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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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[gazebo_ros_pkgs] crash when selecting spawned URDF model #870

Closed christian-rauch closed 5 years ago

christian-rauch commented 5 years ago

Gazebo 9 (on ROS melodic) crashes after a spawned URDF model is selected in the GUI.

Steps to reproduce:

  1. install ros-melodic-franka-description (this happens with other URDF files too)
  2. start Gazebo with an empty world: roslaunch gazebo_ros empty_world.launch
  3. create URDF: xacro /opt/ros/melodic/share/franka_description/robots/panda_arm_hand.urdf.xacro > panda.urdf
  4. spawn model: rosrun gazebo_ros spawn_model -file panda.urdf -urdf -model panda
  5. in GUI select World > Models > panda

After this, Gazebo crashes with:

gzclient: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.

This used to work with ROS kinetic / Gazebo 7

chapulina commented 5 years ago

What Gazebo version are you using? I think this has been fixed in the latest Gazebo 9 release by this PR.

christian-rauch commented 5 years ago

The latest released version of ros-melodic-gazebo-ros (2.8.4) and gazebo9 (9.0.0).

chapulina commented 5 years ago

You'll need to install Gazebo 9 from OSRF's packages as instructed here. The latest version is 9.6.0.

christian-rauch commented 5 years ago

Oh, I thought these are only for non-ROS usage. Why are the packages in the ROS repo not updated? Are the packages from this repo compatible with ROS?

chapulina commented 5 years ago

ROS uses the Gazebo version on Ubuntu by default, but as long as it is major version 9 it should work with Melodic and Crystal.

christian-rauch commented 5 years ago

Ups, I thought it's using the gazebo9 package from the ROS repo: http://packages.ros.org/ros/ubuntu/pool/main/g/gazebo9/ but I just saw now that it's not released for bionic (just artful). Thanks for pointing me to the gazebo repo. I am going to test with the newest release.

christian-rauch commented 5 years ago

Problem solved with updated Gazebo packages from osrf repo. Thanks.