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This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
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Fuel model error: Tunnel Tile 6 Rails #824

Closed peci1 closed 3 years ago

peci1 commented 3 years ago

Model https://app.ignitionrobotics.org/OpenRobotics/fuel/models/Tunnel%20Tile%206%20Rails has broken metadata.

The metadata.pbtxt contains the following part:

dependencies {
  uri: "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6"
  uri: "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rail Tunnel Elevation"
}

And ign fuel download looks like:

$ ign fuel download -v4 --url "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 Rails/0"
Downloading model: 
  Name: tunnel tile 6 rails
  Owner: openrobotics
  Server:
    URL: https://fuel.ignitionrobotics.org
    Version: 1.0

[Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails/1/metadata.pbtxt]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails/1/model.config]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails/1/model.sdf]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails/1/thumbnails/]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails/1/thumbnails/1.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails/1/thumbnails/2.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails/1/thumbnails/3.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails/1/thumbnails/4.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 6 rails/1/thumbnails/5.jpg]
[libprotobuf ERROR google/protobuf/text_format.cc:298] Error parsing text-format ignition.msgs.FuelMetadata: 23:6: Non-repeated field "uri" is specified multiple times.
Download succeeded.

Looking at the definition of the metadata message, it seems to me the metadata might really be wrong as it contains only one dependencies section with two url fields.

There's also comment

https://github.com/ignitionrobotics/ign-msgs/blob/521b861bc7cfe8276a38ad58409f1b6307a88e17/proto/ignition/msgs/fuel_metadata.proto#L144

which is obviously out of date now.

iche033 commented 3 years ago

The metadata.pbtxt files for the Tunnel Tile * Rails models have been fixed on Fuel

peci1 commented 3 years ago

Thank you, I verified these models are now fixed.

Shouldn't Fuel somehow check validity of these files before allowing upload? It also seems the design of the metadata message definition is a bit cumbersome and I can imagine the way it was in Tunnel Tile 6 Rails before would be actually nicer to use and easier to understand. But I'm not sure how big a problem it would be to change the definition. Maybe keeping the Dependencies field repeated, but making also the uri field repeated, would keep backwards compatibility? (at least with the text-based messages used on Fuel).

I'm having one more fuel-related issue, though.

The dependency "Tunnel Tile 1" reports tip version number 3 on https://app.ignitionrobotics.org/OpenRobotics/fuel/models/Tunnel%20Tile%201 . However, there is a mysterious version 6 that somehow sneaked in my cache around a year ago (that would be the time I started playing around with the SubT sim). How could that happen? Did the versioning of "Tunnel Tile 1" get reset at some point?

peci1@cras-11:~ $ ls -l "/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1"
drwxrwxr-x   5 peci1 peci1  4096 Mar 17 00:00 3/

peci1@cras-11:~ $ ls -l "/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/Tunnel Tile 1"
drwxrwxr-x   5 peci1 peci1  4096 Mar 21  2020 6/

I'll resolve the issue by deleting all these outdated models, but still, shouldn't the versioning be non-decreasing?

Presence of this outdated version brings me this kind of problems when running Ignition Gazebo with a world that contains Tunnel Tile 1:

[Msg] Downloading model [https://fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/scripts/]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/scripts/tunnel_tile.material]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Chainlink_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Chainlink_Albedo.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Chainlink_Metalness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Chainlink_Metalness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Chainlink_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Chainlink_Normal.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Chainlink_Roughness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Chainlink_Roughness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConcreteRubble_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConcreteRubble_Albedo.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConcreteRubble_Metalness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConcreteRubble_Metalness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConcreteRubble_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConcreteRubble_Normal.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConcreteRubble_Roughness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConcreteRubble_Roughness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConstrainedWall_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/ConstrainedWall_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Entrance.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Ground_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Ground_Albedo.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Ground_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Ground_Normal.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Ground_Roughness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Ground_Roughness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Albedo.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Emissive.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Emissive.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Metalness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Metalness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Normal.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Roughness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Light_Roughness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RockPile_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RockPile_Albedo.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RockPile_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RockPile_Normal.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RockPile_Roughness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RockPile_Roughness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Rocks_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Rocks_Albedo.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Rocks_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Rocks_Normal.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Rocks_Roughness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Rocks_Roughness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RoughWood_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RoughWood_Albedo.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RoughWood_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RoughWood_Normal.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RoughWood_Roughness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/RoughWood_Roughness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Shaft_Tunnel.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Tunnel_Shaft.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Walls_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Walls_Albedo.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Walls_Metalness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Walls_Metalness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Walls_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Walls_Normal.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Walls_Roughness.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Walls_Roughness.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Wood_Albedo.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Wood_Albedo.png]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/Wood_Normal.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/materials/textures/rails.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/meshes/]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/meshes/tunnel_tile_1.dae]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/metadata.pbtxt]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/model.config]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/model.sdf]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/thumbnails/]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/thumbnails/1.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/thumbnails/2.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/thumbnails/3.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/thumbnails/4.jpg]
[Dbg] [Zip.cc:175] Created file [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/3/thumbnails/5.jpg]
[Err] [SystemPaths.cc:364] URI [https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1/tip/files/materials/textures/Light_Normal.jpg] resolved to path [/home/peci1/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/tunnel tile 1/6/materials/textures/Light_Normal.jpg] but the path does not exist
[Err] [SystemPaths.cc:444] Could not resolve file [https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1/tip/files/materials/textures/Light_Normal.jpg]
[Err] [SceneManager.cc:559] Unable to find file [https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1/tip/files/materials/textures/Light_Normal.jpg]
iche033 commented 3 years ago

Shouldn't Fuel somehow check validity of these files before allowing upload?

I think that could be a nice-to-have feature on fuel, i.e. a simple XML / protobuf validation check. I don't know if that should prevent the upload though - maybe an optional feature that users can turn on.

but making also the uri field repeated

Makes sense. I don't know if there is any plan on adding other fields in dependencies or not. If so, it would probably be better to stay as as a repeated field.

Did the versioning of "Tunnel Tile 1" get reset at some point?

It seems like that someone may have removed and re-added this model by accident. We should make sure that we don't do that for released models.

nkoenig commented 3 years ago

I've created an issue to track file validation, and I'll close this issue.