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Virtual RobotX (VRX) resources.
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Gazebo black screen when running sandisland scene #95

Closed osrf-migration closed 5 years ago

osrf-migration commented 5 years ago

Original report (archived issue) by Rumman Waqar (Bitbucket: rumman05).

Every time I launch VRX scenes (on latest default) in gazebo I get this black screen instead (I have attached detailed logs). I tried to use a clean clone of the repo and the error persists. Other gazebo scenes (not from VRX repo) run fine. Removing the last two ground stations from sandisland.xacro seems to fix the problem.

Verbose launch gives the following output:

Verbose launch gives the following output:
process[gazebo-1]: started with pid [10793]
process[gazebo_gui-2]: started with pid [10798]
process[spawn_model-3]: started with pid [10803]
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Wrn] [GuiIface.cc:199] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin 
[ INFO] [1558974371.814151451]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1558974371.814979692]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.31.54.124
[ INFO] [1558974371.858777536]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1558974371.859882245]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.31.54.124
Warning [parser.cc:759] XML Attribute[xmlns:xacro] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:759] XML Attribute[xmlns:xacro] in element[world] not defined in SDF, ignoring.
[Err] [Node.cc:105] No namespace found
[Err] [Node.cc:105] No namespace found
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 0 attributes
[Msg] Found link name in SDF [gate_start_red::link]
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 0 attributes
[Msg] Found link name in SDF [gate_start_green::link]
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 0 attributes
[Msg] Found link name in SDF [gate_end_red::link]
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 0 attributes
[Msg] Found link name in SDF [gate_end_green::link]
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 0 attributes
[Msg] Found link name in SDF [base_link]
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 0 attributes
[Msg] Found link name in SDF [base_gate::red_buoy::link]
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 1 attributes
[Msg] Found link name in SDF [base_gate::white_buoy_left::link]
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 1 attributes
[Msg] Found link name in SDF [base_gate::white_buoy_right::link]
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 0 attributes
[Msg] Found link name in SDF [base_gate::green_buoy::link]
[Msg] Found that SDF has at least one link element, looking at each link...
[Msg] Looking for name attribute in link number 0, which has 1 attributes
[Msg] Found link name in SDF [circle_buoy::surmark46104::link]
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[Msg] Found SDF parameter bodyName as [base_link]
[Msg] USV Model Link Name = base_link
[Msg] Wind direction unit vector = -0.707107 0.707107 0
[Msg] Wind coefficient vector = 0.5 0.5 0.33
[Msg] Wind mean velocity = 0
[Msg] var wind gain constants = 100
[Msg] var wind time constants = 5
[Msg] Random seed value = 5
[ INFO] [1558974375.662122135, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1558974375.677576156, 0.037000000]: Physics dynamic reconfigure ready.
[spawn_model-3] process has finished cleanly
log file: /home/rumman/.ros/log/21667758-809c-11e9-b04d-1cbfce230397/spawn_model-3*.log

Here is the output of spawn_model-3.log

[rospy.client][INFO] 2019-05-27 10:22:06,307: init_node, name[/spawn_model], pid
[9570]
[xmlrpc][INFO] 2019-05-27 10:22:06,308: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2019-05-27 10:22:06,308: Started XML-RPC server [http://rumman-pc
:41477/]
[rospy.init][INFO] 2019-05-27 10:22:06,308: ROS Slave URI: [http://rumman-pc:414
77/]
[rospy.impl.masterslave][INFO] 2019-05-27 10:22:06,308: _ready: http://rumman-pc
:41477/
[rospy.registration][INFO] 2019-05-27 10:22:06,309: Registering with master node
 http://localhost:11311
[xmlrpc][INFO] 2019-05-27 10:22:06,309: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2019-05-27 10:22:06,408: registered with master
[rospy.rosout][INFO] 2019-05-27 10:22:06,409: initializing /rosout core topic
[rospy.rosout][INFO] 2019-05-27 10:22:06,411: connected to core topic /rosout
[rospy.simtime][INFO] 2019-05-27 10:22:06,412: initializing /clock core topic
[rospy.simtime][INFO] 2019-05-27 10:22:06,414: connected to core topic /clock
[rosout][INFO] 2019-05-27 10:22:06,416: Loading model XML from ros parameter rob
ot_description
[rosout][INFO] 2019-05-27 10:22:06,426: Waiting for service /gazebo/spawn_urdf_m
odel
[rospy.internal][INFO] 2019-05-27 10:22:06,641: topic[/rosout] adding connection
 to [/rosout], count 0
[rospy.internal][INFO] 2019-05-27 10:22:09,591: topic[/clock] adding connection to [http://rumman-pc:41083/], count 0
[rosout][INFO] 2019-05-27 10:22:09,739: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2019-05-27 10:22:09,955: Spawn status: SpawnModel: Successfully spawned entity
[rospy.core][INFO] 2019-05-27 10:22:09,956: signal_shutdown [atexit]
[rospy.internal][INFO] 2019-05-27 10:22:09,960: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2019-05-27 10:22:09,960: topic[/clock] removing connection to http://rumman-pc:41083/
[rospy.internal][WARNING] 2019-05-27 10:22:09,961: Unknown error initiating TCP/IP socket to rumman-pc:38609 (http://rumman-pc:41083/): Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 558, in connect
    self.read_header()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 653, in read_header
    self._validate_header(read_ros_handshake_header(sock, self.read_buff, self.protocol.buff_size))
AttributeError: 'NoneType' object has no attribute 'buff_size'

[rospy.topics][ERROR] 2019-05-27 10:22:09,961: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 326, in close
    c.close()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 841, in close
    self.socket.close()
AttributeError: 'NoneType' object has no attribute 'close'
osrf-migration commented 5 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

Can someone else try to reproduce the issue because it seems to work fine for me…

osrf-migration commented 5 years ago

Original comment by Tyler Lum (Bitbucket: tylerlum).

I have not been able to reproduce the issue, but I will look into it a bit more.

osrf-migration commented 5 years ago

Original comment by Brian Bingham (Bitbucket: brian_bingham).

I can’t reproduce it.

What version of Gazebo are you using? I am currently showing…

developer@976e88c2ec17:~/vrx_ws$ gazebo -v   
Gazebo multi-robot simulator, version 9.6.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Are you sure that you added the OSRF package repo and updated gazebo based on the directions in the setup tutorial? I’ve had problems in the past running with the default Gazebo 9 that comes with ROS.

I suspect that the key clue is in the Gazebo output…

[Err] [Node.cc:105] No namespace found
[Err] [Node.cc:105] No namespace found

See https://bitbucket.org/osrf/gazebo/issues/2053

osrf-migration commented 5 years ago

Original comment by Rumman Waqar (Bitbucket: rumman05).

I am running the default one that comes with ROS 

Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

I will try updating.

osrf-migration commented 5 years ago

Original comment by Rumman Waqar (Bitbucket: rumman05).

I updated Gazebo and the issue is gone.