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gazebosim / gz-sim

Open source robotics simulator. The latest version of Gazebo.
https://gazebosim.org
Apache License 2.0
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Crash when using multiple buoyancy grades #2621

Open evan-palmer opened 2 months ago

evan-palmer commented 2 months ago

Environment

``` [ruby $(which gz) sim-7] [Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world]. [ruby $(which gz) sim-7] [Dbg] [gz.cc:168] Waiting for a world to be set from the GUI... [ruby $(which gz) sim-7] [Msg] Received world [/home/ubuntu/ws_ros/src/online-dynamics-learning/install/odl_description/share/odl_description/gazebo/worlds/underwater_data_collection.world] from the GUI. [ruby $(which gz) sim-7] [Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world]. [ruby $(which gz) sim-7] [Msg] Gazebo Sim Server v8.6.0 [ruby $(which gz) sim-7] [Msg] Loading SDF world file[/home/ubuntu/ws_ros/src/online-dynamics-learning/install/odl_description/share/odl_description/gazebo/worlds/underwater_data_collection.world]. [ruby $(which gz) sim-7] [Msg] Serving entity system service on [/entity/system/add] [ruby $(which gz) sim-7] [Dbg] [Physics.cc:870] Loaded [gz::physics::dartsim::Plugin] from library [/opt/ros/jazzy/opt/gz_physics_vendor/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Physics] for entity [1] [ruby $(which gz) sim-7] [Msg] Create service on [/world/underwater_data_collection/create] [ruby $(which gz) sim-7] [Msg] Remove service on [/world/underwater_data_collection/remove] [ruby $(which gz) sim-7] [Msg] Pose service on [/world/underwater_data_collection/set_pose] [ruby $(which gz) sim-7] [Msg] Pose service on [/world/underwater_data_collection/set_pose_vector] [ruby $(which gz) sim-7] [Msg] Light configuration service on [/world/underwater_data_collection/light_config] [ruby $(which gz) sim-7] [Msg] Physics service on [/world/underwater_data_collection/set_physics] [ruby $(which gz) sim-7] [Msg] SphericalCoordinates service on [/world/underwater_data_collection/set_spherical_coordinates] [ruby $(which gz) sim-7] [Msg] Enable collision service on [/world/underwater_data_collection/enable_collision] [ruby $(which gz) sim-7] [Msg] Disable collision service on [/world/underwater_data_collection/disable_collision] [ruby $(which gz) sim-7] [Msg] Material service on [/world/underwater_data_collection/visual_config] [ruby $(which gz) sim-7] [Msg] Material service on [/world/underwater_data_collection/wheel_slip] [ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::UserCommands] for entity [1] [ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [ruby $(which gz) sim-7] [Dbg] [Buoyancy.cc:478] Default density set to 1025 [ruby $(which gz) sim-7] [Dbg] [Buoyancy.cc:496] Added layer at 0, 1 [ruby $(which gz) sim-7] [Dbg] [Buoyancy.cc:496] Added layer at -5, 1000 [ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Buoyancy] for entity [1] [ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ShaderParam] for entity [10] [ruby $(which gz) sim-7] [Msg] Loaded level [3] [ruby $(which gz) sim-7] [Msg] Serving world controls on [/world/underwater_data_collection/control], [/world/underwater_data_collection[Msg] Gazebo Sim GUI v8.6.0 [ruby $(which gz) sim-7] [Dbg] [Gui.cc:263] Waiting for subscribers to [/gazebo/starting_world]... [ruby $(which gz) sim-7] [Dbg] [Application.cc:96] Initializing application. [ruby $(which gz) sim-7] [Dbg] [Application.cc:170] Qt using OpenGL graphics interface [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:657] Create main window [create-4] [INFO] [1726164881.897866950] [ros_gz_sim]: Waiting messages on topic [robot_description]. [create-4] [INFO] [1726164881.909173512] [ros_gz_sim]: Requested creation of entity. [create-4] [INFO] [1726164881.909198470] [ros_gz_sim]: OK creation of entity. [INFO] [create-4]: process has finished cleanly [pid 3805] [rviz2-6] [INFO] [1726164882.244796682] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1726164882.244869507] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-6] [INFO] [1726164882.366549831] [rviz2]: Stereo is NOT SUPPORTED [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get] [ruby $(which gz) sim-7] [GUI] [Dbg] [Gui.cc:343] GUI requesting list of world names. The server may be busy downloading resources. Please be patient. [ruby $(which gz) sim-7] [GUI] [Dbg] [PathManager.cc:57] Received resource paths. [ruby $(which gz) sim-7] [GUI] [Dbg] [Gui.cc:401] Requesting GUI from [/world/underwater_data_collection/gui/info]... [ruby $(which gz) sim-7] [GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/underwater_data_collection/state]... [ruby $(which gz) sim-7] [GUI] [Msg] Loading config [/home/ubuntu/.gz/sim/8/gui.config] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [MinimalScene] [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [3D View] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityContextMenuPlugin] [ruby $(which gz) sim-7] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Entity Context Menu] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [GzSceneManager] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Scene Manager] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libGzSceneManager.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [InteractiveViewControl] [ruby $(which gz) sim-7] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control] [ruby $(which gz) sim-7] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual] [ruby $(which gz) sim-7] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Interactive view control] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libInteractiveViewControl.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [CameraTracking] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Camera tracking] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libCameraTracking.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [MarkerManager] [ruby $(which gz) sim-7] [GUI] [Msg] Listening to stats on [/world/underwater_data_collection/stats] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Marker Manager] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMarkerManager.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [SelectEntities] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Select entities] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libSelectEntities.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [Spawn] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Spawn] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [Spawn] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libSpawn.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [VisualizationCapabilities] [ruby $(which gz) sim-7] [GUI] [Msg] View as transparent service on [/gui/view/transparent] [ruby $(which gz) sim-7] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes] [ruby $(which gz) sim-7] [GUI] [Msg] View center of mass service on [/gui/view/com] [ruby $(which gz) sim-7] [GUI] [Msg] View inertia service on [/gui/view/inertia] [ruby $(which gz) sim-7] [GUI] [Msg] View collisions service on [/gui/view/collisions] [ruby $(which gz) sim-7] [GUI] [Msg] View joints service on [/gui/view/joints] [ruby $(which gz) sim-7] [GUI] [Msg] View frames service on [/gui/view/frames] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Visualization capabilities] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libVisualizationCapabilities.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldControl] [ruby $(which gz) sim-7] [GUI] [Msg] Using world control service [/world/underwater_data_collection/control] [ruby $(which gz) sim-7] [GUI] [Msg] Listening to stats on [/world/underwater_data_collection/stats] [ruby $(which gz) sim-7] [GUI] [Dbg] [WorldControl.cc:237] Using an event to share WorldControl msgs with the server [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [World control] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [WorldControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldControl.so] [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldStats] [ruby $(which gz) sim-7] [GUI] [Msg] Listening to stats on [/world/underwater_data_collection/stats] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [World stats] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [WorldStats] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldStats.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [Shapes] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Shapes] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [Shapes] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libShapes.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [Lights] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Lights] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [Lights] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libLights.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [TransformControl] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Transform control] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [TransformControl] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libTransformControl.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [Screenshot] [ruby $(which gz) sim-7] [GUI] [Msg] Screenshot service on [/gui/screenshot] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Screenshot] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [Screenshot] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libScreenshot.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [CopyPaste] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Copy/Paste] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libCopyPaste.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [ComponentInspector] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Component inspector] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libComponentInspector.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityTree] [ruby $(which gz) sim-7] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked] [ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Entity tree] to main window [ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [EntityTree] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libEntityTree.so] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:398] Loading window config [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x" [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead. [ruby $(which gz) sim-7] libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device. [ruby $(which gz) sim-7] libEGL warning: egl: failed to create dri2 screen [ruby $(which gz) sim-7] [GUI] [Msg] Using server control service [;32m/control/state] and [/world/underwater_data_collection/playback/control] [ruby $(which gz) sim-7] [Msg] Serving GUI information on [/world/underwater_data_collection/gui/info] [ruby $(which gz) sim-7] [Msg] World [underwater_data_collection] initialized with [default_physics] physics profile. [ruby $(which gz) sim-7] [Msg] Serving world SDF generation service on [/world/underwater_data_collection/generate_world_sdf] [ruby $(which gz) sim-7] [Msg] Serving world names on [/gazebo/worlds] [ruby $(which gz) sim-7] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [ruby $(which gz) sim-7] [Msg] Resource path get service on [/gazebo/resource_paths/get]. [ruby $(which gz) sim-7] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [ruby $(which gz) sim-7] [Msg] Resource paths published on [/gazebo/resource_paths]. [ruby $(which gz) sim-7] [Msg] Server control service on [/server_control]. [ruby $(which gz) sim-7] [Msg] Found no publishers on /stats, adding root stats topic [ruby $(which gz) sim-7] [Msg] Found no publishers on /clock, adding root clock topic [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:551] Creating PostUpdate worker threads: 3 [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (0) [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (1) [ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Hydrodynamics] for entity [21] [ruby $(which gz) sim-7] [Msg] OdometryPublisher publishing odometry on [/model/underwater_object/odometry] [ruby $(which gz) sim-7] [Msg] OdometryPublisher publishing odometry with covariance on [/model/underwater_object/odometry_with_covariance] [ruby $(which gz) sim-7] [Msg] OdometryPublisher publishing Pose_V (TF) on [/model/underwater_object/pose] [ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::OdometryPublisher] for entity [21] [ruby $(which gz) sim-7] [Dbg] [UserCommands.cc:1311] Created entity [21] named [underwater_object] [ruby $(which gz) sim-7] [Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes. [ruby $(which gz) sim-7] [Dbg] [SDFFeatures.cc:863] The geometry element of collision [ground] couldn't be created [ruby $(which gz) sim-7] [Msg] Serving scene information on [/world/underwater_data_collection/scene/info] [ruby $(which gz) sim-7] [Msg] Serving graph information on [/world/underwater_data_collection/scene/graph] [ruby $(which gz) sim-7] [Msg] Serving full state on [/world/underwater_data_collection/state] [ruby $(which gz) sim-7] [Msg] Serving full state (async) on [/world/underwater_data_collection/state_async] [ruby $(which gz) sim-7] [Msg] Publishing scene information on [/world/underwater_data_collection/scene/info] [ruby $(which gz) sim-7] [Msg] Publishing entity deletions on [/world/underwater_data_collection/scene/deletion] [ruby $(which gz) sim-7] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ruby $(which gz) sim-7] Skipping serialization / deserialization for models with //pose/@relative_to attribute. [ruby $(which gz) sim-7] Trying to serialize component with data type [N3sdf3v145WorldE], which doesn't have `operator<<`. Component will not be serialized. [ruby $(which gz) sim-7] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model [ruby $(which gz) sim-7] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v145WorldE], which doesn't have `operator>>`. Component will not be deserialized. [ruby $(which gz) sim-7] [Msg] Publishing state changes on [/server_control] [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:671] Applying config [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL [ruby $(which gz) sim-7] [GUI] [Msg] Loading plugin [gz-rendering-ogre2] [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:749] Create scene [scene] [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:1037] Creating texture node render interface for OpenGL [ruby $(which gz) sim-7] Warning [Utils.cc:132] [/sdf/plugin[@name="gz::sim::systems::ShaderParam"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf]. [ruby $(which gz) sim-7] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model [ruby $(which gz) sim-7] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model [ruby $(which gz) sim-7] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model [ruby $(which gz) sim-7] [GUI] [Dbg] [TransformControl.cc:453] TransformControl plugin is using camera [scene::Camera(65527)] [ruby $(which gz) sim-7] [GUI] [Dbg] [Spawn.cc:308] Spawn plugin is using camera [scene::Camera(65527)] [ruby $(which gz) sim-7] [GUI] [Dbg] [SelectEntities.cc:452] SelectEntities plugin is using camera [scene::Camera(65527)] [ruby $(which gz) sim-7] [GUI] [Dbg] [MarkerManager.cc:169] Advertise /marker/list service. [ruby $(which gz) sim-7] [GUI] [Dbg] [MarkerManager.cc:179] Advertise /marker/list. [ruby $(which gz) sim-7] [GUI] [Dbg] [MarkerManager.cc:189] Advertise /marker_array. [ruby $(which gz) sim-7] [GUI] [Dbg] [CameraTracking.cc:205] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)] [ruby $(which gz) sim-7] [GUI] [Msg] Move to service on [/gui/move_to] [ruby $(which gz) sim-7] [GUI] [Msg] Follow service on [/gui/follow] (deprecated) [ruby $(which gz) sim-7] [GUI] [Msg] Tracking topic on [/gui/track] [ruby $(which gz) sim-7] [GUI] [Msg] Tracking status topic on [/gui/currently_tracked] [ruby $(which gz) sim-7] [GUI] [Msg] Move to pose service on [/gui/move_to/pose] [ruby $(which gz) sim-7] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose] [ruby $(which gz) sim-7] [GUI] [Msg] Follow offset service on [/gui/follow/offset] (deprecated) [ruby $(which gz) sim-7] [GUI] [Dbg] [InteractiveViewControl.cc:176] InteractiveViewControl plugin is moving camera [scene::Camera(65527)] [ruby $(which gz) sim-7] [GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)] [ruby $(which gz) sim-7] [GUI] [Dbg] [GuiRunner.cc:357] Loaded system [gz::sim::systems::ShaderParam] for entity [10] in GUI [ruby $(which gz) sim-7] [GUI] [Dbg] [GuiRunner.cc:357] Loaded system [gz::sim::systems::ShaderParam] for entity [10] in GUI [ruby $(which gz) sim-7] Warning [Utils.cc:132] [/sdf/plugin[@name="gz::sim::systems::ShaderParam"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf]. [ruby $(which gz) sim-7] /world/underwater_data_collection/state] [ruby $(which gz) sim-7] [Msg] Publishing pose messages on [/world/underwater_data_collection/pose/info] [ruby $(which gz) sim-7] [Msg] Publishing dynamic pose messages on [/world/underwater_data_collection/dynamic_pose/info] [ruby $(which gz) sim-7] [Dbg] [EntityComponentManager.cc:1655] Updated state thread iterators: 16 threads processing around 2 entities each. [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:578] Exiting postupdate worker thread (0) [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:578] Exiting postupdate worker thread (1) [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:551] Creating PostUpdate worker threads: 5 [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (0) [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (1) [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (2) [ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (3) [ruby $(which gz) sim-7] [ruby $(which gz) sim-7] ODE INTERNAL ERROR 1: assertion "!bSafeNormalize4Fault" failed in dxNormalize4() [odemath.h:53] [ruby $(which gz) sim-7] Stack trace (most recent call last): [ruby $(which gz) sim-7] #31 Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a472c9, in rb_yield [ruby $(which gz) sim-7] #30 Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a42b39, in rb_vm_exec [ruby $(which gz) sim-7] #29 Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a3f5db, in [ruby $(which gz) sim-7] #28 Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a3b0fe, in [ruby $(which gz) sim-7] #27 Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a388ef, in [ruby $(which gz) sim-7] #26 Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x787602bccb13, in [ruby $(which gz) sim-7] #25 Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a013bb, in rb_nogvl [ruby $(which gz) sim-7] #24 Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x787602bcc43b, in [ruby $(which gz) sim-7] #23 Object "/usr/lib/x86_64-linux-gnu/libffi.so.8", at 0x787602b700bd, in ffi_call [ruby $(which gz) sim-7] #22 Object "/usr/lib/x86_64-linux-gnu/libffi.so.8", at 0x787602b6d3ee, in [ruby $(which gz) sim-7] #21 Object "/usr/lib/x86_64-linux-gnu/libffi.so.8", at 0x787602b70b15, in [ruby $(which gz) sim-7] #20 Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8-gz.so.8.6.0", at 0x7876020558ff, in runServer [ruby $(which gz) sim-7] #19 Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x787601d61fa7, in [ruby $(which gz) sim-7] #18 Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x787601d706e6, in gz::sim::v8::SimulationRunner::Run(unsigned long) [ruby $(which gz) sim-7] #17 Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x787601d6fd41, in gz::sim::v8::SimulationRunner::Step(gz::sim::v8::UpdateInfo const&) [ruby $(which gz) sim-7] #16 Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x787601d6df63, in gz::sim::v8::SimulationRunner::UpdateSystems() [ruby $(which gz) sim-7] #15 Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7875f85d6fef, in gz::sim::v8::systems::Physics::Update(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager&) [ruby $(which gz) sim-7] #14 Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7875f85dcc85, in gz::sim::v8::systems::PhysicsPrivate::Step(std::chrono::duration > const&) [ruby $(which gz) sim-7] #13 Object "/opt/ros/jazzy/opt/gz_physics_vendor/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875d1967c92, in gz::physics::dartsim::SimulationFeatures::WorldForwardStep(gz::physics::Identity const&, gz::physics::SpecifyData, gz::physics::ExpectData >&, gz::physics::CompositeData&, gz::physics::ExpectData > > const&) [ruby $(which gz) sim-7] #12 Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart.so.6.13", at 0x7875d161398c, in dart::simulation::World::step(bool) [ruby $(which gz) sim-7] #11 Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart.so.6.13", at 0x7875d15ffc25, in dart::constraint::ConstraintSolver::solve() [ruby $(which gz) sim-7] #10 Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart.so.6.13", at 0x7875d15fd9c0, in dart::constraint::ConstraintSolver::updateConstraints() [ruby $(which gz) sim-7] #9 Object "/opt/ros/jazzy/opt/gz_physics_vendor/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875d194759b, in dart::collision::GzOdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*) [ruby $(which gz) sim-7] #8 Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart-collision-ode.so.6.13", at 0x7875d1777459, in dart::collision::OdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*) [ruby $(which gz) sim-7] #7 Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart.so.6.13", at 0x7875d15d4bb8, in dart::collision::CollisionGroup::updateEngineData() [ruby $(which gz) sim-7] #6 Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart-collision-ode.so.6.13", at 0x7875d1776564, in dart::collision::OdeCollisionObject::updateEngineData() [ruby $(which gz) sim-7] #5 Object "/usr/lib/x86_64-linux-gnu/libode.so.8", at 0x7875d111b3ab, in dBodySetQuaternion [ruby $(which gz) sim-7] #4 Object "/usr/lib/x86_64-linux-gnu/libode.so.8", at 0x7875d111fe7e, in [ruby $(which gz) sim-7] #3 Object "/usr/lib/x86_64-linux-gnu/libode.so.8", at 0x7875d10fa037, in dDebug [ruby $(which gz) sim-7] #2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x78760743c8fe, in abort [ruby $(which gz) sim-7] #1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x78760745926d, in gsignal [ruby $(which gz) sim-7] #0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7876074b2b1c, in pthread_kill [ruby $(which gz) sim-7] Aborted (Signal sent by tkill() 3922 1000) [ruby $(which gz) sim-7] [GUI] [Msg] Using glsl shaders. [ruby $(which gz) sim-7] [GUI] [Msg] Using glsl shaders. [ruby $(which gz) sim-7] [GUI] [Dbg] [SignalHandler.cc:142] Received signal[2]. [ruby $(which gz) sim-7] [GUI] [Dbg] [Gui.cc:523] Shutting down gz-sim-gui [ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:237] Terminating application. [ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:841] Destroy scene [scene] [INFO] [ruby $(which gz) sim-7]: process has finished cleanly [pid 3808] [INFO] [launch]: process[ruby $(which gz) sim-7] was required: shutting down launched system ```

Description

Steps to reproduce

  1. Configure your .world file to include the Buoyancy plugin with more than one grade. For example, 
    <plugin filename="gz-sim-buoyancy-system"
    name="gz::sim::systems::Buoyancy">
<graded_buoyancy>
<default_density>1025</default_density>
<!-- First change -->
<density_change>
  <above_depth>0</above_depth>
  <density>1</density>
</density_change>
<!-- Second change -->
<density_change>
  <above_depth>-5</above_depth>
  <density>1000</density>
</density_change>
</graded_buoyancy>
<enable>underwater_object</enable>
</plugin>
  2. Launch an object in Gazebo using a world with the aforementioned configurations
  3. Allow the object to transition move from the first grade ($-5 < z \leq 0)$ to the second grade ($-\infty \leq z \leq -5$)
  4. Observe crash upon entering the second grade

Output

Refer to the log provided above.

arjo129 commented 2 months ago

Can I know what the object spawned was? If you run with -v4 enabled you would get a warning stating:

 Only <box> and <sphere> collisions are supported by the graded buoyancy option.