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ros-simulation / gazebo_ros_pkgs

Wrappers, tools and additional API's for using ROS with Gazebo
http://wiki.ros.org/gazebo_ros_pkgs
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issue spawning urdf in gazebo (indigo) #218

Open baxelrod opened 10 years ago

baxelrod commented 10 years ago

I'm trying to spawn a robot in gazebo with

rosrun gazebo_ros spawn_model -unpause -urdf -param robot_description -model pr2 -ros_namespace /gazebo and I get 

[INFO] [WallTime: 1405475400.124282] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1405475400.157921] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1405475400.162621] [0.000000] Calling service /gazebo/spawn_urdf_model
Service call failed: service [/gazebo/spawn_urdf_model] responded with an error:

I'm running gazebo 2.2.2-6 and libsdfformat 1.4.11. The URDF (the pr2 urdf) seems fine according to rviz.

Edit: Just to be clear, if there's anything I can grab to help debug, I'd be happy to help.

scpeters commented 10 years ago

Which ubuntu distro are you using?

baxelrod commented 10 years ago

I'm using 14.04 On Jul 16, 2014 12:28 PM, "Steven Peters" notifications@github.com wrote:

Which ubuntu distro are you using?

— Reply to this email directly or view it on GitHub https://github.com/ros-simulation/gazebo_ros_pkgs/issues/218#issuecomment-49191403 .

jonbinney commented 10 years ago

Do you see any error output in the console where gazebo is running?

baxelrod commented 10 years ago

Ah! No I didn't.

Gazebo's console shows a segfault. 

Segmentation fault (core dumped)
[gazebo-1] process has died [pid 29435, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros
/gzserver worlds/empty.world __name:=gazebo __log:=/home/brian/.ros/log/d294ca2a-
0c89-11e4-a29b-0024d7d04718/gazebo-1.log].
log file: /home/brian/.ros/log/d294ca2a-0c89-11e4-a29b-0024d7d04718/gazebo-1*.log
scpeters commented 10 years ago

Do you think you could get a backtrace? I think the debug script will launch gzserver with gdb, (see empty_world.launch for an example).

baxelrod commented 10 years ago

Here's the backtrace. Quick note, I'm running the new 2.2.2-7 debs because they fixed https://bitbucket.org/osrf/gazebo/issue/1204/trusty-remote_endpoint-transport-endpoint, making life easier.

#0  0x00007ffff5e51014 in CreateCollisions(TiXmlElement*, boost::shared_ptr<urdf::Link const>) () from /usr/lib/x86_64-linux-gnu/libsdformat.so.1
#1  0x00007ffff5e52456 in CreateLink(TiXmlElement*, boost::shared_ptr<urdf::Link const>, sdf::Pose&) () from /usr/lib/x86_64-linux-gnu/libsdformat.so.1
#2  0x00007ffff5e52f57 in CreateSDF(TiXmlElement*, boost::shared_ptr<urdf::Link const>, sdf::Pose const&) () from /usr/lib/x86_64-linux-gnu/libsdformat.so.1
#3  0x00007ffff5e5a7f5 in sdf::URDF2SDF::InitModelString(std::string const&, bool) () from /usr/lib/x86_64-linux-gnu/libsdformat.so.1
#4  0x00007ffff5e35137 in sdf::readString(std::string const&, boost::shared_ptr<sdf::SDF>) () from /usr/lib/x86_64-linux-gnu/libsdformat.so.1
#5  0x00007ffff7397a64 in gazebo::physics::World::ProcessFactoryMsgs() () from /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.2
#6  0x00007ffff7399c22 in gazebo::physics::World::ProcessMessages() () from /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.2
#7  0x00007ffff739ae20 in gazebo::physics::World::Step() () from /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.2
#8  0x00007ffff739b315 in gazebo::physics::World::RunLoop() () from /usr/lib/x86_64-linux-gnu/libgazebo_physics.so.2
#9  0x00007ffff5be8a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#10 0x00007ffff6a1b182 in start_thread (arg=0x7fff5dbf8700) at pthread_create.c:312
#11 0x00007ffff4f8630d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

edit: I should mention that I'm running with libsdformat 1.4.11-1 from OSRF.

scpeters commented 10 years ago

I assume you have the pr2_description loaded already? Can you provide those commands as well so I can reproduce it?

baxelrod commented 10 years ago

Here's a rosparam dump. Github didn't want me uploading arbitrary file types, it has a png extension.

You can still rosparam load it.

params

I got it by running upload_pr2.launch in pr2_description on a modified set of pr2 packages that I'm trying to get running on indigo.

baxelrod commented 10 years ago

Did you have a chance to try replicating it?

ZdenekM commented 10 years ago

Btw, there are more issues with PR2: https://github.com/PR2/pr2_simulator/issues/106.

schultza commented 10 years ago

Something new here?

Got the same issue with Turtlebot

l0g1x commented 10 years ago

Im getting the same error except on osx. Even when i try to launch the plain empty husky model (which i compiled from source), i get the same error as the first comment

l0g1x commented 10 years ago

I have I believe the same problem and i get this error:

[spawn_model-5] process has died [pid 64944, exit code -11, cmd /Users/Krystian/edt/igvc_ws/install_isolated/lib/gazebo_ros/spawn_model -sdf -param robot_description -model rmc_simulation __name:=spawn_model __log:=/Users/Krystian/.ros/log/affa73dc-4a61-11e4-ba38-b8f6b11308b9/spawn_model-5.log]. log file: /Users/Krystian/.ros/log/affa73dc-4a61-11e4-ba38-b8f6b11308b9/spawn_model-5*.log

Im on Mac OSX 10.9.4 using home-brew python 2.7.8_1. The model will load if place it in the .gazebo/models folder, but i can't use the plugins i need

j-rivero commented 8 years ago

Can you please verify if this problems is still present in Jade or Indigo?

Zeta611 commented 8 years ago

@l0g1x, I'm on macOS 10.11.5, using homebrew python-2.7.12, with ROS Indigo / Gazebo 2.2.6. I am undergoing the same issue, but haven't found a way to solve it. Is the problem solved?

tutorgaming commented 8 years ago

@Zeta611 i'm facing the same problem as yours //cheers . Any suggestion on the solution ?

Zeta611 commented 8 years ago

@Tutorgaming I actually avoided the problem by dual booting ubuntu on my mac. It works like charm in ubuntu.