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jacknlliu / development-issues

Some issues from my development
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using gazebo9 with ros kinetic #31

Open jacknlliu opened 6 years ago

jacknlliu commented 6 years ago

After we have installed gazebo9, we should

And note that don't source devel in the previous step.

Reference

jacknlliu commented 6 years ago

compile gazebo_ros_pkgs with gazebo9 failed

We compile the gazebo_ros_control in gazebo_ros_pkgs with gazebo9, and get the CMake error

CMake Error:
  Error evaluating generator expression:

    $<TARGET_PROPERTY:protobuf::libprotobuf,INTERFACE_INCLUDE_DIRECTORIES>

  Target "protobuf::libprotobuf" not found.

CMake Error:
  Error evaluating generator expression:

    $<TARGET_PROPERTY:protobuf::libprotobuf,INTERFACE_INCLUDE_DIRECTORIES>

  Target "protobuf::libprotobuf" not found.

CMake Error:
  Error evaluating generator expression:

    $<TARGET_PROPERTY:ignition-math4::ignition-math4,INTERFACE_INCLUDE_DIRECTORIES>

  Target "ignition-math4::ignition-math4" not found.

Solution: we find that some ros packages with dependency gazebo_ros in the same catkin workspace conflicts with this. We remove this packages or remove the dependency gazebo_ros, then build the gazebo_ros_pkgs again, it works! But how to correctly use new gazebo_ros_pkgs to build the previous packages should be explored!

Maybe we should compile the gazebo_ros_pkgs standalone firstly (using catkin_make_isolated), and then compile the whole workspace?

Reference

jacknlliu commented 6 years ago

gazebo 9 server exit after insertting some model

gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed.
gzclient: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed.
Aborted (core dumped)
Aborted (core dumped)
[gazebo-1] process has died [pid 27447, exit code 134, cmd /data/assembler/assembler-dynamic/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode /data/assembler/assembler-dynamic/src/assembler_description/world/myworkcell-with-base-fix-physics.world __name:=gazebo __log:=/home/ros/.ros/log/70c334d0-2aad-11e8-aacb-b6ff195637ef/gazebo-1.log].
log file: /home/ros/.ros/log/70c334d0-2aad-11e8-aacb-b6ff195637ef/gazebo-1*.log
[gazebo_gui-2] process has died [pid 27452, exit code 134, cmd /data/assembler/assembler-dynamic/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient __name:=gazebo_gui __log:=/home/ros/.ros/log/70c334d0-2aad-11e8-aacb-b6ff195637ef/gazebo_gui-2.log].
log file: /home/ros/.ros/log/70c334d0-2aad-11e8-aacb-b6ff195637ef/gazebo_gui-2*.log
jacknlliu commented 6 years ago

gazebo_ros_pkgs using joint velocity interface can't work with dart (gazebo9)

We use dart engine with gazebo9, and set the robot with gazebo_ros_control, but the controller didn't work, the robot can't keep its joint state and ros control command didn't work.

We found that ros control using joint velocity interface will write joint command use sim_joints_[j]->SetParam("vel"), but the vel key-value is not implement in gazebo dart engine, see gazebo / physics / dart .

So the velocity interface will not work correctly with dart engine.

We can use the SetVelocity() for DART engine.

Reference

tarunuday commented 5 years ago

Anyone still with this issue, visit https://bitbucket.org/ignitionrobotics/ign-cmake/issues/55/failing-to-build-target-does-not-exist