Create3 Sim reports tf errors, gzserver died, and undock action never completes

[slowrunner]

Create3 Sim reports invalid frame ids, gzserver died: FirstSimLaunch.pdf

and undock action does not complete:

$ ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}"
1635181726.064372 [0]       ros2: using network interface wlan0 (udp/10.0.0.29) selected arbitrarily from: wlan0, wlan1
Waiting for an action server to become available...
Sending goal:
     {}

Goal accepted with ID: 9962c0cc712f461996ac0fdf4c428b5d

sim reports:
[motion_control-13] [INFO] [1635181726.560048052] [motion_control]: Received new undock goal

but does not undock and does not return failure status.

[alsora]

Thank you for the bug report. Looking at the above log the error looks like the following

[gzserver-5] gzserver: /opt/ros/galactic/include/rcppmath/clamp.hpp:41: constexpr const T& 
rcppmath::clamp(const T&, const T&, const T&) [with T = double]: Assertion `!(hi < lo)' failed.
[ERROR] [gzserver-5]: process has died [pid 31231, exit code -6, cmd 'gzserver -s libgazebo_ros_init.so -s 
libgazebo_ros_factory.so ']

if the gazebo server crashes, nothing will be able to work correctly.

@rjcausarano any idea on this one?

[rjcausarano]

I have not seen this before. How can I reproduce this? @slowrunner besides "ros2 launch irobot_create_gazebo create3.launch" did you do anything else? set some parameters maybe?

[slowrunner]

SOLVED: I created this Galactic install by uninstalling Foxy and then installing Galactic, did not reboot.

Also forgot to change the ~/.bashrc line "source /opt/ros/foxy/setup.bash" to galactic.

After reboot, and changing the bashrc - My undock goal completes successfully.

[rjcausarano]

Thanks for reporting! Also, we have a foxy branch that maybe you could have used with your old setup