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Shadow simulator depends on non-existing libgazebo_ros_factory.so

asked 2011-09-13 23:00:32 -0500

erikjber gravatar image

updated 2011-09-13 23:07:27 -0500

When starting Gazebo with the command "roslaunch sr_hand gazebo_arm_and_hand_motor.launch" I get this error:

/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:99 : Exception: Failed to load libgazebo_ros_factory.so: libgazebo_ros_factory.so: cannot open shared object file: No such file or directory

/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Simulator.cc:326 : Exception: Failed to load the World
/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:99 : Exception: Failed to load libgazebo_ros_factory.so: libgazebo_ros_factory.so: cannot open shared object file: No such file or directory


Error Loading Gazebo
/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Simulator.cc:326 : Exception: Failed to load the World
/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:99 : Exception: Failed to load libgazebo_ros_factory.so: libgazebo_ros_factory.so: cannot open shared object file: No such file or directory


failed to cleanly remove [/tmp/gazebo-ebd-0] : [Directory not empty]
[gazebo-2] process has died [pid 23426, exit code 255].
log files: /home/ebd/.ros/log/0c876ba2-dec0-11e0-8e01-0025b311be58/gazebo-2*.log                 

The promised log files are not created.

I checked ROS_ROOT/../stacks/simulator_gazebo/gazebo_plugins/lib, and the file libgazebo_ros_factory.so is there in diamondback, but not in electric.

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Is it only the Shadow simulator that fails? Can you load other simulations?
DimitriProsser gravatar image DimitriProsser  ( 2011-09-14 02:47:04 -0500 )edit
The empty example file included with Gazebo works fine: roslaunch gazebo_worlds empty_world.launch
erikjber gravatar image erikjber  ( 2011-09-14 20:02:00 -0500 )edit

3 Answers

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answered 2011-09-14 20:57:09 -0500

Ugo gravatar image

updated 2011-09-16 05:40:03 -0500

hsu gravatar image

Hi, Sorry about the delay in answering this thread.

Electric is not supported yet for the Gazebo simulation of our hardware (see this bug report). I'll try to fix this shortly.

Cheers,

Ugo

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answered 2011-09-14 23:59:00 -0500

GuiHome gravatar image

updated 2011-09-15 00:04:37 -0500

If you cannot wait for Ugo to fix this, here are the 2 modifications we used to start the simulator (They may not solve your problem completely):

  • in sr_hand/launch/gazebo/empty.world commenting out :
<!-- <controller:gazebo_ros_factory name="gazebo_ros_factory" plugin="libgazebo_ros_factory.so">
          <alwaysOn>true</alwayson>
          <updateRate>1.0</updaterate>
          <interface:audio name="dummy_gazebo_ros_factory_iface_should_not_be_here"/>
        </controller:gazebo_ros_factory> -->
  • in sr_hand/launch/change this line :
<!-- spawn the arm model -->
 <param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_hand)/model/robots/xacro/shadowhand_motor.urdf.xacro'" />
 <node name="spawn_hand" pkg="gazebo" type="spawn_model" args="-param robot_description -urdf -model shadowhand_motor" respawn="false" output="screen" />
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Comments

I changed sr_hand/launch/gazebo_arm_and_hand_motor.launch. I also tried replacing the strings "shadowhand_motor" with "arm_and_hand_motor". Neither worked - gazebo crashes on or shortly after startup.
erikjber gravatar image erikjber  ( 2011-09-16 01:04:01 -0500 )edit
1

answered 2011-09-14 10:01:05 -0500

hsu gravatar image

updated 2011-09-16 07:44:44 -0500

the gazebo_ros_factory was deprecated as we wrapped the functionalities into gazebo/src/gazeboros.cpp.

Look for and remove the plugin referring to libgazebo_ros_factory in your .world file.

Once simulator_gazebo 1.4.5 debians are out, gazebo should continue to run without throwing and exiting (see this question).

On top of that, there are other bugs. I've opened a ticket with a patch that makes things work.

here's a snapshot of the working model, it seems some of the links have strange orientations (e.g. elbow flex).

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Comments

Removed reference to plugin. Still crashes.
erikjber gravatar image erikjber  ( 2011-09-16 01:05:15 -0500 )edit

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Asked: 2011-09-13 23:00:32 -0500

Seen: 714 times

Last updated: Sep 16 '11