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core dumped in task1 gazebo env #31

Closed tongtybj closed 8 years ago

tongtybj commented 8 years ago

@k-okada

With the pull request #30 . The process always coredumped in my PC(W510) as shown in the attach contents. Actually, when I just add UAV model in "mbzirc_arena.launch" which there is no moving truck, gazebo never occur core dumped. Is it any problem with the coexistence between the UAV and turck?

$ roslaunch jsk_mbzirc_common mbzirc_task_1.launch 
... logging to /home/bakui/.ros/log/984396ae-baa1-11e5-97e6-f0def108e351/roslaunch-bakui-ThinkPad-W510-11165.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://bakui-ThinkPad-W510:47998/

SUMMARY
========

PARAMETERS
 * /controller/imu_topic: 
 * /controller/motor/type: hector_quadrotor_...
 * /controller/pose/type: hector_quadrotor_...
 * /controller/pose/xy/k_d: 0.0
 * /controller/pose/xy/k_i: 0.0
 * /controller/pose/xy/k_p: 2.0
 * /controller/pose/xy/limit_output: 5.0
 * /controller/pose/yaw/k_d: 0.0
 * /controller/pose/yaw/k_i: 0.0
 * /controller/pose/yaw/k_p: 2.0
 * /controller/pose/yaw/limit_output: 1.0
 * /controller/pose/z/k_d: 0.0
 * /controller/pose/z/k_i: 0.0
 * /controller/pose/z/k_p: 2.0
 * /controller/pose/z/limit_output: 5.0
 * /controller/state_topic: 
 * /controller/twist/angular/xy/k_d: 5.0
 * /controller/twist/angular/xy/k_i: 5.0
 * /controller/twist/angular/xy/k_p: 10.0
 * /controller/twist/angular/xy/time_constant: 0.01
 * /controller/twist/angular/z/k_d: 0.0
 * /controller/twist/angular/z/k_i: 2.5
 * /controller/twist/angular/z/k_p: 5.0
 * /controller/twist/angular/z/limit_output: 3.0
 * /controller/twist/angular/z/time_constant: 0.1
 * /controller/twist/limits/force/z: 30.0
 * /controller/twist/limits/load_factor: 1.5
 * /controller/twist/limits/torque/xy: 10.0
 * /controller/twist/limits/torque/z: 1.0
 * /controller/twist/linear/xy/k_d: 0.0
 * /controller/twist/linear/xy/k_i: 1.0
 * /controller/twist/linear/xy/k_p: 5.0
 * /controller/twist/linear/xy/limit_output: 10.0
 * /controller/twist/linear/xy/time_constant: 0.05
 * /controller/twist/linear/z/k_d: 0.0
 * /controller/twist/linear/z/k_i: 1.0
 * /controller/twist/linear/z/k_p: 5.0
 * /controller/twist/linear/z/limit_output: 10.0
 * /controller/twist/linear/z/time_constant: 0.05
 * /controller/twist/type: hector_quadrotor_...
 * /ground_truth_to_tf/frame_id: /world
 * /ground_truth_to_tf/odometry_topic: ground_truth/state
 * /ground_truth_to_tf/tf_prefix: 
 * /quadrotor_aerodynamics/C_mxy: 0.074156208
 * /quadrotor_aerodynamics/C_mz: 0.050643264
 * /quadrotor_aerodynamics/C_wxy: 0.12
 * /quadrotor_aerodynamics/C_wz: 0.1
 * /quadrotor_propulsion/CT0s: 1.53819048398e-05
 * /quadrotor_propulsion/CT1s: -0.00025224
 * /quadrotor_propulsion/CT2s: 0.0
 * /quadrotor_propulsion/J_M: 2.5730480633e-05
 * /quadrotor_propulsion/Psi: 0.00724217982751
 * /quadrotor_propulsion/R_A: 0.201084219222
 * /quadrotor_propulsion/alpha_m: 0.104863758314
 * /quadrotor_propulsion/beta_m: 0.549262344778
 * /quadrotor_propulsion/k_m: -7.01163190977e-05
 * /quadrotor_propulsion/k_t: 0.0153368647144
 * /quadrotor_propulsion/l_m: 0.275
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 50.0
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /tf_prefix: 
 * /use_sim_time: True

NODES
  /
    controller_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    ground_truth_to_tf (message_to_tf/message_to_tf)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    spawn_robot (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [11180]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 984396ae-baa1-11e5-97e6-f0def108e351
process[rosout-1]: started with pid [11193]
started core service [/rosout]
process[gazebo-2]: started with pid [11217]
process[gazebo_gui-3]: started with pid [11223]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[spawn_robot-4]: started with pid [11233]
[ INFO] [1452763899.863134423]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[1;32[ INFO] [1452763899.865486826]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
mMsg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.97.220
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.97.220
spawn_model script started
process[robot_state_publisher-5]: started with pid [11278]
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
[ WARN] [1452763900.679058858]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[INFO] [WallTime: 1452763900.793283] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1452763900.796883] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
[INFO] [WallTime: 1452763901.100284] [0.000000] Calling service /gazebo/spawn_urdf_model
Warning [mbzirc_gazebo_truck_plugin.cpp:21] The GazeboTruck plugin is DEPRECATED in ROS hydro.
[ INFO] [1452763901.262038558, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
process[ground_truth_to_tf-6]: started with pid [11425]
[ INFO] [1452763902.195607652, 0.385000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1452763902.419496547, 0.385000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
process[controller_spawner-7]: started with pid [11497]
process[rviz-8]: started with pid [11528]
[INFO] [WallTime: 1452763903.527817] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1452763903.538922986, 0.385000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1452763903.539317889, 0.385000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1452763903.542231270, 0.385000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[INFO] [WallTime: 1452763903.585720] [0.385000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1452763903.607476137, 0.385000000]: Physics dynamic reconfigure ready.
[ INFO] [1452763903.620897554, 0.385000000]: imu plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1452763903.620965034, 0.385000000]: imu plugin missing <rpyOffset>, defaults to 0s
[ INFO] [1452763903.805727830, 0.385000000]: Loading gazebo_ros_control plugin
[ WARN] [1452763903.805908169, 0.385000000]: Desired controller update period (0.010000000 s) is slower than the gazebo simulation period (0.001000000 s).
[ INFO] [1452763903.806022113, 0.385000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1452763903.807403674, 0.385000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[spawn_robot-4] process has finished cleanly
log file: /home/bakui/.ros/log/984396ae-baa1-11e5-97e6-f0def108e351/spawn_robot-4*.log
[ INFO] [1452763904.222595731, 0.385000000]: Loaded gazebo_ros_control.
[INFO] [WallTime: 1452763904.439526] [0.566000] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1452763904.441452] [0.568000] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1452763904.443464] [0.570000] Loading controller: controller/twist
[INFO] [WallTime: 1452763904.664125] [0.786000] Controller Spawner: Loaded controllers: controller/twist
[INFO] [WallTime: 1452763904.675367] [0.797000] Started controllers: controller/twist
[ INFO] [1452763923.508700901, 19.236000000]: Engaging motors!
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
pure virtual method called
terminate called without an active exception
Aborted (core dumped)
[gazebo-2] process has died [pid 11217, exit code 134, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -e ode /home/bakui/ros/chou_catkin_ws/src/mbzirc/jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_1.world __name:=gazebo __log:=/home/bakui/.ros/log/984396ae-baa1-11e5-97e6-f0def108e351/gazebo-2.log].
log file: /home/bakui/.ros/log/984396ae-baa1-11e5-97e6-f0def108e351/gazebo-2*.log
^C[rviz-8] killing on exit
[controller_spawner-7] killing on exit
[ground_truth_to_tf-6] killing on exit
[robot_state_publisher-5] killing on exit
[INFO] [WallTime: 1452764059.275830] [129.354000] Shutting down spawner. Stopping and unloading controllers...
[gazebo_gui-3] killing on exit
Segmentation fault (core dumped)
[WARN] [WallTime: 1452764063.278027] [129.354000] Controller Spawner couldn't reach controller_manager to take down controllers. Waited for 3 second(s).
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
k-okada commented 8 years ago

It is working in my environment

BTW, please set origin of truck to the bottom of tire, not the center of the truck.

screenshot from 2016-01-14 20 25 14

k-okada commented 8 years ago

you can use three backquote to paste console log; https://github.com/adam-p/markdown-here/wiki/Markdown-Cheatsheet#code

tongtybj commented 8 years ago

Sorry, with my PC the truck is like this.... I modified the /models/truck/model.sdf, setting the origin in the bottom of the tire... What is the diff...? truck

k-okada commented 8 years ago

which version are you using? I'm using 13d337bf9352551d26b445f4e69652d150a0066a

◉ Kei Okada

On Thu, Jan 14, 2016 at 8:49 PM, 趙 漠居 notifications@github.com wrote:

Sorry, with my PC the truck is like this.... I modified the /models/truck/model.sdf, setting the origin in the bottom of the tire... [Uploading truck.png…]()

— Reply to this email directly or view it on GitHub https://github.com/tongtybj/mbzirc/issues/31#issuecomment-171622130.

tongtybj commented 8 years ago

It should be corrected in this version... The z offset of </pose> in https://github.com/tongtybj/mbzirc/blob/13d337bf9352551d26b445f4e69652d150a0066a/jsk_mbzirc_common/gazebo_model/models/truck/model.sdf#L6 should give the correct height upon the arena plane.

k-okada commented 8 years ago

Confirmed that truck location is ok