husky_gazebo with kinect and no laser crashes when rostopic echo anything in /camera/depth

asked 2016-02-03 17:10:10 -0500

updated 2016-02-09 17:47:30 -0500

I've been trying to use the husky_gazebo with the kinect sensor but not the laser. I also want to use a custom world which I setup by saving an empty world from gazebo. I updated GAZEBO_RESOURCE_PATH and passed the arg for world_name. For example:

roslaunch husky_gazebo husky_empty_world.launch laser_enabled:=false kinect_enabled:=true world_name:=worlds/empty22.world

The problem is that most of the time when I echo the /camera/depth/image_raw or /camera/depth/points, the gzerver crashes.

I type:

rostopic echo /camera/depth/points

And the other window prints:

Segmentation fault (core dumped)
[gazebo-2] process has died [pid 31759, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/user/.ros/log/00cb419a-cac9-11e5-abe7-001c42292c2b/gazebo-2.log].
log file: /home/user/.ros/log/00cb419a-cac9-11e5-abe7-001c42292c2b/gazebo-2*.log

I also don't see the log that is mentioned above:

user@ubuntu:~$ ls /home/user/.ros/log/00cb419a-cac9-11e5-abe7-001c42292c2b/
base_controller_spawner-5.log         robot_state_publisher-4-stdout.log  spawn_husky_model-10.log
base_controller_spawner-5-stdout.log  roslaunch-ubuntu-31720.log          spawn_husky_model-10-stdout.log
ekf_localization-6-stdout.log         rosout-1-stdout.log                 twist_mux-8-stdout.log
master.log                            rosout.log

What am I missing? It seems like if I start a fresh window and run with the kinect enabled but not using my world, then the above works fine some of the time.

UPDATE: It seems this issue is limited to one of the computers (a parallels VM) that I'm using. There may be some other resource issue but I'll keep looking.

UPDATE2: I increased the RAM available to the VM and things worked better. It at least started and ran for a bit. I think there is simply some HW limitation (maybe graphics processing or other available resources) trying to do this in a VM.

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