search

robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
9 stars 2 forks source link

Unit tests crashing #174

Closed xela-95 closed 2 months ago

xela-95 commented 3 months ago

In #173 @LoreMoretti tried to run from his machine the unit tests, getting a lot of errors:

(robsub_gzsim) lomoretti@IITICUBLAP226:~/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins (master)$ ctest
Test project /home/lomoretti/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins
      Start  1: ForceTorqueTest
 1/13 Test  #1: ForceTorqueTest .............................***Failed    3.09 sec
      Start  2: ImuTest
 2/13 Test  #2: ImuTest .....................................   Passed    7.17 sec
      Start  3: LaserTest
 3/13 Test  #3: LaserTest ...................................***Failed    3.39 sec
      Start  4: CameraTest
 4/13 Test  #4: CameraTest ..................................***Failed    8.19 sec
      Start  5: ClockTest
 5/13 Test  #5: ClockTest ...................................***Exception: SegFault  4.11 sec
      Start  6: ControlBoardTorqueControlTest
 6/13 Test  #6: ControlBoardTorqueControlTest ...............***Exception: SegFault  2.10 sec
      Start  7: ControlBoardPositionDirectControlTest
 7/13 Test  #7: ControlBoardPositionDirectControlTest .......***Failed    0.46 sec
      Start  8: ControlBoardPositionControlTest
 8/13 Test  #8: ControlBoardPositionControlTest .............***Exception: SegFault  0.47 sec
      Start  9: ControlBoardCommonsTest
 9/13 Test  #9: ControlBoardCommonsTest .....................***Exception: SegFault  0.61 sec
      Start 10: ControlBoardOnMultipleGazeboInstancesTest
10/13 Test #10: ControlBoardOnMultipleGazeboInstancesTest ...***Exception: SegFault  0.52 sec
      Start 11: ConfigurationParsingFromFileTest
11/13 Test #11: ConfigurationParsingFromFileTest ............   Passed    0.48 sec
      Start 12: ConfigurationParsingFromStringTest
12/13 Test #12: ConfigurationParsingFromStringTest ..........   Passed    0.42 sec
      Start 13: ConcurrentInstancesTest
13/13 Test #13: ConcurrentInstancesTest .....................   Passed    3.46 sec

31% tests passed, 9 tests failed out of 13

Total Test time (real) =  34.47 sec

The following tests FAILED:
      1 - ForceTorqueTest (Failed)
      3 - LaserTest (Failed)
      4 - CameraTest (Failed)
      5 - ClockTest (SEGFAULT)
      6 - ControlBoardTorqueControlTest (SEGFAULT)
      7 - ControlBoardPositionDirectControlTest (Failed)
      8 - ControlBoardPositionControlTest (SEGFAULT)
      9 - ControlBoardCommonsTest (SEGFAULT)
     10 - ControlBoardOnMultipleGazeboInstancesTest (SEGFAULT)
Errors while running CTest
Output from these tests are in: /home/lomoretti/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins/Testing/Temporary/LastTest.log
Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely.
xela-95 commented 3 months ago

Here are the logs from @LoreMoretti

Details ``` (robsub_gzsim) lomoretti@IITICUBLAP226:~/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins (master)$ ctest --rerun-failed --output-on-failure Test project /home/lomoretti/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins Start 1: ForceTorqueTest 1/9 Test #1: ForceTorqueTest .............................***Failed 3.08 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ForceTorqueTest [ RUN ] ForceTorqueTest.PluginTest [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/forcetorque/model.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ForceTorque] for entity [1] [Msg] Create service on [/world/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/wheel_slip] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName forcetorque_plugin_device) (jointName joint_12) (sensorName force_torque_sensor) [INFO] gz-sim-yarp-forcetorque-system: configuration of sensor force_torque_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_forcetorque| Parameters are (device gazebo_forcetorque) (jointName joint_12) (sensorName force_torque_sensor) (sensorScopedName "model/force_torque_model/joint/joint_12/sensor/force_torque_sensor") (sensor_name force_torque_sensor) (yarpDeviceName forcetorque_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_forcetorque| Created device . See C++ class ForceTorqueDriver for documentation. [INFO] Registered YARP device with instance name: model/force_torque_model/forcetorque_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ForceTorque] for entity [8] [ERROR] File not found: ../../../tests/forcetorque/forcetorque_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/forcetorque/forcetorque_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 16 [DEBUG] |yarp.dev.PolyDriver|multipleanalogsensorsclient| Parameters are (device multipleanalogsensorsclient) (local "/ForceTorqueTest") (remote "/forcetorque") (timeout 1.0) [ERROR] |yarp.os.Port|/ForceTorqueTest/rpc:i| Port /ForceTorqueTest/rpc:i failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.device.multipleanalogsensorsclient| Failure to open the port /ForceTorqueTest/rpc:i. [DEBUG] |yarp.device.multipleanalogsensorsclient| Close complete [ERROR] |yarp.dev.PolyDriver|multipleanalogsensorsclient| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/forcetorque/ForceTorqueTest.cc:39: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (1) [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (Exiting postupdate worker thread (0) 02) [ FAILED ] ForceTorqueTest.PluginTest (3036 ms) [----------] 1 test from ForceTorqueTest (3036 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (3036 ms total) [ PASSED ] 0 tests. [ FAILED ] 1 test, listed below: [ FAILED ] ForceTorqueTest.PluginTest 1 FAILED TEST Start 3: LaserTest 2/9 Test #3: LaserTest ...................................***Failed 3.36 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from LaserTest [ RUN ] LaserTest.PluginTest [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/laser/model.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] [Msg] Create service on [/world/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/wheel_slip] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] [Dbg] [Sensors.cc:527] Configuring Sensors system [Dbg] [Sensors.cc:446] SensorsPrivate::Run [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [ERROR] File not found: ../../../tests/laser/laser.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/laser/laser.ini [ERROR] gz-sim-yarp-laser-system : missing configuration [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Laser] for entity [8] [ERROR] File not found: ../../../tests/laser/laser_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/laser/laser_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene] [Dbg] [Sensors.cc:294] [Dbg] [Sensors.cc:700] [Dbg] [Sensors.cc:294] Rendering Thread initialized Initialization neededInitialization needed [Dbg] [Lidar.cc:133] Laser scans for [laser_model::link_1::laser_sensor] advertised on [world/sensors/model/laser_model/link/link_1/sensor/laser_sensor/scan] [Dbg] [GpuLidarSensor.cc:163] Lidar points for [laser_model::link_1::laser_sensor] advertised on [world/sensors/model/laser_model/link/link_1/sensor/laser_sensor/scan/points] [DEBUG] |yarp.dev.PolyDriver|Rangefinder2DClient| Parameters are (device Rangefinder2DClient) (local "/LaserTest") (remote "/laser") [ERROR] |yarp.os.Port|/LaserTest| Port /LaserTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.device.Rangefinder2DClient| open() error could not open port /LaserTest, check network [ERROR] |yarp.dev.PolyDriver|Rangefinder2DClient| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/laser/LaserTest.cc:38: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (0)[Dbg] [SimulationRunner.cc:574] )Exiting postupdate worker thread (2) Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (1) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] LaserTest.PluginTest (3311 ms) [----------] 1 test from LaserTest (3311 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (3311 ms total) [ PASSED ] 0 tests. [ FAILED ] 1 test, listed below: [ FAILED ] LaserTest.PluginTest 1 FAILED TEST Start 4: CameraTest 3/9 Test #4: CameraTest ..................................***Failed 7.66 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 4 tests from 1 test suite. [----------] Global test environment set-up. [----------] 4 tests from CameraTest [ RUN ] CameraTest.PluginTest [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] [Msg] Create service on [/world/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/wheel_slip] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] [Dbg] [Sensors.cc:527] Configuring Sensors system [Dbg] [Sensors.cc:446] SensorsPrivate::Run [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) [INFO] gz-sim-yarp-camera-system: configuration of sensor camera_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (yarpDeviceName camera_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device . See C++ class CameraDriver for documentation. [INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8] [ERROR] File not found: ../../../tests/camera/camera_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/camera/camera_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene][Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend. 1;36m [Dbg] [Sensors.cc:700] Rendering Thread initialized [Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image] [Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info] [Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation. [DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera") [ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open /CameraTest port. [INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera [ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:39: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (Exiting postupdate worker thread (1) 2) [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (0) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] CameraTest.PluginTest (3421 ms) [ RUN ] CameraTest.HorizontalFlip [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model_hor_flip.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] [Msg] Create service on [/world/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/wheel_slip] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] [Dbg] [Sensors.cc:527] Configuring Sensors system [Dbg] [Sensors.cc:446] SensorsPrivate::Run [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) (horizontal_flip) [INFO] gz-sim-yarp-camera-system: configuration of sensor camera_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (horizontal_flip) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (yarpDeviceName camera_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device . See C++ class CameraDriver for documentation. [INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8] [ERROR] File not found: ../../../tests/camera/camera_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/camera/camera_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene][Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend. 1;36m [Dbg] [Sensors.cc:294] Rendering Thread initialized Initialization needed [Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image] [Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info] [Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation. [DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera") [ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open /CameraTest port. [INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera [ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:107: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (2Exiting postupdate worker thread (2Exiting postupdate worker thread (1) 2Exiting postupdate worker thread () Exiting postupdate worker thread (0) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] CameraTest.HorizontalFlip (1408 ms) [ RUN ] CameraTest.VerticalFlip [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model_ver_flip.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] [Msg] Create service on [/world/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/wheel_slip] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] [Dbg] [Sensors.cc:527] Configuring Sensors system [Dbg] [Sensors.cc:446] SensorsPrivate::Run [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) (vertical_flip) [INFO] gz-sim-yarp-camera-system: configuration of sensor camera_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (vertical_flip) (yarpDeviceName camera_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device . See C++ class CameraDriver for documentation. [INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8] [ERROR] File not found: ../../../tests/camera/camera_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/camera/camera_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene][Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend. 1;36m [Dbg] [Sensors.cc:700] Rendering Thread initialized Initialization needed [Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image] [Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info] [Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation. [DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera") [ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open /CameraTest port. [INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera [ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:175: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (2) Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] 0) 1) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] CameraTest.VerticalFlip (1417 ms) [ RUN ] CameraTest.HorizontalVerticalFlip [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/model_hor_ver_flip.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] [Msg] Create service on [/world/sensors/create] [Msg] Remove service on [/world/sensors/remove] [Msg] Pose service on [/world/sensors/set_pose] [Msg] Pose service on [/world/sensors/set_pose_vector] [Msg] Light configuration service on [/world/sensors/light_config] [Msg] Physics service on [/world/sensors/set_physics] [Msg] SphericalCoordinates service on [/world/sensors/set_spherical_coordinates] [Msg] Enable collision service on [/world/sensors/enable_collision] [Msg] Disable collision service on [/world/sensors/disable_collision] [Msg] Material service on [/world/sensors/visual_config] [Msg] Material service on [/world/sensors/wheel_slip] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] [Dbg] [Sensors.cc:527] Configuring Sensors system [Dbg] [Sensors.cc:446] SensorsPrivate::Run [Dbg] [SystemManager.cc:74] Loaded system [[Dbg] [Sensors.cc:422] gz::sim::systems::SensorsSensorsPrivate::RenderThread started ] for entity [] for entity [1] [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [INFO] Yarp configuration string loaded: (yarpDeviceName camera_plugin_device) (parentLinkName link_1) (sensorName camera_sensor) (display_timestamp) (display_time_box) (horizontal_flip) (vertical_flip) [INFO] gz-sim-yarp-camera-system: configuration of sensor camera_sensor loaded [DEBUG] |yarp.dev.PolyDriver|gazebo_camera| Parameters are (device gazebo_camera) (display_time_box) (display_timestamp) (horizontal_flip) (parentLinkName link_1) (sensorName camera_sensor) (sensorScopedName "model/camera_model/link/link_1/sensor/camera_sensor") (sensor_name camera_sensor) (vertical_flip) (yarpDeviceName camera_plugin_device) [INFO] |yarp.dev.PolyDriver|gazebo_camera| Created device . See C++ class CameraDriver for documentation. [INFO] gz-sim-yarp-camera-system: Registered YARP device with instance name: model/camera_model/camera_plugin_device [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Camera] for entity [8] [ERROR] File not found: ../../../tests/camera/camera_nws.xml [ERROR] Error while finding yarpRobotInterfaceConfigurationFile: ../../../tests/camera/camera_nws.xml [ERROR] gz-sim-yarp-robotinterface-system :yarpRobotInterfaceConfigurationFile not found [ERROR] gz-sim-yarp-robotinterface-system : Error loading robotinterface configuration file [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::RobotInterface] for entity [8] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/sensors/control], [/world/sensors/control/state] and [/world/sensors/playback/control] [Msg] Serving GUI information on [/world/sensors/gui/info] [Msg] World [sensors] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/sensors/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) [Dbg] [Sensors.cc:700] Initialization needed [Dbg] [Sensors.cc:274] Initializing render context [Msg] Loading plugin [gz-rendering-ogre2] [Msg] Serving scene information on [/world/sensors/scene/info] [Msg] Serving graph information on [/world/sensors/scene/graph] [Msg] Serving full state on [/world/sensors/state] [Msg] Serving full state (async) on [/world/sensors/state_async] [Msg] Publishing scene information on [/world/sensors/scene/info] [Msg] Publishing entity deletions on [/world/sensors/scene/deletion] [Msg] Publishing state changes on [/world/sensors/state] [Msg] Publishing pose messages on [/world/sensors/pose/info] [Msg] Publishing dynamic pose messages on [/world/sensors/dynamic_pose/info] [Dbg] [RenderUtil.cc:2710] Create scene [scene][Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend. 1;36m [Dbg] [Sensors.cc:700] Initialization needed Rendering Thread initialized[Dbg] [CameraSensor.cc:458] Camera images for [camera_model::link_1::camera_sensor] advertised on [world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/image] [Dbg] [CameraSensor.cc:786] Camera info for [camera_model::link_1::camera_sensor] advertised on [/world/sensors/model/camera_model/link/link_1/sensor/camera_sensor/camera_info] [Dbg] [CameraSensor.cc:583] Enabling camera sensor: 'camera_model::link_1::camera_sensor' data generation. [DEBUG] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Parameters are (device frameGrabber_nwc_yarp) (local "/CameraTest") (remote "/camera") [ERROR] |yarp.os.Port|/CameraTest| Port /CameraTest failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to open /CameraTest port. [INFO] |yarp.devices.frameGrabber_nwc_yarp| Connecting /CameraTest to /camera [ERROR] |yarp.devices.frameGrabber_nwc_yarp| Failed to connect /CameraTest to /camera [ERROR] |yarp.dev.PolyDriver|frameGrabber_nwc_yarp| Driver was found but could not open /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/camera/CameraTest.cc:243: Failure Value of: driver.open(option) Actual: false Expected: true [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [Dbg] [Sensors.cc:440] SensorsPrivate::RenderThread stopped [Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (2))[Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread ([Dbg] [SimulationRunner.cc:574] Exiting postupdate worker thread (1) Exiting postupdate worker thread (0) [Dbg] [Sensors.cc:454] SensorsPrivate::Stop [ FAILED ] CameraTest.HorizontalVerticalFlip (1369 ms) [----------] 4 tests from CameraTest (7616 ms total) [----------] Global test environment tear-down [==========] 4 tests from 1 test suite ran. (7616 ms total) [ PASSED ] 0 tests. [ FAILED ] 4 tests, listed below: [ FAILED ] CameraTest.PluginTest [ FAILED ] CameraTest.HorizontalFlip [ FAILED ] CameraTest.VerticalFlip [ FAILED ] CameraTest.HorizontalVerticalFlip 4 FAILED TESTS Start 5: ClockTest 4/9 Test #5: ClockTest ...................................***Exception: SegFault 4.10 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ClockTest [ RUN ] ClockTest.GetSimulationTimeFromClockPort [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/clock/model.sdf]. [Msg] Serving entity system service on [/entity/system/add] [Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1] [Msg] Create service on [/world/World/create] [Msg] Remove service on [/world/World/remove] [Msg] Pose service on [/world/World/set_pose] [Msg] Pose service on [/world/World/set_pose_vector] [Msg] Light configuration service on [/world/World/light_config] [Msg] Physics service on [/world/World/set_physics] [Msg] SphericalCoordinates service on [/world/World/set_spherical_coordinates] [Msg] Enable collision service on [/world/World/enable_collision] [Msg] Disable collision service on [/world/World/disable_collision] [Msg] Material service on [/world/World/visual_config] [Msg] Material service on [/world/World/wheel_slip] [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1] [Dbg] [Sensors.cc:527] Configuring Sensors system [Dbg] [Sensors.cc:446] SensorsPrivate::Run [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1] [Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started [Dbg] [Sensors.cc:262] Waiting for init [Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1] [ERROR] |yarp.os.Port|/clock| Port /clock failed to activate at tcp://127.0.0.1:10002/ (address conflict) [ERROR] Failed to open port /clock [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::Clock] for entity [1] [Msg] Loaded level [3] [Msg] Serving world controls on [/world/World/control], [/world/World/control/state] and [/world/World/playback/control] [Msg] Serving GUI information on [/world/World/gui/info] [Msg] World [World] initialized with [1ms] physics profile. [Msg] Serving world SDF generation service on [/world/World/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [ERROR] |yarp.os.Port|/tmp_in| Port /tmp_in failed to activate at tcp://127.0.0.1:10003/ (address conflict) [Wrn] [TestFixture.cc:208] Fixture has not been finalized, any functions you attemptedto hook into will not be run. It is recommended to call Finalize()before accessing the server. [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only Start 6: ControlBoardTorqueControlTest 5/9 Test #6: ControlBoardTorqueControlTest ...............***Exception: SegFault 2.10 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ControlBoardTorqueControl/ControlBoardTorqueControlFixture [ RUN ] ControlBoardTorqueControl/ControlBoardTorqueControlFixture.CompareJointTorqueWithExpectedValueUsingPendulumModel/0 [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration ========== Test Parameter: pendulum_joint_relative_to_child_link.sdf ========== configuring test [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardTorqueControlTest.cc:67: Failure Expected equality of these values: deviceKeys.size() Which is: 0 1 [Wrn] [SimulationRunner.cc:725] Found additional publishers on /stats, using namespaced stats topic only [Wrn] [SimulationRunner.cc:759] Found additional publishers on /clock, using namespaced clock topic only [Dbg] [SimulationRunner.cc:727] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:732] tcp://172.20.10.5:34809, gz.msgs.WorldStatistics [Dbg] [SimulationRunner.cc:761] Publishers [Address, Message Type]: [Dbg] [SimulationRunner.cc:766] tcp://172.20.10.5:34809, gz.msgs.Clock [Dbg] [SimulationRunner.cc:547] Creating PostUpdate worker threads: 4 [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (0) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (1) [Dbg] [SimulationRunner.cc:558] Creating postupdate worker thread (2) ========== Test PreUpdate Start 7: ControlBoardPositionDirectControlTest 6/9 Test #7: ControlBoardPositionDirectControlTest .......***Failed 0.40 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ControlBoardPositionDirectFixture [ RUN ] ControlBoardPositionDirectFixture.CheckPositionTrackingUsingPendulumModel [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration ========== Configuring test [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found Number of Devices: 0 unknown file: Failure C++ exception with description "vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)" thrown in the test body. [ FAILED ] ControlBoardPositionDirectFixture.CheckPositionTrackingUsingPendulumModel (363 ms) [----------] 1 test from ControlBoardPositionDirectFixture (363 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test suite ran. (363 ms total) [ PASSED ] 0 tests. [ FAILED ] 1 test, listed below: [ FAILED ] ControlBoardPositionDirectFixture.CheckPositionTrackingUsingPendulumModel 1 FAILED TEST Start 8: ControlBoardPositionControlTest 7/9 Test #8: ControlBoardPositionControlTest .............***Exception: SegFault 0.40 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ControlBoardPositionFixture [ RUN ] ControlBoardPositionFixture.CheckPositionTrackingWithTrajectoryGenerationUsingPendulumModel [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration Configuring test [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardPositionControlTest.cc:72: Failure Expected equality of these values: deviceKeys.size() Which is: 0 1 Start 9: ControlBoardCommonsTest 8/9 Test #9: ControlBoardCommonsTest .....................***Exception: SegFault 0.52 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 4 tests from 1 test suite. [----------] Global test environment set-up. [----------] 4 tests from ControlBoardCommonsTest [ RUN ] ControlBoardCommonsTest.ConfigureControlBoardWithoutInitialCondition [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::Physics] - Requested library name: [gz-sim-physics-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::UserCommands] - Requested library name: [gz-sim-user-commands-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::SceneBroadcaster] - Requested library name: [gz-sim-scene-broadcaster-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so] [ OK ] ControlBoardCommonsTest.ConfigureControlBoardWithoutInitialCondition (277 ms) [ RUN ] ControlBoardCommonsTest.ConfigureControlBoardWithInitialCondition [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/pendulum_with_initial_configuration.sdf]. [Msg] Serving entity system service on [/entity/system/add] [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::Physics] - Requested library name: [gz-sim-physics-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::UserCommands] - Requested library name: [gz-sim-user-commands-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::SceneBroadcaster] - Requested library name: [gz-sim-scene-broadcaster-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so] [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] [Msg] Loaded level [3] [Msg] No systems loaded from SDF, loading defaults [Dbg] [ServerConfig.cc:1016] Loaded (3) plugins from file [/home/lomoretti/.gz/sim/8/server.config] [Msg] Serving world controls on [/world/tutorial_controlboard/control], [/world/tutorial_controlboard/control/state] and [/world/tutorial_controlboard/playback/control] [Msg] Serving GUI information on [/world/tutorial_controlboard/gui/info] [Msg] World [tutorial_controlboard] initialized with [default_physics] physics profile. [Msg] Serving world SDF generation service on [/world/tutorial_controlboard/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [ OK ] ControlBoardCommonsTest.ConfigureControlBoardWithInitialCondition (55 ms) [ RUN ] ControlBoardCommonsTest.ConfigureMultipleControlBoards [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/coupled_pendulum_two_controlboards.sdf]. [Msg] Serving entity system service on [/entity/system/add] [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard2.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard2.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::Physics] - Requested library name: [gz-sim-physics-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::UserCommands] - Requested library name: [gz-sim-user-commands-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::SceneBroadcaster] - Requested library name: [gz-sim-scene-broadcaster-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so] [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] [Msg] Loaded level [3] [Msg] No systems loaded from SDF, loading defaults [Dbg] [ServerConfig.cc:1016] Loaded (3) plugins from file [/home/lomoretti/.gz/sim/8/server.config] [Msg] Serving world controls on [/world/tutorial_controlboard/control], [/world/tutorial_controlboard/control/state] and [/world/tutorial_controlboard/playback/control] [Msg] Serving GUI information on [/world/tutorial_controlboard/gui/info] [Msg] World [tutorial_controlboard] initialized with [default_physics] physics profile. [Msg] Serving world SDF generation service on [/world/tutorial_controlboard/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found Number of registered control board devices: 0 /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardCommonsTest.cc:102: Failure Expected equality of these values: controlBoards.size() Which is: 0 2 [ FAILED ] ControlBoardCommonsTest.ConfigureMultipleControlBoards (52 ms) [ RUN ] ControlBoardCommonsTest.JointPositionLimitsForMultipleJoints [Msg] Loading SDF world file[/home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/coupled_pendulum_two_joints_single_controlboard.sdf]. [Msg] Serving entity system service on [/entity/system/add] [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_joints.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_joints.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::Physics] - Requested library name: [gz-sim-physics-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-physics-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::UserCommands] - Requested library name: [gz-sim-user-commands-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-user-commands-system.so] [Err] [SystemLoader.cc:107] Failed to load system plugin: (Reason: No plugins detected in library) - Requested plugin name: [gz::sim::systems::SceneBroadcaster] - Requested library name: [gz-sim-scene-broadcaster-system] - Resolved library path: [/home/lomoretti/mambaforge/envs/robsub_gzsim/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so] [Dbg] [SystemManager.cc:74] Loaded system [gzyarp::ControlBoard] for entity [8] [Msg] Loaded level [3] [Msg] No systems loaded from SDF, loading defaults [Dbg] [ServerConfig.cc:1016] Loaded (3) plugins from file [/home/lomoretti/.gz/sim/8/server.config] [Msg] Serving world controls on [/world/tutorial_controlboard/control], [/world/tutorial_controlboard/control/state] and [/world/tutorial_controlboard/playback/control] [Msg] Serving GUI information on [/world/tutorial_controlboard/gui/info] [Msg] World [tutorial_controlboard] initialized with [default_physics] physics profile. [Msg] Serving world SDF generation service on [/world/tutorial_controlboard/generate_world_sdf] [Msg] Serving world names on [/gazebo/worlds] [Msg] Resource path add service on [/gazebo/resource_paths/add]. [Msg] Resource path get service on [/gazebo/resource_paths/get]. [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve]. [Msg] Resource paths published on [/gazebo/resource_paths]. [Msg] Server control service on [/server_control]. [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardCommonsTest.cc:124: Failure Value of: deviceIds.size() == 1 Actual: false Expected: true Start 10: ControlBoardOnMultipleGazeboInstancesTest 9/9 Test #10: ControlBoardOnMultipleGazeboInstancesTest ...***Exception: SegFault 0.62 sec Running main() from /home/conda/feedstock_root/build_artifacts/gtest-split_1722457657850/work/googletest/src/gtest_main.cc [==========] Running 1 test from 1 test suite. [----------] Global test environment set-up. [----------] 1 test from ControlBoardOnMultipleGazeboInstances [ RUN ] ControlBoardOnMultipleGazeboInstances.StartConcurrentGazeboInstances [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [ERROR] File not found: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini [ERROR] Error while finding Yarp configuration file: ../../../tests/controlboard/conf/gazebo_controlboard_multiple_instances.ini [ERROR] gz-sim-yarp-controlboard-system : missing configuration [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardOnMultipleGazeboInstancesTest.cc:77: Failure Value of: deviceIds.size() == 1 Actual: false Expected: true [ERROR] Error in gzyarp::DeviceRegistry::getDevicesKeys: gz instance not found /home/lomoretti/robotology/robotology-superbuild/src/gz-sim-yarp-plugins/tests/controlboard/ControlBoardOnMultipleGazeboInstancesTest.cc:107: Failure Value of: deviceIds.size() == 1 Actual: false Expected: true 0% tests passed, 9 tests failed out of 9 Total Test time (real) = 22.26 sec The following tests FAILED: 1 - ForceTorqueTest (Failed) 3 - LaserTest (Failed) 4 - CameraTest (Failed) 5 - ClockTest (SEGFAULT) 6 - ControlBoardTorqueControlTest (SEGFAULT) 7 - ControlBoardPositionDirectControlTest (Failed) 8 - ControlBoardPositionControlTest (SEGFAULT) 9 - ControlBoardCommonsTest (SEGFAULT) 10 - ControlBoardOnMultipleGazeboInstancesTest (SEGFAULT) Errors while running CTest ```
traversaro commented 3 months ago

After:

I do not have anymore any crash locally (in WSL I need to set export LIBGL_ALWAYS_SOFTWARE=1 to avoid segfaults on exit, but that is a WSL-specific thing) or in CI, so @LoreMoretti when you have time feel free to try this in an updated version of gz-sim-yarp-plugins to check if the problems have been solved.

LoreMoretti commented 2 months ago

I have run the tests again:

(robsub_gzsim) lomoretti@IITICUBLAP226:~/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins (master)$ ctest
Test project /home/lomoretti/robotology/robotology-superbuild/build/src/gz-sim-yarp-plugins
      Start  1: ForceTorqueTest
 1/24 Test  #1: ForceTorqueTest ...........................................................   Passed    4.25 sec
      Start  2: ImuTest
 2/24 Test  #2: ImuTest ...................................................................   Passed    7.21 sec
      Start  3: LaserTest
 3/24 Test  #3: LaserTest .................................................................   Passed    4.61 sec
      Start  4: CameraTest
 4/24 Test  #4: CameraTest ................................................................   Passed   12.20 sec
      Start  5: ClockTest
 5/24 Test  #5: ClockTest .................................................................   Passed    3.13 sec
      Start  6: ControlBoardTorqueControlTest
 6/24 Test  #6: ControlBoardTorqueControlTest .............................................   Passed    3.12 sec
      Start  7: ControlBoardPositionDirectControlTest
 7/24 Test  #7: ControlBoardPositionDirectControlTest .....................................   Passed    7.10 sec
      Start  8: ControlBoardPositionControlTest
 8/24 Test  #8: ControlBoardPositionControlTest ...........................................   Passed   12.13 sec
      Start  9: ControlBoardCommonsTest
 9/24 Test  #9: ControlBoardCommonsTest ...................................................   Passed    0.55 sec
      Start 10: ControlBoardOnMultipleGazeboInstancesTest
10/24 Test #10: ControlBoardOnMultipleGazeboInstancesTest .................................   Passed   13.13 sec
      Start 11: ConfigurationParsingFromFileTest
11/24 Test #11: ConfigurationParsingFromFileTest ..........................................   Passed    0.44 sec
      Start 12: ConfigurationParsingFromStringTest
12/24 Test #12: ConfigurationParsingFromStringTest ........................................   Passed    0.39 sec
      Start 13: ConcurrentInstancesTest
13/24 Test #13: ConcurrentInstancesTest ...................................................   Passed    3.21 sec
      Start 14: gz-sim-yarp-plugins-check-model-tutorial-basestate
14/24 Test #14: gz-sim-yarp-plugins-check-model-tutorial-basestate ........................   Passed    2.16 sec
      Start 15: gz-sim-yarp-plugins-check-model-tutorial-camera-model
15/24 Test #15: gz-sim-yarp-plugins-check-model-tutorial-camera-model .....................   Passed    2.36 sec
      Start 16: gz-sim-yarp-plugins-check-model-tutorial-camera-model-horizontal-flip
16/24 Test #16: gz-sim-yarp-plugins-check-model-tutorial-camera-model-horizontal-flip .....   Passed    2.37 sec
      Start 17: gz-sim-yarp-plugins-check-model-tutorial-camera-model-vertical-flip
17/24 Test #17: gz-sim-yarp-plugins-check-model-tutorial-camera-model-vertical-flip .......   Passed    2.35 sec
      Start 18: gz-sim-yarp-plugins-check-model-tutorial-laser
18/24 Test #18: gz-sim-yarp-plugins-check-model-tutorial-laser ............................   Passed    2.35 sec
      Start 19: gz-sim-yarp-plugins-check-model-tutorial-clock
19/24 Test #19: gz-sim-yarp-plugins-check-model-tutorial-clock ............................   Passed    2.08 sec
      Start 20: gz-sim-yarp-plugins-check-model-tutorial-forcetorque-model-one-sensor
20/24 Test #20: gz-sim-yarp-plugins-check-model-tutorial-forcetorque-model-one-sensor .....   Passed    2.16 sec
      Start 21: gz-sim-yarp-plugins-check-model-tutorial-forcetorque-model-two-sensors
21/24 Test #21: gz-sim-yarp-plugins-check-model-tutorial-forcetorque-model-two-sensors ....   Passed    2.25 sec
      Start 22: gz-sim-yarp-plugins-check-model-tutorial-single-pendulum
22/24 Test #22: gz-sim-yarp-plugins-check-model-tutorial-single-pendulum ..................   Passed    2.13 sec
      Start 23: gz-sim-yarp-plugins-check-model-fails-as-expected-with-wrong-world-file
23/24 Test #23: gz-sim-yarp-plugins-check-model-fails-as-expected-with-wrong-world-file ...   Passed    2.11 sec
      Start 24: gz-sim-yarp-plugins-check-model-fails-as-expected-with-no-options
24/24 Test #24: gz-sim-yarp-plugins-check-model-fails-as-expected-with-no-options .........   Passed    0.08 sec

100% tests passed, 0 tests failed out of 24

Total Test time (real) =  93.89 sec

They are all successful.

xela-95 commented 2 months ago

Thank you @LoreMoretti ! We can close this now.