Error during launching the Office World

kurshakuz commented 4 years ago

Hi,

after following the installation instructions, I've been able to launch the Terminal Airport launch file along with spawning and sending commands to robots, but I wasn't able to launch the Office World. After running both

$ source ~/rmf_demos_ws/install/setup.bash
$ ros2 launch demos office.launch.xml

I got the following errors:

[gzclient-8] [Msg] Waiting for master.
[gzclient-8] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-8] [Msg] Publicized address: 192.168.8.100
[gzclient-8] [Err] [Node.cc:105] No namespace found
[ERROR] [gzserver-7]: process has died [pid 28191, exit code -11, cmd 'gzserver --verbose -s libgazebo_ros_factory.so -s libgazebo_ros_init.so /home/shyngys/rmf_demos_ws/install/rmf_demo_maps/share/rmf_demo_maps/maps/office/office.world'].
[gzclient-8] [Err] [TransportIface.cc:396] Unable to connect to master.
[gzclient-8] [Err] [GLWidget.cc:881] Unable to connect to a running Gazebo master.

I have tried launching gzserver --verbose -s libgazebo_ros_factory.so -s libgazebo_ros_init.so /home/shyngys/rmf_demos_ws/install/rmf_demo_maps/share/rmf_demo_maps/maps/office/office.world and have found that

No namespace found

leads to the following parts:

[Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack]
[Err] [SystemPaths.cc:412] File or path does not exist[""]
....
Error Code: 11 Msg: Unable to find uri[model://OfficeChairBlack]
Error Code: 11 Msg: Unable to find uri[model://OfficeChairBlack]
....

I've tried to dig deeper and have found that variable "model_path" was linking to a path that does not contain models folder inside. As I have found out rmf_demo_assets package was actually linking to the /rmf_demos_ws/install/rmf_demo_assets path which contains /share/rmf_demo_assets/ folders which one actually has the desired /models/ folder. I understand that this package may possibly was confused with~/rmf_demos_ws/src/rmf/rmf_demos/rmf_demo_assets.

Finally, updating office.launch.xml file with the following makes everything work just fine:

<let name="model_path" value="$(find-pkg-share rmf_demo_maps)/maps/office/models:$(find-pkg-share rmf_demo_assets)/share/rmf_demo_assets/models:/usr/share/gazebo-9/models" />

kurshakuz commented 4 years ago

I will make a corresponding PR solving this issue, but if you think that the problem is actually related to the packages with the same namings, just neglect it.

aaronchongth commented 4 years ago

the substitution tag $(find-pkg-share ...) should by default lead to the path ws/install/PACKAGE/share/PACKAGE. I have just finished a new build and have not been able to reproduce your issue.

Could you provide the full gist or log when you launch the world?

kurshakuz commented 4 years ago

This what I exactly get: $ ros2 launch demos office.launch.xml

[INFO] [launch]: All log files can be found below /home/shyngys/.ros/log/2020-03-30-12-29-06-762681-shyngys-HP-ENVY-15-Notebook-PC-12884
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rmf_traffic_schedule-1]: process started with pid [12895]
[INFO] [building_map_server-2]: process started with pid [12896]
[INFO] [rviz2-3]: process started with pid [12897]
[INFO] [fleet_state_visualizer-4]: process started with pid [12898]
[INFO] [rviz2-5]: process started with pid [12899]
[INFO] [door_supervisor-6]: process started with pid [12900]
[INFO] [gzserver-7]: process started with pid [12901]
[INFO] [gzclient-8]: process started with pid [12902]
[INFO] [magni_fleet_adapter-9]: process started with pid [12903]
[INFO] [magni_state_aggregator-10]: process started with pid [12904]
[INFO] [dispenser-11]: process started with pid [12905]
[INFO] [dispenser-12]: process started with pid [12906]
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Launching fleet adapter for [magni]
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [linear_velocity] set to: 0.400000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [angular_velocity] set to: 2.200000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [linear_acceleration] set to: 3.000000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [angular_acceleration] set to: 5.000000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [profile_radius] set to: 0.300000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [reversible] set to: 1
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [delay_threshold] set to: 15.000000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [retry_wait] set to: 10.000000
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [planning_timeout] set to: 5.000000
[magni_fleet_adapter-9] Adding waypoint [0] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [3] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [5] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [7] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [10] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [13] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [14] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [15] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [16] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [17] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [18] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [19] as a parking spot
[magni_fleet_adapter-9] Adding waypoint [23] as a parking spot
[magni_fleet_adapter-9] Named waypoints:
[magni_fleet_adapter-9]  -- [supplies]
[magni_fleet_adapter-9]  -- [magni2_charger]
[magni_fleet_adapter-9]  -- [coe]
[magni_fleet_adapter-9]  -- [magni1_charger]
[magni_fleet_adapter-9]  -- [hardware_2]
[magni_fleet_adapter-9]  -- [cubicle_2]
[magni_fleet_adapter-9]  -- [pantry]
[magni_fleet_adapter-9]  -- [station_1]
[magni_fleet_adapter-9]  -- [lounge]
[magni_fleet_adapter-9]  -- [cubicle_1]
[magni_fleet_adapter-9]  -- [hardware_1]
[magni_fleet_adapter-9]  -- [station_2]
[magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [discovery_timeout] set to: 60.000000
[magni_fleet_adapter-9] Starting [magni]
[gzclient-8] Gazebo multi-robot simulator, version 9.0.0
[gzclient-8] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-8] Released under the Apache 2 License.
[gzclient-8] http://gazebosim.org
[gzclient-8] 
[gzserver-7] Gazebo multi-robot simulator, version 9.0.0
[gzserver-7] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-7] Released under the Apache 2 License.
[gzserver-7] http://gazebosim.org
[gzserver-7] 
[gzclient-8] [Msg] Waiting for master.
[gzclient-8] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-8] [Msg] Publicized address: 192.168.8.100
[gzclient-8] [Err] [Node.cc:105] No namespace found
[gzclient-8] [Err] [Node.cc:105] No namespace found
[gzclient-8] [Err] [Connection.cc:546] Connection[3] Closed during Read
[gzclient-8] [Err] [TransportIface.cc:375] Unable to read from master
[gzclient-8] [Err] [GLWidget.cc:881] Unable to connect to a running Gazebo master.
[ERROR] [gzserver-7]: process has died [pid 12901, exit code -11, cmd 'gzserver --verbose -s libgazebo_ros_factory.so -s libgazebo_ros_init.so /home/shyngys/rmf_demos_ws/install/rmf_demo_maps/share/rmf_demo_maps/maps/office/office.world'].
[gzclient-8] [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/world/user_camera/pose, deleting message. This warning is printed only once.
[gzclient-8] [Err] [REST.cc:205] Error in REST request
[gzclient-8] 
[gzclient-8] libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'

Additionally,

$ ros2 pkg prefix rmf_demo_assets ~/rmf_demos_ws/install/rmf_demo_assets Possibly $(find-pkg-share ...) is not working correctly somehow.

aaronchongth commented 4 years ago

I just did a fresh build again, without any issues, here is my gist.

Is OfficeChairBlack the only model you had issues with? Are you by any chance not on the master branch of rmf_demos? Some models might be missing on certain branches due to active development

cnboonhan commented 4 years ago

Airdropping my two cents:

The "no namespace found" error caught my eye. I think I have encountered something like that before. It might be worth a shot removing all traces of ros-gazebo-pkgs (ROS1 and ROS2) and Gazebo,

sudo apt remove ros-[your ROS1 and ROS2 distros]-gazebo-ros-pkgs sudo apt remove gazebo*

and reinstalling only Gazebo and ROS2 gazebo-ros-pkgs according to the rmf_demos setup: https://github.com/osrf/rmf_demos#setup

Hopefully this helps?

KaeYan commented 4 years ago

I have the issue too, it says no namespace found. After updating the office.launch.xml with the following, it solves the namespace issue.

<let name="model_path" value="$(find-pkg-share rmf_demo_maps)/maps/office/models:$(find-pkg-share rmf_demo_assets)/share/rmf_demo_assets/models:/usr/share/gazebo-9/models" />

However, the models of chairs and coke etc. cannot be loaded as shown below:

kaeyan@kaeyan1804:~/rmf_demos_ws$ ros2 launch demos office.launch.xml [INFO] [launch]: All log files can be found below /home/kaeyan/.ros/log/2020-04-02-15-56-08-885021-kaeyan1804-8851 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rmf_traffic_schedule-1]: process started with pid [8862] [INFO] [building_map_server-2]: process started with pid [8863] [INFO] [rviz2-3]: process started with pid [8864] [INFO] [fleet_state_visualizer-4]: process started with pid [8865] [INFO] [rviz2-5]: process started with pid [8866] [INFO] [door_supervisor-6]: process started with pid [8867] [INFO] [gzserver-7]: process started with pid [8869] [INFO] [gzclient-8]: process started with pid [8876] [INFO] [magni_fleet_adapter-9]: process started with pid [8891] [INFO] [magni_state_aggregator-10]: process started with pid [8899] [INFO] [dispenser-11]: process started with pid [8901] [INFO] [dispenser-12]: process started with pid [8906] [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Launching fleet adapter for [magni] [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [linear_velocity] set to: 0.400000 [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [angular_velocity] set to: 2.200000 [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [linear_acceleration] set to: 3.000000 [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [angular_acceleration] set to: 5.000000 [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [profile_radius] set to: 0.300000 [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [reversible] set to: 1 [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [delay_threshold] set to: 15.000000 [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [retry_wait] set to: 10.000000 [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [planning_timeout] set to: 5.000000 [magni_fleet_adapter-9] Adding waypoint [0] as a parking spot [magni_fleet_adapter-9] Adding waypoint [3] as a parking spot [magni_fleet_adapter-9] Adding waypoint [5] as a parking spot [magni_fleet_adapter-9] Adding waypoint [7] as a parking spot [magni_fleet_adapter-9] Adding waypoint [10] as a parking spot [magni_fleet_adapter-9] Adding waypoint [13] as a parking spot [magni_fleet_adapter-9] Adding waypoint [14] as a parking spot [magni_fleet_adapter-9] Adding waypoint [15] as a parking spot [magni_fleet_adapter-9] Adding waypoint [16] as a parking spot [magni_fleet_adapter-9] Adding waypoint [17] as a parking spot [magni_fleet_adapter-9] Adding waypoint [18] as a parking spot [magni_fleet_adapter-9] Adding waypoint [19] as a parking spot [magni_fleet_adapter-9] Adding waypoint [23] as a parking spot [magni_fleet_adapter-9] Named waypoints: [magni_fleet_adapter-9] -- [supplies] [magni_fleet_adapter-9] -- [magni2_charger] [magni_fleet_adapter-9] -- [coe] [magni_fleet_adapter-9] -- [magni1_charger] [magni_fleet_adapter-9] -- [hardware_2] [magni_fleet_adapter-9] -- [cubicle_2] [magni_fleet_adapter-9] -- [pantry] [magni_fleet_adapter-9] -- [station_1] [magni_fleet_adapter-9] -- [lounge] [magni_fleet_adapter-9] -- [cubicle_1] [magni_fleet_adapter-9] -- [hardware_1] [magni_fleet_adapter-9] -- [station_2] [magni_fleet_adapter-9] [INFO] [magni_fleet_adapter]: Parameter [discovery_timeout] set to: 60.000000 [magni_fleet_adapter-9] Starting [magni] [gzserver-7] Gazebo multi-robot simulator, version 9.0.0 [gzserver-7] Copyright (C) 2012 Open Source Robotics Foundation. [gzserver-7] Released under the Apache 2 License. [gzserver-7] http://gazebosim.org [gzserver-7] [gzclient-8] Gazebo multi-robot simulator, version 9.0.0 [gzclient-8] Copyright (C) 2012 Open Source Robotics Foundation. [gzclient-8] Released under the Apache 2 License. [gzclient-8] http://gazebosim.org [gzclient-8] [gzserver-7] [Msg] Waiting for master. [gzserver-7] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-7] [Msg] Publicized address: 192.168.21.197 [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://Fridge] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://SmallCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://SmallCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://SmallCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://SmallCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://SmallCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://SmallCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://SmallCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://SmallCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://Drawer] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://BigCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://BigCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://BigCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://BigCubicle] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://AdjTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlue] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairBlack] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://OfficeChairGrey] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://Drawer] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://Drawer] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://Drawer] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://Coke] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://ConfTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://RecTable] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://WhiteCabinet] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://SquareShelf] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://Magni] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] [Wrn] [ModelDatabase.cc:340] Getting models from[/]. This may take a few seconds. [gzserver-7] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available. [gzserver-7] [Err] [ModelDatabase.cc:414] Unable to download model[model://Magni] [gzserver-7] [Err] [SystemPaths.cc:412] File or path does not exist[""] [gzserver-7] Error Code: 11 Msg: Unable to find uri[model://OfficeChairBlack]

Yadunund commented 4 years ago

@KaeYan does the solution proposed by @cnboonhan94 above solve the problem?

kurshakuz commented 4 years ago

@Yadunund I have tried both following the solution and additionally downloading Gazebo assets beforehand, but the issue similar to @KaeYan still persists.

@aaronchongth , nope, the OfficeChairBlack is not the only model missing, but all objects in rmf_demo_assets package. Yes, I am on master branch

aaronchongth commented 4 years ago

Can you verify that you can find the models in ~/rmf_demos_ws/install/rmf_demo_assets/share/rmf_demo_assets/models? For example OfficeChairBlack would refer to ~/rmf_demos_ws/install/rmf_demo_assets/share/rmf_demo_assets/models/OfficeChairBlack.

also, whenever you attempt a fresh build, please ensure to delete the directories ~/rmf_demos_ws/install, ~/rmf_demos_ws/build, before starting the build again,

cd ~/rmf_demo_ws
rm -rf build install log

source /opt/ros/eloquent/setup.bash
colcon build

colcon will not update or install your new build unless package source files have changed (non-binaries)

KaeYan commented 4 years ago

@KaeYan does the solution proposed by @cnboonhan94 above solve the problem?

Yes, I tried it. Issue still persists

KaeYan commented 4 years ago

Can you verify that you can find the models in ~/rmf_demos_ws/install/rmf_demo_assets/share/rmf_demo_assets/models? For example OfficeChairBlack would refer to ~/rmf_demos_ws/install/rmf_demo_assets/share/rmf_demo_assets/models/OfficeChairBlack.

also, whenever you attempt a fresh build, please ensure to delete the directories ~/rmf_demos_ws/install, ~/rmf_demos_ws/build, before starting the build again,
cd ~/rmf_demo_ws
rm -rf build install log

source /opt/ros/eloquent/setup.bash
colcon build
colcon will not update or install your new build unless package source files have changed (non-binaries)

Yes, the models are in the folder you mentioned, however, still have errors launching the office.launch.xml

cnboonhan commented 4 years ago

hopefully everything ROS2 Eloquent related is updated?

sudo apt update && sudo apt upgrade

It looks to me like find-pkg-share resolves incorrectly to empty string, giving the FilePath does not exist error. Could this be an outdated ros2/launch? What happens if we replace

$(find-pkg-share rmf_demo_maps)/maps/office/models:$(find-pkg-share rmf_demo_assets)/share/rmf_demo_assets/models

with the corresponding full path of rmf_demo_maps and rmf_demo_assets in the install folder?
For example,

/[your home path]/rmf_demos_ws/install/rmf_demo_maps/share/rmf_demo_maps/maps/office/models:/[your home path]/rmf_demos_ws/install/rmf_demo_assets/share/rmf_demo_assets/models

Or perhaps a clean install of ROS2 ?

FloodShao commented 4 years ago

Hi, I have been experiencing the same issue of launching the office world. I think there might be some issue with the gazebo version? Experiencing the same "no namespace found" issue, I noticed that the gzserver crashes after throwing some error, for example: [gzserver-7] terminate called after throwing an instance of 'std::bad_alloc' [gzserver-7] what(): std::bad_alloc

I noticed that all the crashes occurred in the gazebo version 9.0.0, which is the latest version you can install from apt-get. But I check the log provided by Aaron, and I found he is using gazebo version 9.12.0.

Is there any way that we can upgrade the gazebo version to 9.12.0? I think there may be some bugs in version 9.0.0.

FloodShao commented 4 years ago

Found part of the solution here. The office world is loaded successfully. But I haven't check the delivery request.

You need to install gazebo manually with version above 9.12.0 http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=9.0. Following the instructions in this link, and you can install version 9.13.0.
Proceed the ROS prerequisites. The command rosdep install in the repo README.md
Launch the launch file, and you might get an error gazebo: symbol lookup error: /usr/lib/x86_64-linux-gnu/libgazebo_common.so.9:
Install the missing package sudo apt upgrade libignition-math2
Relaunch your launch file and you may successfully load the office world.

Briancbn commented 4 years ago

@FloodShao You solution works for me! I guess the README gazebo link needs to be updated. 9.0.0 definitely doesn't work.

Yadunund commented 4 years ago

Thanks for tracking down this notorious problem @FloodShao. We will update the Setup instructions accordingly.

osrf / rmf_demos

Error during launching the Office World #50