A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
188
stars
58
forks
source link
Getting Segmentation Fault while lanuching the panda_world.launch file #63
I am continuously getting the error of segmentation fault while launching the panda_world.launch file and could not spawn the robot.
Can anyone please guide me on how can I solve this issue?
Error Log :
apanrtx@apanrtx:~$ roslaunch panda_gazebo panda_world.launch
... logging to /home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/roslaunch-apanrtx-12593.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://apanrtx:38245/
auto-starting new master
process[master]: started with pid [12645]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to a2a1954a-5fc0-11ec-8a29-04d4c45b62cf
process[rosout-1]: started with pid [12679]
started core service [/rosout]
process[gazebo-2]: started with pid [12686]
process[gazebo_gui-3]: started with pid [12691]
process[robot_description-4]: started with pid [12698]
process[base_to_link0-5]: started with pid [12699]
process[world_to_base-6]: started with pid [12700]
process[controller_spawner-7]: started with pid [12708]
process[controller_spawner_stopped-8]: started with pid [12716]
process[panda_gripper_controller_spawner_stopped-9]: started with pid [12734]
process[robot_state_publisher-10]: started with pid [12753]
process[topic_remap-11]: started with pid [12774]
process[joint_trajectory_server_emulator-12]: started with pid [12793]
process[gripper_action_server_emulator-13]: started with pid [12829]
process[startup_script-14]: started with pid [12849]
[ INFO] [1639804152.700658662]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1639804152.702818228]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1639804152.716822570]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1639804152.717852851]: Finished loading Gazebo ROS API Plugin.
/home/apanrtx/.local/lib/python2.7/site-packages/quaternion/numba_wrapper.py:21: UserWarning:
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Could not import from numba, which means that some
parts of this code may run MUCH more slowly. You
may wish to install numba.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Could not import from numba, which means that some
parts of this code may run MUCH more slowly. You
may wish to install numba.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
warnings.warn(warning_text)
[ INFO] [1639804154.799223556]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1639804154.873947283]: Physics dynamic reconfigure ready.
[ INFO] [1639804155.396664153]: ft_sensor plugin reporting wrench values to the frame [panda_link7]
[ INFO] [1639804155.396711224]: imu plugin missing , defaults to 0.0
[ INFO] [1639804155.419041116]: Loading gazebo_ros_control plugin
[ INFO] [1639804155.422676439]: Starting gazebo_ros_control plugin in namespace:
[ INFO] [1639804155.423273531]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 12686, exit code 139, cmd /home/apanrtx/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -u -e ode /home/apanrtx/catkin_ws/src/panda_simulator/panda_gazebo/worlds/panda.world name:=gazebo log:=/home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/gazebo-2.log].
log file: /home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/gazebo-2.log
[ERROR] [1639804156.394434, 0.000000]: SetModelConfiguration service failed. Exiting.
[robot_description-4] process has died [pid 12698, exit code 1, cmd /home/apanrtx/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -param robot_description -urdf -model panda -J panda::panda_joint1 0.000 -J panda::panda_joint2 -0.785 -J panda::panda_joint3 0.0 -J panda::panda_joint4 -2.356 -J panda::panda_joint5 0.0 -J panda::panda_joint6 1.57 -J panda::panda_joint7 0.785 __name:=robot_description __log:=/home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/robot_description-4.log].
log file: /home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/robot_description-4.log
I am continuously getting the error of segmentation fault while launching the panda_world.launch file and could not spawn the robot.
Can anyone please guide me on how can I solve this issue?
Error Log :
apanrtx@apanrtx:~$ roslaunch panda_gazebo panda_world.launch ... logging to /home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/roslaunch-apanrtx-12593.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://apanrtx:38245/
SUMMARY
PARAMETERS
NODES / base_to_link0 (tf/static_transform_publisher) controller_spawner (controller_manager/controller_manager) controller_spawner_stopped (controller_manager/controller_manager) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gripper_action_server_emulator (panda_sim_custom_action_server/start_gripper_action_server.py) joint_trajectory_server_emulator (panda_sim_custom_action_server/start_joint_trajectory_server.py) panda_gripper_controller_spawner_stopped (controller_manager/controller_manager) robot_description (gazebo_ros/spawn_model) robot_state_publisher (robot_state_publisher/robot_state_publisher) startup_script (panda_gazebo/force_neutral_pose.py) topic_remap (topic_tools/relay) world_to_base (tf/static_transform_publisher)
auto-starting new master process[master]: started with pid [12645] ROS_MASTER_URI=http://localhost:11311
setting /run_id to a2a1954a-5fc0-11ec-8a29-04d4c45b62cf process[rosout-1]: started with pid [12679] started core service [/rosout] process[gazebo-2]: started with pid [12686] process[gazebo_gui-3]: started with pid [12691] process[robot_description-4]: started with pid [12698] process[base_to_link0-5]: started with pid [12699] process[world_to_base-6]: started with pid [12700] process[controller_spawner-7]: started with pid [12708] process[controller_spawner_stopped-8]: started with pid [12716] process[panda_gripper_controller_spawner_stopped-9]: started with pid [12734] process[robot_state_publisher-10]: started with pid [12753] process[topic_remap-11]: started with pid [12774] process[joint_trajectory_server_emulator-12]: started with pid [12793] process[gripper_action_server_emulator-13]: started with pid [12829] process[startup_script-14]: started with pid [12849] [ INFO] [1639804152.700658662]: Finished loading Gazebo ROS API Plugin. [ INFO] [1639804152.702818228]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1639804152.716822570]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1639804152.717852851]: Finished loading Gazebo ROS API Plugin. /home/apanrtx/.local/lib/python2.7/site-packages/quaternion/numba_wrapper.py:21: UserWarning:
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Could not import from numba, which means that some parts of this code may run MUCH more slowly. You may wish to install numba. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
warnings.warn(warning_text) /home/apanrtx/.local/lib/python2.7/site-packages/quaternion/numba_wrapper.py:21: UserWarning:
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Could not import from numba, which means that some parts of this code may run MUCH more slowly. You may wish to install numba. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
warnings.warn(warning_text) [ INFO] [1639804154.799223556]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1639804154.873947283]: Physics dynamic reconfigure ready. [ INFO] [1639804155.396664153]: ft_sensor plugin reporting wrench values to the frame [panda_link7] [ INFO] [1639804155.396711224]: imu plugin missing, defaults to 0.0
[ INFO] [1639804155.419041116]: Loading gazebo_ros_control plugin
[ INFO] [1639804155.422676439]: Starting gazebo_ros_control plugin in namespace:
[ INFO] [1639804155.423273531]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 12686, exit code 139, cmd /home/apanrtx/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -u -e ode /home/apanrtx/catkin_ws/src/panda_simulator/panda_gazebo/worlds/panda.world name:=gazebo log:=/home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/gazebo-2.log].
log file: /home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/gazebo-2.log
[ERROR] [1639804156.394434, 0.000000]: SetModelConfiguration service failed. Exiting.
[robot_description-4] process has died [pid 12698, exit code 1, cmd /home/apanrtx/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -param robot_description -urdf -model panda -J panda::panda_joint1 0.000 -J panda::panda_joint2 -0.785 -J panda::panda_joint3 0.0 -J panda::panda_joint4 -2.356 -J panda::panda_joint5 0.0 -J panda::panda_joint6 1.57 -J panda::panda_joint7 0.785 __name:=robot_description __log:=/home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/robot_description-4.log].
log file: /home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/robot_description-4.log