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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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Warning when iCubGazeboV2_5 spawn in gazebo #67

Open GiulioRomualdi opened 3 years ago

GiulioRomualdi commented 3 years ago

When I try to load the iCubGazeboV2_5 model the following warning is displayed. 

Warning [Model.cc:212] Non-unique names detected in XML children of model with name[iCub].

I don't know if it's correlated but now I'm not able to load anymore the basestate plugin.

I'm currently using the devel branch of the repo. The same happens also in master.

cc @traversaro and @prashanthr05

Note I don't have any problem with iCubGazeboV3. I'm also able to load the basestate plugin

Last but not least I'm using gazebo11

GiulioRomualdi commented 3 years ago

Is this related to this PR? https://github.com/robotology/icub-models/pull/59

traversaro commented 3 years ago

I don't know if it's correlated but now I'm not able to load anymore the basestate plugin.

basestate is not part of the models provided in this repo, I guess you have some sort of composite model, can you point to it? Thanks!

GiulioRomualdi commented 3 years ago

basestate is not part of the models provided in this repo, I guess you have some sort of composite model, can you point to it? Thanks!

Here you have: https://github.com/GiulioRomualdi/icub-gazebo/tree/feature/icub-base-est/icub_base_est

traversaro commented 3 years ago

This warning was added (if I am not wrong) in https://github.com/osrf/sdformat/commit/2266e4c8ec3cfa2849ca23defd8347b534d0a5fb , so it should be present just for Gazebo 11/SDFormat 9.

GiulioRomualdi commented 3 years ago

I don't know if may help but iCubGazeboV2_5_visuomanip seems working without the warning

traversaro commented 3 years ago

In https://github.com/robotology/icub-models/pull/40 we bumped the SDF version of iCub Gazebo models to be 1.7, just to avoid problems similar to the one mentioned in that issue I suggest to try to bump the SDF version in https://github.com/GiulioRomualdi/icub-gazebo/tree/feature/icub-base-est/icub_base_est to 1.7 .

GiulioRomualdi commented 3 years ago

In #40 we bumped the SDF version of iCub Gazebo models to be 1.7, just to avoid problems similar to the one mentioned in that issue I suggest to try to bump the SDF version in https://github.com/GiulioRomualdi/icub-gazebo/tree/feature/icub-base-est/icub_base_est to 1.7 .

Thanks @traversaro this fixes the sdf model

traversaro commented 3 years ago

In #40 we bumped the SDF version of iCub Gazebo models to be 1.7, just to avoid problems similar to the one mentioned in that issue I suggest to try to bump the SDF version in https://github.com/GiulioRomualdi/icub-gazebo/tree/feature/icub-base-est/icub_base_est to 1.7 .

Thanks @traversaro this fixes the sdf model

Then probably this is yet another corner case of different version of SDF nested one into the other, see https://github.com/osrf/gazebo/issues/2728 and https://github.com/osrf/gazebo/issues/2739 . At this point I think that supporting the case of mixing different SDF versions is not worth the effort, and if you do not have any reason for supporting Gazebo <= 10, I would go for requiring Gazebo 11 and just change all the SDF files to be 1.7 .