I run the demo in docker ,but is error ,the error is Segmentation fault (core dumped), this error killed gzserver .
in my docker is no x-server,so gzclient is not run.
[100%] Built target quadrotor_teleop
[100%] Built target hector_gazebo_ros_baro
[100%] Built target hector_quadrotor_controller_gazebo
root@741f130440f6:~/catkin_ws# source devel/setup.bash
root@741f130440f6:~/catkin_ws# roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch
... logging to /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/roslaunch-741f130440f6-36197.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.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
redefining global property: pi
when processing file: /root/catkin_ws/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro
started roslaunch server http://741f130440f6:43179/
auto-starting new master
process[master]: started with pid [36210]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8a0be894-2fff-11e9-b108-0242ac110003
process[rosout-1]: started with pid [36223]
started core service [/rosout]
process[gazebo-2]: started with pid [36247]
process[gazebo_gui-3]: started with pid [36252]
[ INFO] [1550111021.427308141]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1550111021.428340919]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[robot_state_publisher-4]: started with pid [36285]
[ WARN] [1550111021.491815800]: 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.
process[ground_truth_to_tf-5]: started with pid [36344]
[gazebo_gui-3] process has died [pid 36252, exit code 1, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient name:=gazebo_gui __log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/gazebo_gui-3.log].
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/gazebo_gui-3*.log
process[controller_spawner-6]: started with pid [36416]
process[estop_relay-7]: started with pid [36482]
[ INFO] [1550111022.174466085, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1550111022.228123255, 0.075000000]: Physics dynamic reconfigure ready.
[WARN] [1550111022.294193, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1550111022.294498, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[pose_action-8]: started with pid [36485]
[ INFO] [1550111022.375849331]: waitForService: Service [/enable_motors] has not been advertised, waiting...
process[landing_action-9]: started with pid [36578]
process[takeoff_action-10]: started with pid [36607]
[ INFO] [1550111022.826361006, 0.668000000]: waitForService: Service [/enable_motors] has not been advertised, waiting...
process[spawn_robot-11]: started with pid [36637]
[ INFO] [1550111023.115021816, 0.956000000]: waitForService: Service [/enable_motors] has not been advertised, waiting...
process[rviz-12]: started with pid [36707]
QXcbConnection: Could not connect to display
process[joy-13]: started with pid [36768]
[rviz-12] process has died [pid 36707, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /root/catkin_ws/src/hector_quadrotor/hector_quadrotor_demo/rviz_cfg/outdoor_flight.rviz name:=rviz log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/rviz-12.log].
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/rviz-12.log
[ERROR] [1550111023.470906639]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[teleop-14]: started with pid [36799]
SpawnModel script started
[INFO] [1550111024.002221, 0.000000]: Loading model XML from ros parameter
[INFO] [1550111024.007552, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1550111024.010796, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1550111024.596586785, 1.995000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1550111024.596671834, 1.995000000]: Starting Laser Plugin (ns = /)
[INFO] [1550111024.597940, 1.995000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1550111024.599205416, 1.995000000]: Laser Plugin (ns = /) , set to ""
[joy-13] process has died [pid 36768, exit code -11, cmd /opt/ros/kinetic/lib/joy/joy_node name:=joy log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/joy-13.log].
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/joy-13.log
[ INFO] [1550111024.708455894, 1.995000000]: imu plugin missing , defaults to 0s
[spawn_robot-11] process has finished cleanly
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/spawn_robot-11*.log
[ INFO] [1550111024.945037049, 1.995000000]: Loading gazebo_ros_control plugin
[ WARN] [1550111024.945169220, 1.995000000]: Desired controller update period (0.010000000 s) is slower than the gazebo simulation period (0.001000000 s).
[ INFO] [1550111024.945236238, 1.995000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1550111024.946506381, 1.995000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1550111025.083301368, 1.995000000]: Limits /wrench_limits/force/z initialized z with min 0 and max 30
[ INFO] [1550111025.088840791, 1.995000000]: Limits /wrench_limits/torque/x initialized x with min -10 and max 10
[ INFO] [1550111025.092266727, 1.995000000]: Limits /wrench_limits/torque/y initialized y with min -10 and max 10
[ INFO] [1550111025.095615314, 1.995000000]: Limits /wrench_limits/torque/z initialized z with min -1 and max 1
[ INFO] [1550111025.106543052, 1.995000000]: Loaded gazebo_ros_control.
Loaded the following quadrotor propulsion model parameters from namespace /quadrotor_propulsion:
k_m = -7.01163e-05
k_t = 0.0153369
CT2s = 0
CT1s = -0.00025224
CT0s = 1.53819e-05
Psi = 0.00724218
J_M = 2.57305e-05
R_A = 0.201084
l_m = 0.275
alpha_m = 0.104864
beta_m = 0.549262
Loaded the following quadrotor drag model parameters from namespace /quadrotor_aerodynamics:
C_wxy = 0.12
C_wz = 0.1
C_mxy = 0.0741562
C_mz = 0.0506433
[INFO] [1550111025.316349, 1.995000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1550111025.318544, 1.995000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1550111025.320518, 1.995000]: Loading controller: controller/attitude
Segmentation fault (core dumped)
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/controller_manager/spawner", line 207, in
if name == 'main': main()
File "/opt/ros/kinetic/lib/controller_manager/spawner", line 185, in main
resp = load_controller(name)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in call
return self.call(*args, *kwds)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 505, in call
raise ServiceException("unable to connect to service: %s"%e)
rospy.service.ServiceException: unable to connect to service: [Errno 104] Connection reset by peer
[INFO] [1550111025.339031, 1.995000]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1550111025.339619, 1.995000]: Stopping all controllers...
[WARN] [1550111025.342418, 1.995000]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
[gazebo-2] process has died [pid 36247, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver /opt/ros/kinetic/share/hector_gazebo_worlds/worlds/rolling_landscape_120m.world name:=gazebo log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/gazebo-2.log].
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/gazebo-2.log
[controller_spawner-6] process has died [pid 36416, exit code 1, cmd /opt/ros/kinetic/lib/controller_manager/spawner controller/attitude controller/velocity controller/position --shutdown-timeout 3 pose:=ground_truth_to_tf/pose name:=controller_spawner __log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/controller_spawner-6.log].
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/controller_spawner-6*.log
I run the demo in docker ,but is error ,the error is Segmentation fault (core dumped), this error killed gzserver . in my docker is no x-server,so gzclient is not run.
[100%] Built target quadrotor_teleop [100%] Built target hector_gazebo_ros_baro [100%] Built target hector_quadrotor_controller_gazebo root@741f130440f6:~/catkin_ws# source devel/setup.bash root@741f130440f6:~/catkin_ws# roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch ... logging to /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/roslaunch-741f130440f6-36197.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.
xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order redefining global property: pi when processing file: /root/catkin_ws/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro started roslaunch server http://741f130440f6:43179/
SUMMARY
PARAMETERS
NODES / controller_spawner (controller_manager/spawner) estop_relay (topic_tools/relay) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) ground_truth_to_tf (message_to_tf/message_to_tf) joy (joy/joy_node) landing_action (hector_quadrotor_actions/landing_action) pose_action (hector_quadrotor_actions/pose_action) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) spawn_robot (gazebo_ros/spawn_model) takeoff_action (hector_quadrotor_actions/takeoff_action) teleop (hector_quadrotor_teleop/quadrotor_teleop)
auto-starting new master process[master]: started with pid [36210] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8a0be894-2fff-11e9-b108-0242ac110003 process[rosout-1]: started with pid [36223] started core service [/rosout] process[gazebo-2]: started with pid [36247] process[gazebo_gui-3]: started with pid [36252] [ INFO] [1550111021.427308141]: Finished loading Gazebo ROS API Plugin. [ INFO] [1550111021.428340919]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... process[robot_state_publisher-4]: started with pid [36285] [ WARN] [1550111021.491815800]: 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. process[ground_truth_to_tf-5]: started with pid [36344] [gazebo_gui-3] process has died [pid 36252, exit code 1, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient name:=gazebo_gui __log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/gazebo_gui-3.log]. log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/gazebo_gui-3*.log process[controller_spawner-6]: started with pid [36416] process[estop_relay-7]: started with pid [36482] [ INFO] [1550111022.174466085, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1550111022.228123255, 0.075000000]: Physics dynamic reconfigure ready. [WARN] [1550111022.294193, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1550111022.294498, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller process[pose_action-8]: started with pid [36485] [ INFO] [1550111022.375849331]: waitForService: Service [/enable_motors] has not been advertised, waiting... process[landing_action-9]: started with pid [36578] process[takeoff_action-10]: started with pid [36607] [ INFO] [1550111022.826361006, 0.668000000]: waitForService: Service [/enable_motors] has not been advertised, waiting... process[spawn_robot-11]: started with pid [36637] [ INFO] [1550111023.115021816, 0.956000000]: waitForService: Service [/enable_motors] has not been advertised, waiting... process[rviz-12]: started with pid [36707] QXcbConnection: Could not connect to display process[joy-13]: started with pid [36768] [rviz-12] process has died [pid 36707, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /root/catkin_ws/src/hector_quadrotor/hector_quadrotor_demo/rviz_cfg/outdoor_flight.rviz name:=rviz log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/rviz-12.log]. log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/rviz-12.log [ERROR] [1550111023.470906639]: Couldn't open joystick /dev/input/js0. Will retry every second. process[teleop-14]: started with pid [36799] SpawnModel script started [INFO] [1550111024.002221, 0.000000]: Loading model XML from ros parameter [INFO] [1550111024.007552, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1550111024.010796, 0.000000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1550111024.596586785, 1.995000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1550111024.596671834, 1.995000000]: Starting Laser Plugin (ns = /) [INFO] [1550111024.597940, 1.995000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1550111024.599205416, 1.995000000]: Laser Plugin (ns = /), set to ""
[joy-13] process has died [pid 36768, exit code -11, cmd /opt/ros/kinetic/lib/joy/joy_node name:=joy log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/joy-13.log].
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/joy-13 .log
[ INFO] [1550111024.708455894, 1.995000000]: imu plugin missing , defaults to 0s
[spawn_robot-11] process has finished cleanly
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/spawn_robot-11*.log
[ INFO] [1550111024.945037049, 1.995000000]: Loading gazebo_ros_control plugin
[ WARN] [1550111024.945169220, 1.995000000]: Desired controller update period (0.010000000 s) is slower than the gazebo simulation period (0.001000000 s).
[ INFO] [1550111024.945236238, 1.995000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1550111024.946506381, 1.995000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1550111025.083301368, 1.995000000]: Limits /wrench_limits/force/z initialized z with min 0 and max 30
[ INFO] [1550111025.088840791, 1.995000000]: Limits /wrench_limits/torque/x initialized x with min -10 and max 10
[ INFO] [1550111025.092266727, 1.995000000]: Limits /wrench_limits/torque/y initialized y with min -10 and max 10
[ INFO] [1550111025.095615314, 1.995000000]: Limits /wrench_limits/torque/z initialized z with min -1 and max 1
[ INFO] [1550111025.106543052, 1.995000000]: Loaded gazebo_ros_control.
Loaded the following quadrotor propulsion model parameters from namespace /quadrotor_propulsion:
k_m = -7.01163e-05
k_t = 0.0153369
CT2s = 0
CT1s = -0.00025224
CT0s = 1.53819e-05
Psi = 0.00724218
J_M = 2.57305e-05
R_A = 0.201084
l_m = 0.275
alpha_m = 0.104864
beta_m = 0.549262
Loaded the following quadrotor drag model parameters from namespace /quadrotor_aerodynamics:
C_wxy = 0.12
C_wz = 0.1
C_mxy = 0.0741562
C_mz = 0.0506433
[INFO] [1550111025.316349, 1.995000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1550111025.318544, 1.995000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1550111025.320518, 1.995000]: Loading controller: controller/attitude
Segmentation fault (core dumped)
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/controller_manager/spawner", line 207, in
if name == 'main': main()
File "/opt/ros/kinetic/lib/controller_manager/spawner", line 185, in main
resp = load_controller(name)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in call
return self.call(*args, *kwds)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 505, in call
raise ServiceException("unable to connect to service: %s"%e)
rospy.service.ServiceException: unable to connect to service: [Errno 104] Connection reset by peer
[INFO] [1550111025.339031, 1.995000]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1550111025.339619, 1.995000]: Stopping all controllers...
[WARN] [1550111025.342418, 1.995000]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
[gazebo-2] process has died [pid 36247, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver /opt/ros/kinetic/share/hector_gazebo_worlds/worlds/rolling_landscape_120m.world name:=gazebo log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/gazebo-2.log].
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/gazebo-2.log
[controller_spawner-6] process has died [pid 36416, exit code 1, cmd /opt/ros/kinetic/lib/controller_manager/spawner controller/attitude controller/velocity controller/position --shutdown-timeout 3 pose:=ground_truth_to_tf/pose name:=controller_spawner __log:=/root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/controller_spawner-6.log].
log file: /root/.ros/log/8a0be894-2fff-11e9-b108-0242ac110003/controller_spawner-6*.log