hydro Gazebo on a Jenkins -> FAILURE: Test Fixture Nodes [...] failed to spawn
I am running a gazebo simulation on a jenkins server under hydro. I have an issue there.
I do not have this problem when I am either:
- running the simulation locally
- using groovy (on the server, too)
This is the relevant output:
spawn_model script started
[INFO] [WallTime: 1405355874.601154] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1405355874.614810] [0.000000] Waiting for service /gazebo/spawn_urdf_model
spawn_model script started
[INFO] [WallTime: 1405355874.602682] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1405355874.626550] [0.000000] Waiting for service /gazebo/spawn_urdf_model
... logging to /root/.ros/log/rostest-jenkins-aub-ch-24428.log
[ROSUNIT] Outputting test results to /tmp/src/wet/build/test_results/my_navigation_test/rostest-launch_my_test_param_test___navigation_arg__2dnav_ipa_eband-navigation_ipa__true-robot__cob3-6-robot_env__ipa-kitchen-scenarioName__scene2-sim__true-.xml
testnavigation_test_jenkins_aub_ch_24428_6280624626160673722 ... FAILURE!
FAILURE: Test Fixture Nodes ['world_joint_state_publisher', 'joint_state_controller_spawner', 'base_controller_spawner', 'head_controller_spawner', 'arm_controller_spawner', 'sdh_controller_spawner', 'torso_controller_spawner', 'tray_controller_spawner'] failed to launch
File "/usr/lib/python2.7/unittest/case.py", line 327, in run
testMethod()
File "/tmp/src/wet/src/ros_comm/tools/rostest/src/rostest/runner.py", line 122, in fn
self.assert_(not failed, "Test Fixture Nodes %s failed to launch"%failed)
File "/usr/lib/python2.7/unittest/case.py", line 420, in assertTrue
raise self.failureException(msg)
I think this problem depends on the /gazebo/spawn_urdf_model
service.
Any Ideas, how to fix this?
Thanks for your help!
Update:
I now looked deeper into the problem: I reinstalled all dependencies from apt packages using ros-hydro-desktop-full
I found an error in the logfile of world_state_publisher
:
/opt/ros/hydro/lib/robot_state_publisher/state_publisher
[33m[ WARN] [1406034138.074698487]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead[0m
[33m[ WARN] [1406034138.106214435]: The root link dummy_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.[0m
It turns out that this link is actually missing in the simulated robot model.
Can anybody help me on that?
Has no one an idea? Can you maybe give me an idea what I should check? What can be different between the case of launching it locally and on a jenkins server?