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ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments
BSD 3-Clause "New" or "Revised" License
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gazebo 9 world process died & librotors_gazebo_multirotor_base_plugin.so: undefined symbol #22

Closed reem90 closed 2 years ago

reem90 commented 2 years ago

I am using Ubuntu 20.04 with ROS Noetic to run this package. I was able to run the ground robot simulation successfully. However, the drone simulation was not. I followed the instructions in the readme file. I installed the models in ./gazebo/models folder. Here is the output of the terminal. 

/gbplanner_node/SensorParams/OS064 0, 0, 0
[INFO] [1656051334.597383, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1656051334.602214, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1656051334.834050629]: Stereo is NOT SUPPORTED
[ INFO] [1656051334.834121696]: OpenGL device: Quadro T2000 with Max-Q Design/PCIe/SSE2
[ INFO] [1656051334.834148694]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1656051335.044938827]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1656051335.046637313]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1656051335.781775331]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1656051335.807447, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1656051368.293094, 875.948000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name rmf_obelix
[ERROR] [1656051368.294511, 875.948000]: Spawn service failed. Exiting.
[ INFO] [1656051368.301889779, 875.948000000]: Physics dynamic reconfigure ready.
[rmf_obelix/spawn_rmf_obelix-12] process has died [pid 515779, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -param robot_description -urdf -x 0.0 -y 0.0 -z 0.5 -model rmf_obelix __name:=spawn_rmf_obelix __log:=/home/tii/.ros/log/0dc60e52-f385-11ec-bc0b-586c255f72c4/rmf_obelix-spawn_rmf_obelix-12.log].
log file: /home/tii/.ros/log/0dc60e52-f385-11ec-bc0b-586c255f72c4/rmf_obelix-spawn_rmf_obelix-12*.log
[ INFO] [1656051371.453124837, 875.948000000]: Lidar laser plugin ready, 32 lasers
gzserver: symbol lookup error: /home/tii/gbplanner2_ws/devel/lib/librotors_gazebo_multirotor_base_plugin.so: undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev
[gazebo-9] process has died [pid 515762, exit code 127, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode /home/tii/gbplanner2_ws/src/exploration/gbplanner_ros/planner_gazebo_sim/worlds/darpa_subt_final_circuit.world __name:=gazebo __log:=/home/tii/.ros/log/0dc60e52-f385-11ec-bc0b-586c255f72c4/gazebo-9.log].
log file: /home/tii/.ros/log/0dc60e52-f385-11ec-bc0b-586c255f72c4/gazebo-9*.log

How can I fix this error gbplanner2_ws/devel/lib/librotors_gazebo_multirotor_base_plugin.so: undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev

and this issue 

cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode /home/tii/gbplanner2_ws/src/exploration/gbplanner_ros/planner_gazebo_sim/worlds/darpa_subt_final_circuit.world __name:=gazebo __log:=/home/tii/.ros/log/065c621e-f38b-11ec-ba36-586c255f72c4/gazebo-9.log].
log file: /home/tii/.ros/log/065c621e-f38b-11ec-ba36-586c255f72c4/gazebo-9*.log

Kindly assist.

MihirDharmadhikari commented 2 years ago

Hello @reem90 ,

The second issue that you mention comes from the first issue. Due to the first issue gazebo is unable to launch and that is what the second message says. Regarding the first message, can you try setting the verbose parameter of the gazebo node to true here and send me what it prints out?

Best, Mihir

mihirk284 commented 2 years ago

This seems to be similar to the issue here.

Can you please share with us the protobuf and libprotobuf versions that you have @reem90 ?

Also try to launch RotorS Simulator after a clean build and let us know if that works.

reem90 commented 2 years ago

This seems to be similar to the issue here.

Can you please share with us the protobuf and libprotobuf versions that you have @reem90 ?

Also try to launch RotorS Simulator after a clean build and let us know if that works.

@mihirk284 Here are the libraries versions. Also, what do you mean by running RotorS alone? Kindly refer to the launch file. dpkg -l | grep protobuf ii libprotobuf-dev:amd64 3.6.1.3-2ubuntu5 amd64 protocol buffers C++ library (development files) and proto files ii libprotobuf-lite17:amd64 3.6.1.3-2ubuntu5 amd64 protocol buffers C++ library (lite version) ii libprotobuf17:amd64 3.6.1.3-2ubuntu5 amd64 protocol buffers C++ library ii protobuf-compiler 3.6.1.3-2ubuntu5 amd64 compiler for protocol buffer definition files ii python3-protobuf 3.6.1.3-2ubuntu5 amd64 Python 3 bindings for protocol buffers

reem90 commented 2 years ago

Hello @reem90 ,

The second issue that you mention comes from the first issue. Due to the first issue gazebo is unable to launch and that is what the second message says. Regarding the first message, can you try setting the verbose parameter of the gazebo node to true here and send me what it prints out?

Best, Mihir

Thank you @MihirDharmadhikari for your reply. I run roslaunch gbplanner rmf_sim.launch with verbose is true. This is the output without even using the GUI (initilization and start the planner buttons) in the RVIZ 

... logging to /home/tii/.ros/log/5a749afe-f5ea-11ec-9e5f-586c255f72c4/roslaunch-reemashour-ThinkPad-P1-Gen-3-46040.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.

redefining global symbol: pi
when processing file: /home/tii/gbplanner2_ws/src/sim/rotors_simulator/rotors_description/urdf/component_snippets.xacro
included from: /home/tii/gbplanner2_ws/src/sim/rotors_simulator/rotors_description/urdf/rmf_obelix_base.xacro
included from: /home/tii/gbplanner2_ws/src/sim/rotors_simulator/rotors_description/urdf/mav_generic_odometry_sensor.gazebo
included from: /home/tii/gbplanner2_ws/src/sim/rotors_simulator/rotors_description/urdf/rmf_obelix.gazebo
started roslaunch server http://reemashour-ThinkPad-P1-Gen-3:34503/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /gbplanner_node/AdaptiveObbParams/bounding_box_size_max: 35
 * /gbplanner_node/AdaptiveObbParams/local_pointcloud_range: 50.0
 * /gbplanner_node/AdaptiveObbParams/type: kPca
 * /gbplanner_node/BoundedSpaceParams/Global/max_val: [3000.0, 3000.0, ...
 * /gbplanner_node/BoundedSpaceParams/Global/min_val: [-3000.0, -3000.0...
 * /gbplanner_node/BoundedSpaceParams/Global/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/Local/max_extension: [20.0, 20.0, 20.0]
 * /gbplanner_node/BoundedSpaceParams/Local/max_val: [15.0, 15.0, 3.0]
 * /gbplanner_node/BoundedSpaceParams/Local/min_extension: [-20.0, -20.0, -2...
 * /gbplanner_node/BoundedSpaceParams/Local/min_val: [-15.0, -15.0, -3.0]
 * /gbplanner_node/BoundedSpaceParams/Local/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/max_val: [10.0, 10.0, 0.75]
 * /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/min_val: [-10.0, -10.0, -0...
 * /gbplanner_node/BoundedSpaceParams/LocalAdaptiveExp/type: kCuboid
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/max_val: [50.0, 50.0, 1.0]
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/min_val: [-50.0, -50.0, -1.0]
 * /gbplanner_node/BoundedSpaceParams/LocalSearch/type: kCuboid
 * /gbplanner_node/NoGainZones/g1/max_val: [2.0, 10.0, 10.0]
 * /gbplanner_node/NoGainZones/g1/min_val: [-50.0, -10.0, -1...
 * /gbplanner_node/NoGainZones/g1/type: kCuboid
 * /gbplanner_node/PlanningParams/augment_free_voxels_time: 3
 * /gbplanner_node/PlanningParams/auto_homing_enable: True
 * /gbplanner_node/PlanningParams/cluster_vertices_for_gain: True
 * /gbplanner_node/PlanningParams/clustering_radius: 0.5
 * /gbplanner_node/PlanningParams/edge_length_max: 2.0
 * /gbplanner_node/PlanningParams/edge_length_min: 0.2
 * /gbplanner_node/PlanningParams/edge_overshoot: 0.0
 * /gbplanner_node/PlanningParams/exp_gain_voxel_size: 0.8
 * /gbplanner_node/PlanningParams/exp_sensor_list: ['OS064']
 * /gbplanner_node/PlanningParams/free_frustum_before_planning: False
 * /gbplanner_node/PlanningParams/free_voxel_gain: 0.0
 * /gbplanner_node/PlanningParams/freespace_cloud_enable: False
 * /gbplanner_node/PlanningParams/geofence_checking_enable: True
 * /gbplanner_node/PlanningParams/go_home_if_fully_explored: True
 * /gbplanner_node/PlanningParams/leafs_only_for_volumetric_gain: True
 * /gbplanner_node/PlanningParams/nearest_range: 2.0
 * /gbplanner_node/PlanningParams/nearest_range_max: 2.0
 * /gbplanner_node/PlanningParams/nearest_range_min: 0.5
 * /gbplanner_node/PlanningParams/nonuniform_ray_cast: True
 * /gbplanner_node/PlanningParams/num_edges_max: 9000
 * /gbplanner_node/PlanningParams/num_loops_cutoff: 2000
 * /gbplanner_node/PlanningParams/num_loops_max: 4000
 * /gbplanner_node/PlanningParams/num_vertices_max: 700
 * /gbplanner_node/PlanningParams/occupied_voxel_gain: 0.0
 * /gbplanner_node/PlanningParams/path_direction_penalty: 0.1
 * /gbplanner_node/PlanningParams/path_interpolation_distance: 0.5
 * /gbplanner_node/PlanningParams/path_length_penalty: 0.04
 * /gbplanner_node/PlanningParams/path_safety_enhance_enable: True
 * /gbplanner_node/PlanningParams/ray_cast_step_size_multiplier: 1.0
 * /gbplanner_node/PlanningParams/rr_mode: kGraph
 * /gbplanner_node/PlanningParams/time_budget_limit: 480
 * /gbplanner_node/PlanningParams/traverse_length_max: 8.0
 * /gbplanner_node/PlanningParams/traverse_time_max: 500.0
 * /gbplanner_node/PlanningParams/type: kBasicExploration
 * /gbplanner_node/PlanningParams/unknown_voxel_gain: 60.0
 * /gbplanner_node/PlanningParams/use_current_state: True
 * /gbplanner_node/PlanningParams/use_ray_model_for_volumetric_gain: True
 * /gbplanner_node/PlanningParams/v_homing_max: 0.9
 * /gbplanner_node/PlanningParams/v_max: 1.0
 * /gbplanner_node/PlanningParams/yaw_rate_max: 0.15
 * /gbplanner_node/PlanningParams/yaw_tangent_correction: True
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/max_val: 3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/min_val: -3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForAdaptiveExp/Z/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/max_val: 3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/min_val: -3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForExploration/Z/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/max_val: 3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/min_val: -3.141592653589793
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Heading/sample_mode: kManual
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/X/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Y/sample_mode: kLocal
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/pdf_type: kUniform
 * /gbplanner_node/RandomSamplerParams/SamplerForSearching/Z/sample_mode: kLocal
 * /gbplanner_node/RobotParams/bound_mode: kExtendedBound
 * /gbplanner_node/RobotParams/center_offset: [0.0, 0.0, 0.0]
 * /gbplanner_node/RobotParams/relax_ratio: 0.5
 * /gbplanner_node/RobotParams/safety_extension: [3.0, 4.0, 3.0]
 * /gbplanner_node/RobotParams/size: [0.2, 0.2, 0.2]
 * /gbplanner_node/RobotParams/size_extension: [0.2, 0.2, 0.2]
 * /gbplanner_node/RobotParams/size_extension_min: [0.1, 0.1, 0.1]
 * /gbplanner_node/RobotParams/type: kAerialRobot
 * /gbplanner_node/SensorParams/OS064/center_offset: [0.0, 0.0, 0.0]
 * /gbplanner_node/SensorParams/OS064/fov: [6.28318530717958...
 * /gbplanner_node/SensorParams/OS064/frontier_percentage_threshold: 0.04
 * /gbplanner_node/SensorParams/OS064/max_range: 20.0
 * /gbplanner_node/SensorParams/OS064/resolution: [0.12217304763960...
 * /gbplanner_node/SensorParams/OS064/rotations: [0.0, 0.0, 0.0]
 * /gbplanner_node/SensorParams/OS064/type: kLidar
 * /gbplanner_node/SensorParams/sensor_list: ['OS064']
 * /gbplanner_node/accumulate_icp_corrections: True
 * /gbplanner_node/allow_clear: True
 * /gbplanner_node/clear_sphere_for_planning: False
 * /gbplanner_node/clear_sphere_radius: 0.8
 * /gbplanner_node/clearing_ray_weight_factor: 0.01
 * /gbplanner_node/color_mode: colors
 * /gbplanner_node/enable_icp: False
 * /gbplanner_node/esdf_max_distance_m: 2.0
 * /gbplanner_node/icp_refine_roll_pitch: False
 * /gbplanner_node/integration_order_mode: sorted
 * /gbplanner_node/max_consecutive_ray_collisions: 0
 * /gbplanner_node/max_ray_length_m: 50.0
 * /gbplanner_node/max_weight: 200
 * /gbplanner_node/mesh_min_weight: 1e-4
 * /gbplanner_node/method: fast
 * /gbplanner_node/min_ray_length_m: 0.5
 * /gbplanner_node/min_time_between_msgs_sec: 0.0
 * /gbplanner_node/occupancy_min_distance_voxel_size_factor: 1.0
 * /gbplanner_node/pointcloud_queue_size: 1000
 * /gbplanner_node/publish_esdf_map: True
 * /gbplanner_node/publish_pointclouds: True
 * /gbplanner_node/publish_slices: False
 * /gbplanner_node/publish_traversable: True
 * /gbplanner_node/publish_tsdf_info: False
 * /gbplanner_node/publish_tsdf_map: True
 * /gbplanner_node/slice_level: 1.0
 * /gbplanner_node/sparsity_compensation_factor: 100.0
 * /gbplanner_node/timestamp_tolerance_sec: 0.001
 * /gbplanner_node/traversability_radius: 0.4
 * /gbplanner_node/truncation_distance: 0.6
 * /gbplanner_node/tsdf_voxel_size: 0.2
 * /gbplanner_node/tsdf_voxels_per_side: 16
 * /gbplanner_node/update_mesh_every_n_sec: 1.0
 * /gbplanner_node/use_const_weight: False
 * /gbplanner_node/use_freespace_pointcloud: True
 * /gbplanner_node/use_sparsity_compensation_factor: True
 * /gbplanner_node/use_symmetric_weight_drop_off: False
 * /gbplanner_node/use_tf_transforms: True
 * /gbplanner_node/use_weight_dropoff: True
 * /gbplanner_node/verbose: False
 * /gbplanner_node/voxel_carving_enabled: True
 * /gbplanner_node/weight_ray_by_range: False
 * /gbplanner_node/world_frame: world
 * /pci_general_ros_node/RobotDynamics/dt: 0.05
 * /pci_general_ros_node/RobotDynamics/v_homing_max: 1.0
 * /pci_general_ros_node/RobotDynamics/v_init_max: 1.0
 * /pci_general_ros_node/RobotDynamics/v_max: 1.0
 * /pci_general_ros_node/RobotDynamics/yaw_rate_max: 0.15
 * /pci_general_ros_node/init_motion/x_forward: 2.0
 * /pci_general_ros_node/init_motion/z_drop: 1.7
 * /pci_general_ros_node/init_motion/z_takeoff: 2.5
 * /pci_general_ros_node/init_motion_enable: False
 * /pci_general_ros_node/output_type: kTopic
 * /pci_general_ros_node/planner_trigger_lead_time: 0.4
 * /pci_general_ros_node/robot_type: kAerial
 * /pci_general_ros_node/run_mode: kSim
 * /pci_general_ros_node/smooth_heading_enable: True
 * /pci_general_ros_node/trigger_mode: kManual
 * /rmf_obelix/lee_position_controller_node/angular_rate_gain/x: 0.12
 * /rmf_obelix/lee_position_controller_node/angular_rate_gain/y: 0.12
 * /rmf_obelix/lee_position_controller_node/angular_rate_gain/z: 0.012
 * /rmf_obelix/lee_position_controller_node/attitude_gain/x: 0.7
 * /rmf_obelix/lee_position_controller_node/attitude_gain/y: 0.7
 * /rmf_obelix/lee_position_controller_node/attitude_gain/z: 0.015
 * /rmf_obelix/lee_position_controller_node/inertia/xx: 0.01
 * /rmf_obelix/lee_position_controller_node/inertia/xy: 0.0
 * /rmf_obelix/lee_position_controller_node/inertia/xz: 0.0
 * /rmf_obelix/lee_position_controller_node/inertia/yy: 0.01
 * /rmf_obelix/lee_position_controller_node/inertia/yz: 0.0
 * /rmf_obelix/lee_position_controller_node/inertia/zz: 0.01
 * /rmf_obelix/lee_position_controller_node/mass: 0.5265
 * /rmf_obelix/lee_position_controller_node/position_gain/x: 0.5
 * /rmf_obelix/lee_position_controller_node/position_gain/y: 0.5
 * /rmf_obelix/lee_position_controller_node/position_gain/z: 0.5
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/0/angle: -0.785398
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/0/arm_length: 0.1
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/0/direction: 1.0
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/0/rotor_force_constant: 8.54858e-06
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/0/rotor_moment_constant: 0.016
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/1/angle: 2.35619
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/1/arm_length: 0.1
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/1/direction: 1.0
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/1/rotor_force_constant: 8.54858e-06
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/1/rotor_moment_constant: 0.016
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/2/angle: 0.78539
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/2/arm_length: 0.1
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/2/direction: -1.0
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/2/rotor_force_constant: 8.54858e-06
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/2/rotor_moment_constant: 0.016
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/3/angle: -2.35619
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/3/arm_length: 0.1
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/3/direction: -1.0
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/3/rotor_force_constant: 8.54858e-06
 * /rmf_obelix/lee_position_controller_node/rotor_configuration/3/rotor_moment_constant: 0.016
 * /rmf_obelix/lee_position_controller_node/velocity_gain/x: 0.5
 * /rmf_obelix/lee_position_controller_node/velocity_gain/y: 0.5
 * /rmf_obelix/lee_position_controller_node/velocity_gain/z: 0.7
 * /rmf_obelix/robot_description: <?xml version="1....
 * /rmf_obelix/tf_prefix: 
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gbplanner_node (gbplanner/gbplanner_node)
    gbplanner_ui (rviz/rviz)
    pci_general_ros_node (pci_general/pci_general_ros_node)
    pose_throttler (topic_tools/throttle)
    tf_1 (tf/static_transform_publisher)
    tf_2 (tf/static_transform_publisher)
    tf_3 (tf/static_transform_publisher)
    tf_4 (tf/static_transform_publisher)
    tf_5 (tf/static_transform_publisher)
    tf_51 (tf/static_transform_publisher)
    tf_53 (tf/static_transform_publisher)
  /rmf_obelix/
    img_throttler (topic_tools/throttle)
    lee_position_controller_node (rotors_control/lee_position_controller_node)
    odo_throttler (topic_tools/throttle)
    spawn_rmf_obelix (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[tf_53-1]: started with pid [46086]
process[tf_51-2]: started with pid [46087]
process[tf_1-3]: started with pid [46093]
process[tf_2-4]: started with pid [46099]
process[tf_3-5]: started with pid [46105]
process[tf_4-6]: started with pid [46111]
process[tf_5-7]: started with pid [46117]
process[gazebo-8]: started with pid [46123]
process[rmf_obelix/img_throttler-9]: started with pid [46133]
process[rmf_obelix/odo_throttler-10]: started with pid [46134]
process[rmf_obelix/spawn_rmf_obelix-11]: started with pid [46140]
process[rmf_obelix/lee_position_controller_node-12]: started with pid [46146]
process[pose_throttler-13]: started with pid [46147]
process[gbplanner_node-14]: started with pid [46153]
process[pci_general_ros_node-15]: started with pid [46155]
process[gbplanner_ui-16]: started with pid [46161]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1656329033.611820458]: rviz version 1.14.14
[ INFO] [1656329033.611849877]: compiled against Qt version 5.12.8
[ INFO] [1656329033.611858523]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1656329033.619677722]: Forcing OpenGl version 0.
/gbplanner_node/SensorParams/OS064 0, 0, 0
[INFO] [1656329033.922428, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1656329033.926890, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[WARN] [1656329033.928469, 0.000000]: wait_for_service(/gazebo/spawn_urdf_model): failed to contact, will keep trying
[ INFO] [1656329034.102177352]: Stereo is NOT SUPPORTED
[ INFO] [1656329034.102245117]: OpenGL device: Quadro T2000 with Max-Q Design/PCIe/SSE2
[ INFO] [1656329034.102270520]: OpenGl version: 4.6 (GLSL 4.6).
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1656329034.402892943]: Finished loading Gazebo ROS API Plugin.
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.161.7.75
[ INFO] [1656329034.412633559]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Loading world file [/home/tii/gbplanner2_ws/src/exploration/gbplanner_ros/planner_gazebo_sim/worlds/darpa_subt_final_circuit.world]
[ INFO] [1656329035.149811453]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1656329035.312244683]: Physics dynamic reconfigure ready.
[INFO] [1656329035.434293, 0.000000]: wait_for_service(/gazebo/spawn_urdf_model): finally were able to contact [rosrpc://reemashour-ThinkPad-P1-Gen-3:50139]
[INFO] [1656329035.435762, 0.000000]: Calling service /gazebo/spawn_urdf_model
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1441] emission texture not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
...
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported

[Err] [Plugin.hh:212] Failed to load plugin librotors_gazebo_ros_interface_plugin.so: /home/tii/gbplanner2_ws/devel/lib/librotors_gazebo_ros_interface_plugin.so: undefined symbol: _ZTIN11gz_std_msgs7Float32E
[INFO] [1656329068.538346, 875.948000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name rmf_obelix
[ERROR] [1656329068.539329, 875.948000]: Spawn service failed. Exiting.
[rmf_obelix/spawn_rmf_obelix-11] process has died [pid 46140, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -param robot_description -urdf -x 0.0 -y 0.0 -z 0.5 -model rmf_obelix __name:=spawn_rmf_obelix __log:=/home/tii/.ros/log/5a749afe-f5ea-11ec-9e5f-586c255f72c4/rmf_obelix-spawn_rmf_obelix-11.log].
log file: /home/tii/.ros/log/5a749afe-f5ea-11ec-9e5f-586c255f72c4/rmf_obelix-spawn_rmf_obelix-11*.log
[ INFO] [1656329071.774317700, 875.948000000]: Lidar laser plugin ready, 32 lasers
gzserver: symbol lookup error: /home/tii/gbplanner2_ws/devel/lib/librotors_gazebo_multirotor_base_plugin.so: undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev
[gazebo-8] process has died [pid 46123, exit code 127, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver --verbose -e ode /home/tii/gbplanner2_ws/src/exploration/gbplanner_ros/planner_gazebo_sim/worlds/darpa_subt_final_circuit.world __name:=gazebo __log:=/home/tii/.ros/log/5a749afe-f5ea-11ec-9e5f-586c255f72c4/gazebo-8.log].
log file: /home/tii/.ros/log/5a749afe-f5ea-11ec-9e5f-586c255f72c4/gazebo-8*.log
[gbplanner_ui-16] process has finished cleanly
log file: /home/tii/.ros/log/5a749afe-f5ea-11ec-9e5f-586c255f72c4/gbplanner_ui-16*.log
reem90 commented 2 years ago

@MihirDharmadhikari @mihirk284 Any update?

reem90 commented 2 years ago

@MihirDharmadhikari There was a conflict with another plugin from a different package. I kept only this package in my workspace, and I was able to run the flying robot simulation.