Error spawning many urdf's in Gazebo
Hi, I observe strange behavior in Gazebo when I'm trying to spawn many objects.
I created this xacro file for the object:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="box_obstacle">
<xacro:arg name="row" default="0"/>
<xacro:arg name="col" default="0"/>
<xacro:arg name="width" default="1"/>
<xacro:arg name="height" default="1"/>
<link name="obstacle" type="fixed">
<inertial>
<origin xyz="$(arg row) $(arg col) 0.5" />
<mass value="1.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<origin xyz="$(arg row) $(arg col) 0.5"/>
<geometry>
<box size="$(arg width) $(arg height) 1" />
</geometry>
</visual>
<collision>
<origin xyz="$(arg row) $(arg col) 0.5"/>
<geometry>
<box size="$(arg width) $(arg height) 1" />
</geometry>
</collision>
</link>
<gazebo reference="obstacle">
<static>true</static>
<material>Gazebo/Black</material>
</gazebo>
</robot>
and my launch file looks like this:
<launch>
<arg name="world" default="$(find my_package)/worlds/empty.world"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)"/>
</include>
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=6.5 col:=4.0 width:=3 height:=6" name="obstacle_0" />
<node args="-urdf -param obstacle_0 -model obstacle_0" name="spawn_obstacle_0" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=4.5 col:=4.0 width:=1 height:=2" name="obstacle_1" />
<node args="-urdf -param obstacle_1 -model obstacle_1" name="spawn_obstacle_1" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=-4.5 col:=-9.0 width:=9 height:=2" name="obstacle_2" />
<node args="-urdf -param obstacle_2 -model obstacle_2" name="spawn_obstacle_2" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
</launch>
This works fine with few "obstacles", but when I try about 10 (instead of 3 here) the simulator doing unexpected things (I'm trying to attach images but >5 points are needed :(, the linkes below will be valid only for 1 week).
<launch>
<arg name="world" default="$(find my_package)/worlds/empty.world"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)"/>
</include>
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=6.5 col:=4.0 width:=3 height:=6" name="obstacle_0" />
<node args="-urdf -param obstacle_0 -model obstacle_0" name="spawn_obstacle_0" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=4.5 col:=4.0 width:=1 height:=2" name="obstacle_1" />
<node args="-urdf -param obstacle_1 -model obstacle_1" name="spawn_obstacle_1" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro ...