:01: MovableObjectFactory for type 'BillboardSet' registered. 19:29:01: MovableObjectFactory for type 'ManualObject' registered. 19:29:01: MovableObjectFactory for type 'BillboardChain' registered. 19:29:01: MovableObjectFactory for type 'RibbonTrail' registered. 19:29:01: *-*-* OGRE Initialising 19:29:01: *-*-* Version 1.9.0 (Ghadamon) 19:29:01: OverlayElementFactory for type Panel registered. 19:29:01: OverlayElementFactory for type BorderPanel registered. 19:29:01: OverlayElementFactory for type TextArea registered. 19:29:01: Registering ResourceManager for type Font 19:29:01: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/RenderSystem_GL.so 19:29:01: Installing plugin: GL RenderSystem 19:29:01: OpenGL Rendering Subsystem created. 19:29:01: Plugin successfully installed 19:29:01: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_ParticleFX.so 19:29:01: Installing plugin: ParticleFX 19:29:01: Particle Emitter Type 'Point' registered 19:29:01: Particle Emitter Type 'Box' registered 19:29:01: Particle Emitter Type 'Ellipsoid' registered 19:29:01: Particle Emitter Type 'Cylinder' registered 19:29:01: Particle Emitter Type 'Ring' registered 19:29:01: Particle Emitter Type 'HollowEllipsoid' registered 19:29:01: Particle Affector Type 'LinearForce' registered 19:29:01: Particle Affector Type 'ColourFader' registered 19:29:01: Particle Affector Type 'ColourFader2' registered 19:29:01: Particle Affector Type 'ColourImage' registered 19:29:01: Particle Affector Type 'ColourInterpolator' registered 19:29:01: Particle Affector Type 'Scaler' registered 19:29:01: Particle Affector Type 'Rotator' registered 19:29:01: Particle Affector Type 'DirectionRandomiser' registered 19:29:01: Particle Affector Type 'DeflectorPlane' registered 19:29:01: Plugin successfully installed 19:29:01: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_BSPSceneManager.so 19:29:01: Installing plugin: BSP Scene Manager 19:29:01: Plugin successfully installed 19:29:01: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_OctreeSceneManager.so 19:29:01: Installing plugin: Octree Scene Manager 19:29:01: Plugin successfully installed 19:29:01: CPU Identifier & Features 19:29:01: ------------------------- 19:29:01: * CPU ID: AuthenticAMD: AMD Ryzen 5 3600 6-Core Processor 19:29:01: * SSE: yes 19:29:01: * SSE2: yes 19:29:01: * SSE3: yes 19:29:01: * MMX: yes 19:29:01: * MMXEXT: yes 19:29:01: * 3DNOW: no 19:29:01: * 3DNOWEXT: no 19:29:01: * CMOV: yes 19:29:01: * TSC: yes 19:29:01: * FPU: yes 19:29:01: * PRO: yes 19:29:01: * HT: no 19:29:01: ------------------------- 19:29:01: ****************************** *** Starting GLX Subsystem *** ****************************** 19:29:01: Registering ResourceManager for type Texture 19:29:01: Added resource location '/home/matosinho/dev/ROS2/brov/ignition/install/share/ignition/ignition-rendering5/ogre/media' of type 'FileSystem' to resource group 'General' 19:29:01: Added resource location '/home/matosinho/dev/ROS2/brov/ignition/install/share/ignition/ignition-rendering5/ogre/media/materials/programs' of type 'FileSystem' to resource group 'General' 19:29:01: Added resource location '/home/matosinho/dev/ROS2/brov/ignition/install/share/ignition/ignition-rendering5/ogre/media/materials/scripts' of type 'FileSystem' to resource group 'General' 19:29:01: Creating resource group Fonts 19:29:01: Added resource location '/home/matosinho/dev/ROS2/brov/ignition/install/share/ignition/ignition-rendering5/ogre/media/fonts' of type 'FileSystem' to resource group 'Fonts' 19:29:01: GLRenderSystem::_createRenderWindow "OgreWindow(0)_0", 1x1 windowed miscParams: FSAA=0 border=none contentScalingFactor=1.000000 currentGLContext=true externalGLControl=true macAPI=cocoa macAPICocoaUseNSView=true stereoMode=Frame Sequential 19:29:01: GLXWindow::create used FBConfigID = 165 19:29:01: GL_VERSION = 4.6.0 NVIDIA 460.91.03 19:29:01: GL_VENDOR = NVIDIA Corporation 19:29:01: GL_RENDERER = GeForce RTX 2060 SUPER/PCIe/SSE2 19:29:01: GL_EXTENSIONS = GL_AMD_multi_draw_indirect GL_AMD_seamless_cubemap_per_texture GL_AMD_vertex_shader_viewport_index GL_AMD_vertex_shader_layer GL_ARB_arrays_of_arrays GL_ARB_base_instance GL_ARB_bindless_texture GL_ARB_blend_func_extended GL_ARB_buffer_storage GL_ARB_clear_buffer_object GL_ARB_clear_texture GL_ARB_clip_control GL_ARB_color_buffer_float GL_ARB_compatibility GL_ARB_compressed_texture_pixel_storage GL_ARB_conservative_depth GL_ARB_compute_shader GL_ARB_compute_variable_group_size GL_ARB_conditional_render_inverted GL_ARB_copy_buffer GL_ARB_copy_image GL_ARB_cull_distance GL_ARB_debug_output GL_ARB_depth_buffer_float GL_ARB_depth_clamp GL_ARB_depth_texture GL_ARB_derivative_control GL_ARB_direct_state_access GL_ARB_draw_buffers GL_ARB_draw_buffers_blend GL_ARB_draw_indirect GL_ARB_draw_elements_base_vertex GL_ARB_draw_instanced GL_ARB_enhanced_layouts GL_ARB_ES2_compatibility GL_ARB_ES3_compatibility GL_ARB_ES3_1_compatibility GL_ARB_ES3_2_compatibility GL_ARB_explicit_attrib_location GL_ARB_explicit_uniform_location GL_ARB_fragment_coord_conventions GL_ARB_fragment_layer_viewport GL_ARB_fragment_program GL_ARB_fragment_program_shadow GL_ARB_fragment_shader GL_ARB_fragment_shader_interlock GL_ARB_framebuffer_no_attachments GL_ARB_framebuffer_object GL_ARB_framebuffer_sRGB GL_ARB_geometry_shader4 GL_ARB_get_program_binary GL_ARB_get_texture_sub_image GL_ARB_gl_spirv GL_ARB_gpu_shader5 GL_ARB_gpu_shader_fp64 GL_ARB_gpu_shader_int64 GL_ARB_half_float_pixel GL_ARB_half_float_vertex GL_ARB_imaging GL_ARB_indirect_parameters GL_ARB_instanced_arrays GL_ARB_internalformat_query GL_ARB_internalformat_query2 GL_ARB_invalidate_subdata GL_ARB_map_buffer_alignment GL_ARB_map_buffer_range GL_ARB_multi_bind GL_ARB_multi_draw_indirect GL_ARB_multisample GL_ARB_multitexture GL_ARB_occlusion_query GL_ARB_occlusion_query2 GL_ARB_parallel_shader_compile GL_ARB_pipeline_statistics_query GL_ARB_pixel_buffer_object GL_ARB_point_parameters GL_ARB_point_sprite GL_ARB_polygon_offset_clamp GL_ARB_post_depth_coverage GL_ARB_program_interface_query GL_ARB_provoking_vertex GL_ARB_query_buffer_object GL_ARB_robust_buffer_access_behavior GL_ARB_robustness GL_ARB_sample_locations GL_ARB_sample_shading GL_ARB_sampler_objects GL_ARB_seamless_cube_map GL_ARB_seamless_cubemap_per_texture GL_ARB_separate_shader_objects GL_ARB_shader_atomic_counter_ops GL_ARB_shader_atomic_counters GL_ARB_shader_ballot GL_ARB_shader_bit_encoding GL_ARB_shader_clock GL_ARB_shader_draw_parameters GL_ARB_shader_group_vote GL_ARB_shader_image_load_store GL_ARB_shader_image_size GL_ARB_shader_objects GL_ARB_shader_precision GL_ARB_shader_storage_buffer_object GL_ARB_shader_subroutine GL_ARB_shader_texture_image_samples GL_ARB_shader_texture_lod GL_ARB_shading_language_100 GL_ARB_shader_viewport_layer_array GL_ARB_shading_language_420pack GL_ARB_shading_language_include GL_ARB_shading_language_packing GL_ARB_shadow GL_ARB_sparse_buffer GL_ARB_sparse_texture GL_ARB_sparse_texture2 GL_ARB_sparse_texture_clamp GL_ARB_spirv_extensions GL_ARB_stencil_texturing GL_ARB_sync GL_ARB_tessellation_shader GL_ARB_texture_barrier GL_ARB_texture_border_clamp GL_ARB_texture_buffer_object GL_ARB_texture_buffer_object_rgb32 GL_ARB_texture_buffer_range GL_ARB_texture_compression GL_ARB_texture_compression_bptc GL_ARB_texture_compression_rgtc GL_ARB_texture_cube_map GL_ARB_texture_cube_map_array GL_ARB_texture_env_add GL_ARB_texture_env_combine GL_ARB_texture_env_crossbar GL_ARB_texture_env_dot3 GL_ARB_texture_filter_anisotropic GL_ARB_texture_filter_minmax GL_ARB_texture_float GL_ARB_texture_gather GL_ARB_texture_mirror_clamp_to_edge GL_ARB_texture_mirrored_repeat GL_ARB_texture_multisample GL_ARB_texture_non_power_of_two GL_ARB_texture_query_levels GL_ARB_texture_query_lod GL_ARB_texture_rectangle GL_ARB_texture_rg GL_ARB_texture_rgb10_a2ui GL_ARB_texture_stencil8 GL_ARB_texture_storage GL_ARB_texture_storage_multisample GL_ARB_texture_swizzle GL_ARB_texture_view GL_ARB_timer_query GL_ARB_transform_feedback2 GL_ARB_transform_feedback3 GL_ARB_transform_feedback_instanced GL_ARB_transform_feedback_overflow_query GL_ARB_transpose_matrix GL_ARB_uniform_buffer_object GL_ARB_vertex_array_bgra GL_ARB_vertex_array_object GL_ARB_vertex_attrib_64bit GL_ARB_vertex_attrib_binding GL_ARB_vertex_buffer_object GL_ARB_vertex_program GL_ARB_vertex_shader GL_ARB_vertex_type_10f_11f_11f_rev GL_ARB_vertex_type_2_10_10_10_rev GL_ARB_viewport_array GL_ARB_window_pos GL_ATI_draw_buffers GL_ATI_texture_float GL_ATI_texture_mirror_once GL_S3_s3tc GL_EXT_texture_env_add GL_EXT_abgr GL_EXT_bgra GL_EXT_bindable_uniform GL_EXT_blend_color GL_EXT_blend_equation_separate GL_EXT_blend_func_separate GL_EXT_blend_minmax GL_EXT_blend_subtract GL_EXT_compiled_vertex_array GL_EXT_Cg_shader GL_EXT_depth_bounds_test GL_EXT_direct_state_access GL_EXT_draw_buffers2 GL_EXT_draw_instanced GL_EXT_draw_range_elements GL_EXT_fog_coord GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample GL_EXTX_framebuffer_mixed_formats GL_EXT_framebuffer_multisample_blit_scaled GL_EXT_framebuffer_object GL_EXT_framebuffer_sRGB GL_EXT_geometry_shader4 GL_EXT_gpu_program_parameters GL_EXT_gpu_shader4 GL_EXT_multi_draw_arrays GL_EXT_multiview_texture_multisample GL_EXT_multiview_timer_query GL_EXT_packed_depth_stencil GL_EXT_packed_float GL_EXT_packed_pixels GL_EXT_pixel_buffer_object GL_EXT_point_parameters GL_EXT_polygon_offset_clamp GL_EXT_post_depth_coverage GL_EXT_provoking_vertex GL_EXT_raster_multisample GL_EXT_rescale_normal GL_EXT_secondary_color GL_EXT_separate_shader_objects GL_EXT_separate_specular_color GL_EXT_shader_image_load_formatted GL_EXT_shader_image_load_store GL_EXT_shader_integer_mix GL_EXT_shadow_funcs GL_EXT_sparse_texture2 GL_EXT_stencil_two_side GL_EXT_stencil_wrap GL_EXT_texture3D GL_EXT_texture_array GL_EXT_texture_buffer_object GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_latc GL_EXT_texture_compression_rgtc GL_EXT_texture_compression_s3tc GL_EXT_texture_cube_map GL_EXT_texture_edge_clamp GL_EXT_texture_env_combine GL_EXT_texture_env_dot3 GL_EXT_texture_filter_anisotropic GL_EXT_texture_filter_minmax GL_EXT_texture_integer GL_EXT_texture_lod GL_EXT_texture_lod_bias GL_EXT_texture_mirror_clamp GL_EXT_texture_object GL_EXT_texture_shadow_lod GL_EXT_texture_shared_exponent GL_EXT_texture_sRGB GL_EXT_texture_sRGB_R8 GL_EXT_texture_sRGB_decode GL_EXT_texture_storage GL_EXT_texture_swizzle GL_EXT_timer_query GL_EXT_transform_feedback2 GL_EXT_vertex_array GL_EXT_vertex_array_bgra GL_EXT_vertex_attrib_64bit GL_EXT_window_rectangles GL_EXT_x11_sync_object GL_EXT_import_sync_object GL_NV_robustness_video_memory_purge GL_IBM_rasterpos_clip GL_IBM_texture_mirrored_repeat GL_KHR_context_flush_control GL_KHR_debug GL_EXT_memory_object GL_EXT_memory_object_fd GL_NV_memory_object_sparse GL_KHR_parallel_shader_compile GL_KHR_no_error GL_KHR_robust_buffer_access_behavior GL_KHR_robustness GL_EXT_semaphore GL_EXT_semaphore_fd GL_NV_timeline_semaphore GL_KHR_shader_subgroup GL_KTX_buffer_region GL_NV_alpha_to_coverage_dither_control GL_NV_bindless_multi_draw_indirect GL_NV_bindless_multi_draw_indirect_count GL_NV_bindless_texture GL_NV_blend_equation_advanced GL_NV_blend_equation_advanced_coherent GL_NVX_blend_equation_advanced_multi_draw_buffers GL_NV_blend_minmax_factor GL_NV_blend_square GL_NV_clip_space_w_scaling GL_NV_command_list GL_NV_compute_program5 GL_NV_compute_shader_derivatives GL_NV_conditional_render GL_NV_conservative_raster GL_NV_conservative_raster_dilate GL_NV_conservative_raster_pre_snap GL_NV_conservative_raster_pre_snap_triangles GL_NV_conservative_raster_underestimation GL_NV_copy_depth_to_color GL_NV_copy_image GL_NV_depth_buffer_float GL_NV_depth_clamp GL_NV_draw_texture GL_NV_draw_vulkan_image GL_NV_ES1_1_compatibility GL_NV_ES3_1_compatibility GL_NV_explicit_multisample GL_NV_feature_query GL_NV_fence GL_NV_fill_rectangle GL_NV_float_buffer GL_NV_fog_distance GL_NV_fragment_coverage_to_color GL_NV_fragment_program GL_NV_fragment_program_option GL_NV_fragment_program2 GL_NV_fragment_shader_barycentric GL_NV_fragment_shader_interlock GL_NV_framebuffer_mixed_samples GL_NV_framebuffer_multisample_coverage GL_NV_geometry_shader4 GL_NV_geometry_shader_passthrough GL_NV_gpu_program4 GL_NV_internalformat_sample_query GL_NV_gpu_program4_1 GL_NV_gpu_program5 GL_NV_gpu_program5_mem_extended GL_NV_gpu_program_fp64 GL_NV_gpu_shader5 GL_NV_half_float GL_NV_light_max_exponent GL_NV_memory_attachment GL_NV_mesh_shader GL_NV_multisample_coverage GL_NV_multisample_filter_hint GL_NV_occlusion_query GL_NV_packed_depth_stencil GL_NV_parameter_buffer_object GL_NV_parameter_buffer_object2 GL_NV_path_rendering GL_NV_path_rendering_shared_edge GL_NV_pixel_data_range GL_NV_point_sprite GL_NV_primitive_restart GL_NV_query_resource GL_NV_query_resource_tag GL_NV_register_combiners GL_NV_register_combiners2 GL_NV_representative_fragment_test GL_NV_sample_locations GL_NV_sample_mask_override_coverage GL_NV_scissor_exclusive GL_NV_shader_atomic_counters GL_NV_shader_atomic_float GL_NV_shader_atomic_float64 GL_NV_shader_atomic_fp16_vector GL_NV_shader_atomic_int64 GL_NV_shader_buffer_load GL_NV_shader_storage_buffer_object GL_NV_shader_subgroup_partitioned GL_NV_shader_texture_footprint GL_NV_shading_rate_image GL_NV_stereo_view_rendering GL_NV_texgen_reflection GL_NV_texture_barrier GL_NV_texture_compression_vtc GL_NV_texture_env_combine4 GL_NV_texture_multisample GL_NV_texture_rectangle GL_NV_texture_rectangle_compressed GL_NV_texture_shader GL_NV_texture_shader2 GL_NV_texture_shader3 GL_NV_transform_feedback GL_NV_transform_feedback2 GL_NV_uniform_buffer_unified_memory GL_NV_vdpau_interop GL_NV_vdpau_interop2 GL_NV_vertex_array_range GL_NV_vertex_array_range2 GL_NV_vertex_attrib_integer_64bit GL_NV_vertex_buffer_unified_memory GL_NV_vertex_program GL_NV_vertex_program1_1 GL_NV_vertex_program2 GL_NV_vertex_program2_option GL_NV_vertex_program3 GL_NV_viewport_array2 GL_NV_viewport_swizzle GL_NVX_conditional_render GL_NV_gpu_multicast GL_NVX_progress_fence GL_NVX_gpu_memory_info GL_NVX_nvenc_interop GL_NV_shader_thread_group GL_NV_shader_thread_shuffle GL_KHR_blend_equation_advanced GL_KHR_blend_equation_advanced_coherent GL_OVR_multiview GL_OVR_multiview2 GL_SGIS_generate_mipmap GL_SGIS_texture_lod GL_SGIX_depth_texture GL_SGIX_shadow GL_SUN_slice_accum 19:29:01: Supported GLX extensions: GLX_EXT_visual_info GLX_EXT_visual_rating GLX_EXT_import_context GLX_SGIX_fbconfig GLX_SGIX_pbuffer GLX_SGI_video_sync GLX_SGI_swap_control GLX_EXT_swap_control GLX_EXT_swap_control_tear GLX_EXT_texture_from_pixmap GLX_EXT_buffer_age GLX_ARB_create_context GLX_ARB_create_context_profile GLX_EXT_create_context_es_profile GLX_EXT_create_context_es2_profile GLX_ARB_create_context_no_error GLX_ARB_create_context_robustness GLX_NV_delay_before_swap GLX_EXT_stereo_tree GLX_ARB_context_flush_control GLX_NV_robustness_video_memory_purge GLX_NV_multigpu_context GLX_ARB_multisample GLX_NV_float_buffer GLX_ARB_fbconfig_float GLX_EXT_framebuffer_sRGB GLX_NV_copy_image GLX_ARB_get_proc_address 19:29:01: *************************** 19:29:01: *** GL Renderer Started *** 19:29:01: *************************** 19:29:01: Registering ResourceManager for type GpuProgram 19:29:01: GLSL support detected 19:29:01: GL: Using GL_EXT_framebuffer_object for rendering to textures (best) 19:29:01: FBO PF_UNKNOWN depth/stencil support: D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_L8 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_A8 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_A4L4 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_BYTE_LA depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_R5G6B5 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_B5G6R5 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_A4R4G4B4 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_A1R5G5B5 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_R8G8B8 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_B8G8R8 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_A8R8G8B8 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_B8G8R8A8 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_A2R10G10B10 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_A2B10G10R10 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_FLOAT16_RGB depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_FLOAT16_RGBA depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_FLOAT32_RGB depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_FLOAT32_RGBA depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_X8R8G8B8 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_X8B8G8R8 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_SHORT_RGBA depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_R3G3B2 depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_FLOAT16_R depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_FLOAT32_R depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_FLOAT16_GR depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_FLOAT32_GR depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: FBO PF_SHORT_RGB depth/stencil support: D0S0 D0S8 D16S0 D24S0 D32S0 Packed-D24S8 19:29:01: [GL] : Valid FBO targets PF_UNKNOWN PF_L8 PF_A8 PF_A4L4 PF_BYTE_LA PF_R5G6B5 PF_B5G6R5 PF_A4R4G4B4 PF_A1R5G5B5 PF_R8G8B8 PF_B8G8R8 PF_A8R8G8B8 PF_B8G8R8A8 PF_A2R10G10B10 PF_A2B10G10R10 PF_FLOAT16_RGB PF_FLOAT16_RGBA PF_FLOAT32_RGB PF_FLOAT32_RGBA PF_X8R8G8B8 PF_X8B8G8R8 PF_SHORT_RGBA PF_R3G3B2 PF_FLOAT16_R PF_FLOAT32_R PF_FLOAT16_GR PF_FLOAT32_GR PF_SHORT_RGB 19:29:01: RenderSystem capabilities 19:29:01: ------------------------- 19:29:01: RenderSystem Name: OpenGL Rendering Subsystem 19:29:01: GPU Vendor: nvidia 19:29:01: Device Name: GeForce RTX 2060 SUPER/PCIe/SSE2 19:29:01: Driver Version: 4.6.0.0 19:29:01: * Fixed function pipeline: yes 19:29:01: * Hardware generation of mipmaps: yes 19:29:01: * Texture blending: yes 19:29:01: * Anisotropic texture filtering: yes 19:29:01: * Dot product texture operation: yes 19:29:01: * Cube mapping: yes 19:29:01: * Hardware stencil buffer: yes 19:29:01: - Stencil depth: 8 19:29:01: - Two sided stencil support: yes 19:29:01: - Wrap stencil values: yes 19:29:01: * Hardware vertex / index buffers: yes 19:29:01: * Vertex programs: yes 19:29:01: * Number of floating-point constants for vertex programs: 1024 19:29:01: * Number of integer constants for vertex programs: 0 19:29:01: * Number of boolean constants for vertex programs: 0 19:29:01: * Fragment programs: yes 19:29:01: * Number of floating-point constants for fragment programs: 1024 19:29:01: * Number of integer constants for fragment programs: 0 19:29:01: * Number of boolean constants for fragment programs: 0 19:29:01: * Geometry programs: yes 19:29:01: * Number of floating-point constants for geometry programs: 2048 19:29:01: * Number of integer constants for geometry programs: 0 19:29:01: * Number of boolean constants for geometry programs: 0 19:29:01: * Tesselation Hull programs: no 19:29:01: * Number of floating-point constants for tesselation hull programs: 0 19:29:01: * Number of integer constants for tesselation hull programs: 0 19:29:01: * Number of boolean constants for tesselation hull programs: 0 19:29:01: * Tesselation Domain programs: no 19:29:01: * Number of floating-point constants for tesselation domain programs: 0 19:29:01: * Number of integer constants for tesselation domain programs: 0 19:29:01: * Number of boolean constants for tesselation domain programs: 0 19:29:01: * Compute programs: no 19:29:01: * Number of floating-point constants for compute programs: 0 19:29:01: * Number of integer constants for compute programs: 0 19:29:01: * Number of boolean constants for compute programs: 0 19:29:01: * Supported Shader Profiles: arbfp1 arbvp1 fp20 fp30 fp40 glsl gp4fp gp4gp gp4vp gpu_fp gpu_gp gpu_vp nvgp4 vp30 vp40 19:29:01: * Texture Compression: yes 19:29:01: - DXT: yes 19:29:01: - VTC: yes 19:29:01: - PVRTC: no 19:29:01: - ATC: no 19:29:01: - ETC1: no 19:29:01: - ETC2: no 19:29:01: - BC4/BC5: no 19:29:01: - BC6H/BC7: no 19:29:01: * Scissor Rectangle: yes 19:29:01: * Hardware Occlusion Query: yes 19:29:01: * User clip planes: yes 19:29:01: * VET_UBYTE4 vertex element type: yes 19:29:01: * Infinite far plane projection: yes 19:29:01: * Hardware render-to-texture: yes 19:29:01: * Floating point textures: yes 19:29:01: * Non-power-of-two textures: yes 19:29:01: * 1d textures: yes 19:29:01: * Volume textures: yes 19:29:01: * Multiple Render Targets: 8 19:29:01: - With different bit depths: yes 19:29:01: * Point Sprites: yes 19:29:01: * Extended point parameters: yes 19:29:01: * Max Point Size: 2047 19:29:01: * Vertex texture fetch: yes 19:29:01: * Number of world matrices: 0 19:29:01: * Number of texture units: 16 19:29:01: * Stencil buffer depth: 8 19:29:01: * Number of vertex blend matrices: 0 19:29:01: - Max vertex textures: 32 19:29:01: - Vertex textures shared: yes 19:29:01: * Render to Vertex Buffer : yes 19:29:01: * Hardware Atomic Counters: no 19:29:01: * GL 1.5 without VBO workaround: no 19:29:01: * Frame Buffer objects: yes 19:29:01: * Frame Buffer objects (ARB extension): no 19:29:01: * Frame Buffer objects (ATI extension): no 19:29:01: * PBuffer support: yes 19:29:01: * GL 1.5 without HW-occlusion workaround: no 19:29:01: * Vertex Array Objects: no 19:29:01: * Separate shader objects: no 19:29:01: DefaultWorkQueue('Root') initialising on thread 7f5c1fbff700. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c1cfce700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c17fff700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c0f7fe700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c167fc700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c16ffd700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c177fe700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c157fa700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c15ffb700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c14ff9700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c0ffff700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c0effd700 starting. 19:29:01: DefaultWorkQueue('Root')::WorkerFunc - thread 7f5c0e7fc700 starting. 19:29:01: Particle Renderer Type 'billboard' registered 19:29:01: SceneManagerFactory for type 'BspSceneManager' registered. 19:29:01: Registering ResourceManager for type BspLevel 19:29:01: SceneManagerFactory for type 'OctreeSceneManager' registered. 19:29:01: Parsing scripts for resource group Autodetect 19:29:01: Finished parsing scripts for resource group Autodetect 19:29:01: Creating resources for group Autodetect 19:29:01: All done 19:29:01: Parsing scripts for resource group Fonts 19:29:01: Parsing script ignition-rendering.fontdef 19:29:01: Finished parsing scripts for resource group Fonts 19:29:01: Creating resources for group Fonts 19:29:01: All done 19:29:01: Parsing scripts for resource group General 19:29:01: Parsing script pssm.material 19:29:01: Parsing script point_cloud_point.material 19:29:01: Parsing script thermal.material 19:29:01: Parsing script gaussian_noise.material 19:29:01: Parsing script picker.material 19:29:01: Parsing script gpu_rays.material 19:29:01: Parsing script gaussian_noise.compositor 19:29:01: Parsing script thermal_camera.compositor 19:29:01: Finished parsing scripts for resource group General 19:29:01: Creating resources for group General 19:29:01: All done 19:29:01: Parsing scripts for resource group Internal 19:29:01: Finished parsing scripts for resource group Internal 19:29:01: Creating resources for group Internal 19:29:01: All done 19:29:01: Added resource location '/home/matosinho/dev/ROS2/brov/ignition/install/share/ignition/ignition-rendering5/ogre/media/rtshaderlib150' of type 'FileSystem' to resource group 'General' 19:29:01: Creating resource group ShaderGeneratorResourceGroup 19:29:01: Added resource location '/home/matosinho/.ignition/rendering/ogre-rtshader/matosinho-rtshaderlibcache/' of type 'FileSystem' to resource group 'ShaderGeneratorResourceGroup' 19:29:01: Texture: spot_shadow_fade.png: Loading 1 faces(PF_R8G8B8,128x128x1) with 5 hardware generated mipmaps from Image. Internal format is PF_X8R8G8B8,128x128x1. ```

Description

Issue Resolution Tracker

Steps to reproduce

  1. run ign gazebo quadcopter.sdf
  2. run ign gazebo lift_drag.sdf
  3. run ign gazebo multicopter_velocity_control.sdf
  4. run ign gazebo buoyancy.sdf
  5. run ign gazebo track_drive.sdf
  6. run ign gazebo plane_propeller_demo.sdf

Output

quadcopter.sdf has these warning upon loading:

Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/base_link"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L7]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/rotor_0"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L39]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/rotor_1"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L104]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/rotor_2"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L169]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/rotor_3"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L234]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[x3].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[x3].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[x3].

lift_drag.sdf has these warning upon loading:

Warning [Model.cc:170] Non-unique names detected in XML children of model with name[lift_drag_demo_model].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[lift_drag_demo_model].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[lift_drag_demo_model].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[lift_drag_demo_model].

multicopter_velocity_control.sdf has these warning upon loading:

Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/base_link"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L7]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/rotor_0"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L39]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/rotor_1"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L104]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/rotor_2"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L169]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="x3"]/link[@name="X3/rotor_3"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x3 uav/4/model.sdf:L234]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="X4"]/link[@name="base_link"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x4 uav config 1/12/model.sdf:L8]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="X4"]/link[@name="rotor_0"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x4 uav config 1/12/model.sdf:L336]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="X4"]/link[@name="rotor_1"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x4 uav config 1/12/model.sdf:L403]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="X4"]/link[@name="rotor_2"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x4 uav config 1/12/model.sdf:L470]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="X4"]/link[@name="rotor_3"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x4 uav config 1/12/model.sdf:L537]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="X4"]/link[@name="rotor_4"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x4 uav config 1/12/model.sdf:L604]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/model[@name="X4"]/link[@name="rotor_5"]/inertial/pose[@relative_to=""]:/home/matosinho/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/x4 uav config 1/12/model.sdf:L671]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[x3].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[X4].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[X4].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[x3].

buoyancy.sdf has these warning upon loading:

Warning [Model.cc:170] Non-unique names detected in XML children of model with name[submarine].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[submarine].

track_drive.sdf has these warning upon loading:

Warning [Utils.cc:129] [/sdf/world[@name="track_drive"]/model[@name="vehicle_blue"]/link[@name="base_link"]/inertial/pose[@relative_to=""]:/home/matosinho/dev/ROS2/fortress_party/install/share/ignition/ignition-gazebo6/worlds/track_drive.sdf:L88]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/world[@name="track_drive"]/model[@name="vehicle_green"]/link[@name="base_link"]/inertial/pose[@relative_to=""]:/home/matosinho/dev/ROS2/fortress_party/install/share/ignition/ignition-gazebo6/worlds/track_drive.sdf:L1082]: XML Attribute[relative_to] in element[pose] not defined in SDF.

plane_propeller_demo.sdf has these warning upon loading:

Warning [Model.cc:170] Non-unique names detected in XML children of model with name[propeller_plane].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[propeller_plane].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[propeller_plane].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[propeller_plane].
Warning [Model.cc:170] Non-unique names detected in XML children of model with name[propeller_plane].
scpeters commented 3 years ago

track_drive.sdf has these warning upon loading:

Warning [Utils.cc:129] [/sdf/world[@name="track_drive"]/model[@name="vehicle_blue"]/link[@name="base_link"]/inertial/pose[@relative_to=""]:/home/matosinho/dev/ROS2/fortress_party/install/share/ignition/ignition-gazebo6/worlds/track_drive.sdf:L88]: XML Attribute[relative_to] in element[pose] not defined in SDF.
Warning [Utils.cc:129] [/sdf/world[@name="track_drive"]/model[@name="vehicle_green"]/link[@name="base_link"]/inertial/pose[@relative_to=""]:/home/matosinho/dev/ROS2/fortress_party/install/share/ignition/ignition-gazebo6/worlds/track_drive.sdf:L1082]: XML Attribute[relative_to] in element[pose] not defined in SDF.

these warnings about //inertial/pose[@relative_to=""] should be fixed by https://github.com/ignitionrobotics/sdformat/pull/720

matosinho commented 3 years ago

I dunno if I did something wrong, but I have changed to the sdf11, pulled your changes, ran colcon build --merge-install again and source again the setup.bash. Unfortunatelly, the warning is still apearing to me. Also, I've updated the issue so we can track better the problems in the scenes. If you think I should do anything differently, please tell me.

scpeters commented 3 years ago

If you have a source workspace and debian packages installed to /usr, it can be tricky to ensure that ign commands are using the intended libraries. If you have ign-tools in your workspace, I think it should find the right libraries. Otherwise, you can set IGN_CONFIG_PATH to the install/share/ignition folder of your colcon workspace.

Also, sdf11 works with ign-gazebo5. I think you will need to use the main branch of sdformat to work with ign-gazebo6