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Official URDF and SDF models of the iCub humanoid robot.
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Error while loading iCubGazeboV3_fixed #58

Closed GiulioRomualdi closed 4 years ago

GiulioRomualdi commented 4 years ago

When I tried to load iCubGazeboV3_fixed an error is thrown by gazebo 11. Consequentially the robot is not fixed in the world

Here the error:

[Err] [SdfFrameSemantics.cc:91] Error Code 23 Msg: FrameAttachedToGraph error, Non-LINK vertex with name [fixed_base] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
[Err] [SdfFrameSemantics.cc:91] Error Code 23 Msg: Graph has __model__ scope but sink vertex named [fixed_base] does not have FrameType LINK OR MODEL when starting from vertex with name [fixed_base].
[Err] [SdfFrameSemantics.cc:91] Error Code 26 Msg: PoseRelativeToGraph error, Vertex with name [fixed_base] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
[Err] [SdfFrameSemantics.cc:91] Error Code 26 Msg: PoseRelativeToGraph frame with name [fixed_base] is disconnected; its source vertex has name [fixed_base], but its source name should be __model__.
[Err] [Model.cc:99] Error Code 23 Msg: FrameAttachedToGraph error, Non-LINK vertex with name [fixed_base] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
[Err] [Model.cc:99] Error Code 23 Msg: Graph has __model__ scope but sink vertex named [fixed_base] does not have FrameType LINK OR MODEL when starting from vertex with name [fixed_base].
[Err] [Model.cc:99] Error Code 26 Msg: PoseRelativeToGraph error, Vertex with name [fixed_base] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
[Err] [Model.cc:99] Error Code 26 Msg: PoseRelativeToGraph frame with name [fixed_base] is disconnected; its source vertex has name [fixed_base], but its source name should be __model__.
[INFO]No ROS group found in config file ... skipping ROS initialization. 
yarp: Port /icubSim/left_leg/analog:o/rpc:i active at tcp://192.168.1.3:10004/
[INFO]AnalogServer : no ROS initialization required 
[INFO]created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO]created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
yarp: Port /icubSim/left_leg/analog:o active at tcp://192.168.1.3:10005/
[INFO]No ROS group found in config file ... skipping ROS initialization. 
yarp: Port /icubSim/left_foot_front/analog:o/rpc:i active at tcp://192.168.1.3:10006/
[INFO]AnalogServer : no ROS initialization required 
[INFO]created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO]created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
yarp: Port /icubSim/left_foot_front/analog:o active at tcp://192.168.1.3:10007/
[INFO]No ROS group found in config file ... skipping ROS initialization. 
yarp: Port /icubSim/left_foot_rear/analog:o/rpc:i active at tcp://192.168.1.3:10008/
[INFO]AnalogServer : no ROS initialization required 
[INFO]created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO]created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
yarp: Port /icubSim/left_foot_rear/analog:o active at tcp://192.168.1.3:10009/
[INFO]No ROS group found in config file ... skipping ROS initialization. 
yarp: Port /icubSim/right_leg/analog:o/rpc:i active at tcp://192.168.1.3:10010/
[INFO]AnalogServer : no ROS initialization required 
[INFO]created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO]created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
yarp: Port /icubSim/right_leg/analog:o active at tcp://192.168.1.3:10011/
[INFO]No ROS group found in config file ... skipping ROS initialization. 
yarp: Port /icubSim/right_foot_front/analog:o/rpc:i active at tcp://192.168.1.3:10012/
[INFO]AnalogServer : no ROS initialization required 
[INFO]created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO]created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
yarp: Port /icubSim/right_foot_front/analog:o active at tcp://192.168.1.3:10013/
[INFO]No ROS group found in config file ... skipping ROS initialization. 
yarp: Port /icubSim/right_foot_rear/analog:o/rpc:i active at tcp://192.168.1.3:10014/
[INFO]AnalogServer : no ROS initialization required 
[INFO]created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO]created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
yarp: Port /icubSim/right_foot_rear/analog:o active at tcp://192.168.1.3:10015/
[INFO]No ROS group found in config file ... skipping ROS initialization. 
yarp: Port /icubSim/left_arm/analog:o/rpc:i active at tcp://192.168.1.3:10016/
[INFO]AnalogServer : no ROS initialization required 
[INFO]created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO]created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
yarp: Port /icubSim/left_arm/analog:o active at tcp://192.168.1.3:10017/
[Err] [Joint.cc:297] EXCEPTION: Couldn't Find Child Link[iCub::base_link]

[Err] [Model.cc:247] LoadJoint Failed
[INFO]No ROS group found in config file ... skipping ROS initialization. 
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
yarp: Port /icubSim/right_arm/analog:o/rpc:i active at tcp://192.168.1.3:10018/
[INFO]AnalogServer : no ROS initialization required 
[INFO]created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO]created device <gazebo_forcetorque>. See C++ class GazeboYarpForceTorqueDriver for documentation.
yarp: Port /icubSim/right_arm/analog:o active at tcp://192.168.1.3:10019/
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[Wrn] [msgs.cc:1841] Conversion of sensor type[force_torque] not supported.
[INFO]/icubSim/torso : no ROS initialization required 
[INFO]/icubSim/torso  initting YARP initialization 
yarp: Port /icubSim/torso/rpc:i active at tcp://192.168.1.3:10020/
yarp: Port /icubSim/torso/command:i active at tcp://192.168.1.3:10021/
yarp: Port /icubSim/torso/state:o active at tcp://192.168.1.3:10022/
yarp: Port /icubSim/torso/stateExt:o active at tcp://192.168.1.3:10023/
[INFO]created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG]found:  iCub::torso_yaw torso_yaw 
[DEBUG]found:  iCub::torso_pitch torso_pitch 
[DEBUG]found:  iCub::torso_roll torso_roll 
[DEBUG]done 
[WARNING]No positionToleranceLinear value found in ini file, default one will be used! 
[WARNING]No positionToleranceRevolute value found in ini file, default one will be used! 
[WARNING]No max torques value found in ini file, default one will be used! 
[DEBUG]max_torques: [   2000.000000  2000.000000     2000.000000  ] 
[INFO]min_stiffness param found! 
[INFO]max_stiffness param found! 
[INFO]min_damping param found! 
[INFO]max_damping param found! 
[DEBUG]min_stiffness: [   0.000000   0.000000    0.000000  ] 
[DEBUG]max_stiffness: [   1000.000000    1000.000000     1000.000000  ] 
[DEBUG]min_damping: [   0.000000     0.000000    0.000000  ] 
[DEBUG]max_damping: [   100.000000   100.000000  100.000000  ] 
[WARNING]VELOCITY_CONTROL: 'velocityControlImplementationType' param missing.  Using the default value of 'direct_velocity_pid', but the parameter will be compulsory gazebo-yarp-plugins 4.
[DEBUG]Initializing Trajectory Generator with current values 
[INFO]created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[INFO]/icubSim/left_leg : no ROS initialization required 
[INFO]/icubSim/left_leg  initting YARP initialization 
yarp: Port /icubSim/left_leg/rpc:i active at tcp://192.168.1.3:10024/
yarp: Port /icubSim/left_leg/command:i active at tcp://192.168.1.3:10025/
yarp: Port /icubSim/left_leg/state:o active at tcp://192.168.1.3:10026/
yarp: Port /icubSim/left_leg/stateExt:o active at tcp://192.168.1.3:10027/
[INFO]created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG]found:  iCub::l_hip_pitch l_hip_pitch 
[DEBUG]found:  iCub::l_hip_roll l_hip_roll 
[DEBUG]found:  iCub::l_hip_yaw l_hip_yaw 
[DEBUG]found:  iCub::l_knee l_knee 
[DEBUG]found:  iCub::l_ankle_pitch l_ankle_pitch 
[DEBUG]found:  iCub::l_ankle_roll l_ankle_roll 
[DEBUG]done 
[WARNING]No positionToleranceLinear value found in ini file, default one will be used! 
[WARNING]No positionToleranceRevolute value found in ini file, default one will be used! 
[WARNING]No max torques value found in ini file, default one will be used! 
[DEBUG]max_torques: [   2000.000000  2000.000000     2000.000000     2000.000000     2000.000000     2000.000000  ] 
[INFO]min_stiffness param found! 
[INFO]max_stiffness param found! 
[INFO]min_damping param found! 
[INFO]max_damping param found! 
[DEBUG]min_stiffness: [   0.000000   0.000000    0.000000    0.000000    0.000000    0.000000  ] 
[DEBUG]max_stiffness: [   1000.000000    1000.000000     1000.000000     1000.000000     1000.000000     1000.000000  ] 
[DEBUG]min_damping: [   0.000000     0.000000    0.000000    0.000000    0.000000    0.000000  ] 
[DEBUG]max_damping: [   100.000000   100.000000  100.000000  100.000000  100.000000  100.000000  ] 
[WARNING]VELOCITY_CONTROL: 'velocityControlImplementationType' param missing.  Using the default value of 'direct_velocity_pid', but the parameter will be compulsory gazebo-yarp-plugins 4.
[DEBUG]Initializing Trajectory Generator with current values 
[INFO]created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[INFO]/icubSim/right_leg : no ROS initialization required 
[INFO]/icubSim/right_leg  initting YARP initialization 
yarp: Port /icubSim/right_leg/rpc:i active at tcp://192.168.1.3:10028/
yarp: Port /icubSim/right_leg/command:i active at tcp://192.168.1.3:10029/
yarp: Port /icubSim/right_leg/state:o active at tcp://192.168.1.3:10030/
yarp: Port /icubSim/right_leg/stateExt:o active at tcp://192.168.1.3:10031/
[INFO]created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG]found:  iCub::r_hip_pitch r_hip_pitch 
[DEBUG]found:  iCub::r_hip_roll r_hip_roll 
[DEBUG]found:  iCub::r_hip_yaw r_hip_yaw 
[DEBUG]found:  iCub::r_knee r_knee 
[DEBUG]found:  iCub::r_ankle_pitch r_ankle_pitch 
[DEBUG]found:  iCub::r_ankle_roll r_ankle_roll 
[DEBUG]done 
[WARNING]No positionToleranceLinear value found in ini file, default one will be used! 
[WARNING]No positionToleranceRevolute value found in ini file, default one will be used! 
[WARNING]No max torques value found in ini file, default one will be used! 
[DEBUG]max_torques: [   2000.000000  2000.000000     2000.000000     2000.000000     2000.000000     2000.000000  ] 
[INFO]min_stiffness param found! 
[INFO]max_stiffness param found! 
[INFO]min_damping param found! 
[INFO]max_damping param found! 
[DEBUG]min_stiffness: [   0.000000   0.000000    0.000000    0.000000    0.000000    0.000000  ] 
[DEBUG]max_stiffness: [   1000.000000    1000.000000     1000.000000     1000.000000     1000.000000     1000.000000  ] 
[DEBUG]min_damping: [   0.000000     0.000000    0.000000    0.000000    0.000000    0.000000  ] 
[DEBUG]max_damping: [   100.000000   100.000000  100.000000  100.000000  100.000000  100.000000  ] 
[WARNING]VELOCITY_CONTROL: 'velocityControlImplementationType' param missing.  Using the default value of 'direct_velocity_pid', but the parameter will be compulsory gazebo-yarp-plugins 4.
[DEBUG]Initializing Trajectory Generator with current values 
[INFO]created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[INFO]/icubSim/head : no ROS initialization required 
[INFO]/icubSim/head  initting YARP initialization 
yarp: Port /icubSim/head/rpc:i active at tcp://192.168.1.3:10032/
yarp: Port /icubSim/head/command:i active at tcp://192.168.1.3:10033/
yarp: Port /icubSim/head/state:o active at tcp://192.168.1.3:10034/
yarp: Port /icubSim/head/stateExt:o active at tcp://192.168.1.3:10035/
[INFO]created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG]found:  iCub::neck_pitch neck_pitch 
[DEBUG]found:  iCub::neck_roll neck_roll 
[DEBUG]found:  iCub::neck_yaw neck_yaw 
[DEBUG]done 
[WARNING]No positionToleranceLinear value found in ini file, default one will be used! 
[WARNING]No positionToleranceRevolute value found in ini file, default one will be used! 
[WARNING]No max torques value found in ini file, default one will be used! 
[DEBUG]max_torques: [   2000.000000  2000.000000     2000.000000  ] 
[INFO]min_stiffness param found! 
[INFO]max_stiffness param found! 
[INFO]min_damping param found! 
[INFO]max_damping param found! 
[DEBUG]min_stiffness: [   0.000000   0.000000    0.000000  ] 
[DEBUG]max_stiffness: [   1000.000000    1000.000000     1000.000000  ] 
[DEBUG]min_damping: [   0.000000     0.000000    0.000000  ] 
[DEBUG]max_damping: [   100.000000   100.000000  100.000000  ] 
[WARNING]VELOCITY_CONTROL: 'velocityControlImplementationType' param missing.  Using the default value of 'direct_velocity_pid', but the parameter will be compulsory gazebo-yarp-plugins 4.
[DEBUG]Initializing Trajectory Generator with current values 
[INFO]created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[INFO]/icubSim/left_arm : no ROS initialization required 
[INFO]/icubSim/left_arm  initting YARP initialization 
yarp: Port /icubSim/left_arm/rpc:i active at tcp://192.168.1.3:10036/
yarp: Port /icubSim/left_arm/command:i active at tcp://192.168.1.3:10037/
yarp: Port /icubSim/left_arm/state:o active at tcp://192.168.1.3:10038/
yarp: Port /icubSim/left_arm/stateExt:o active at tcp://192.168.1.3:10039/
[INFO]created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG]found:  iCub::l_shoulder_pitch l_shoulder_pitch 
[DEBUG]found:  iCub::l_shoulder_roll l_shoulder_roll 
[DEBUG]found:  iCub::l_shoulder_yaw l_shoulder_yaw 
[DEBUG]found:  iCub::l_elbow l_elbow 
[DEBUG]found:  iCub::l_wrist_prosup l_wrist_prosup 
[DEBUG]found:  iCub::l_wrist_pitch l_wrist_pitch 
[DEBUG]found:  iCub::l_wrist_yaw l_wrist_yaw 
[DEBUG]done 
[WARNING]No positionToleranceLinear value found in ini file, default one will be used! 
[WARNING]No positionToleranceRevolute value found in ini file, default one will be used! 
[WARNING]No max torques value found in ini file, default one will be used! 
[DEBUG]max_torques: [   2000.000000  2000.000000     2000.000000     2000.000000     2000.000000     2000.000000     2000.000000  ] 
[INFO]min_stiffness param found! 
[INFO]max_stiffness param found! 
[INFO]min_damping param found! 
[INFO]max_damping param found! 
[DEBUG]min_stiffness: [   0.000000   0.000000    0.000000    0.000000    0.000000    0.000000    0.000000  ] 
[DEBUG]max_stiffness: [   1000.000000    1000.000000     1000.000000     1000.000000     1000.000000     1000.000000     1000.000000  ] 
[DEBUG]min_damping: [   0.000000     0.000000    0.000000    0.000000    0.000000    0.000000    0.000000  ] 
[DEBUG]max_damping: [   100.000000   100.000000  100.000000  100.000000  100.000000  100.000000  100.000000  ] 
[WARNING]VELOCITY_CONTROL: 'velocityControlImplementationType' param missing.  Using the default value of 'direct_velocity_pid', but the parameter will be compulsory gazebo-yarp-plugins 4.
[DEBUG]INITIAL CONFIGURATION IS:  -0.520000  0.520000    0.000000    0.785000    0.000000    0.000000    0.000000 
[DEBUG]Initializing Trajectory Generator with default values 
[INFO]created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.
[INFO]/icubSim/right_arm : no ROS initialization required 
[INFO]/icubSim/right_arm  initting YARP initialization 
yarp: Port /icubSim/right_arm/rpc:i active at tcp://192.168.1.3:10040/
yarp: Port /icubSim/right_arm/command:i active at tcp://192.168.1.3:10041/
yarp: Port /icubSim/right_arm/state:o active at tcp://192.168.1.3:10042/
yarp: Port /icubSim/right_arm/stateExt:o active at tcp://192.168.1.3:10043/
[INFO]created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[DEBUG]found:  iCub::r_shoulder_pitch r_shoulder_pitch 
[DEBUG]found:  iCub::r_shoulder_roll r_shoulder_roll 
[DEBUG]found:  iCub::r_shoulder_yaw r_shoulder_yaw 
[DEBUG]found:  iCub::r_elbow r_elbow 
[DEBUG]found:  iCub::r_wrist_prosup r_wrist_prosup 
[DEBUG]found:  iCub::r_wrist_pitch r_wrist_pitch 
[DEBUG]found:  iCub::r_wrist_yaw r_wrist_yaw 
[DEBUG]done 
[WARNING]No positionToleranceLinear value found in ini file, default one will be used! 
[WARNING]No positionToleranceRevolute value found in ini file, default one will be used! 
[WARNING]No max torques value found in ini file, default one will be used! 
[DEBUG]max_torques: [   2000.000000  2000.000000     2000.000000     2000.000000     2000.000000     2000.000000     2000.000000  ] 
[INFO]min_stiffness param found! 
[INFO]max_stiffness param found! 
[INFO]min_damping param found! 
[INFO]max_damping param found! 
[DEBUG]min_stiffness: [   0.000000   0.000000    0.000000    0.000000    0.000000    0.000000    0.000000  ] 
[DEBUG]max_stiffness: [   1000.000000    1000.000000     1000.000000     1000.000000     1000.000000     1000.000000     1000.000000  ] 
[DEBUG]min_damping: [   0.000000     0.000000    0.000000    0.000000    0.000000    0.000000    0.000000  ] 
[DEBUG]max_damping: [   100.000000   100.000000  100.000000  100.000000  100.000000  100.000000  100.000000  ] 
[WARNING]VELOCITY_CONTROL: 'velocityControlImplementationType' param missing.  Using the default value of 'direct_velocity_pid', but the parameter will be compulsory gazebo-yarp-plugins 4.
[DEBUG]INITIAL CONFIGURATION IS:  -0.520000  0.520000    0.000000    0.785000    0.000000    0.000000    0.000000 
[DEBUG]Initializing Trajectory Generator with default values 
[INFO]created device <gazebo_controlboard>. See C++ class GazeboYarpControlBoardDriver for documentation.

Here the autogenerated sdf file of iCubGazeboV3_fixed

<?xml version='1.0'?>
<sdf version='1.7'>
  <model name="iCub_fixed">
    <include>
      <uri>model://iCubGazeboV3</uri>
      <pose>0.0 0 1.0 0 0 3.14</pose>
    </include>

    <joint name="fixed_base" type="fixed">
      <parent>world</parent>
      <child>iCub::base_link</child>
    </joint>
  </model>
</sdf>

@traversaro

GiulioRomualdi commented 4 years ago

Possible related issues: https://github.com/PX4/sitl_gazebo/issues/536 https://github.com/osrf/sdformat/pull/316

GiulioRomualdi commented 4 years ago

I've just noticed that the same error occurs also with iCubGazeboV2_5_fixed. Gazebo version 11.1.0

traversaro commented 4 years ago

It is a recent regression caused by a recent PR, we should fix it by changing base_link to root_link

traversaro commented 4 years ago

In particular, it is a regression of https://github.com/robotology/icub-model-generator/pull/142 . The fix is simply to change https://github.com/robotology/icub-models/blob/master/fixed_model.sdf.in#L11 to from iCub::base_link to iCub::root_link .

GiulioRomualdi commented 4 years ago

I'm opening a PR