Shadow simulator depends on non-existing libgazebo_ros_factory.so

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

erikjber
32 ●4 ●5 ●9

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 ( 2011-09-14 02:47:04 -0500 )edit

The empty example file included with Gazebo works fine: roslaunch gazebo_worlds empty_world.launch

erikjber ( 2011-09-14 20:02:00 -0500 )edit

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

Ugo
1620 ●20 ●34 ●48 http://www.shadowrobot.com/

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

hsu
5735 ●31 ●62 ●89

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

242 ●7 ●10 ●18

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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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 ( 2011-09-16 01:04:01 -0500 )edit

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

hsu
5735 ●31 ●62 ●89

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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Removed reference to plugin. Still crashes.

erikjber ( 2011-09-16 01:05:15 -0500 )edit

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Shadow simulator depends on non-existing libgazebo_ros_factory.so

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