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gazebo hangs loading turtlebot world (skipping xml document gmapping)

asked 2017-12-01 02:02:55 -0500

fma gravatar image

updated 2017-12-01 15:58:28 -0500

jayess gravatar image


I'm trying to run turtlebot_gazebo in kinetic. Gazebo starts, but wait forever (I have both the main window and the splash screen).

Here are the logs:

$ roslaunch turtlebot_gazebo turtlebot_world.launch
... logging to /home/fma/.ros/log/2ca1d2a6-d66c-11e7-8958-0800272f65ee/roslaunch-roscore-1716.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see is deprecated; please use xacro instead
started roslaunch server http://roscore:53432/


 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /opt/ros/kinetic/...
 * /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
 * /depthimage_to_laserscan/range_min: 0.45
 * /depthimage_to_laserscan/scan_height: 10
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /use_sim_time: True

    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    depthimage_to_laserscan (nodelet/nodelet)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    laserscan_nodelet_manager (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_turtlebot_model (gazebo_ros/spawn_model)


core service [/rosout] found
process[gazebo-1]: started with pid [1737]
process[gazebo_gui-2]: started with pid [1738]
process[spawn_turtlebot_model-3]: started with pid [1742]
process[mobile_base_nodelet_manager-4]: started with pid [1746]
process[cmd_vel_mux-5]: started with pid [1749]
process[bumper2pointcloud-6]: started with pid [1750]
process[robot_state_publisher-7]: started with pid [1751]
process[laserscan_nodelet_manager-8]: started with pid [1753]
process[depthimage_to_laserscan-9]: started with pid [1765]
[ERROR] [1512114658.895482122]: Skipping XML Document "/opt/ros/kinetic/share/gmapping/nodelet_plugins.xml" which had no Root Element.  This likely means the XML is malformed or missing.
[ERROR] [1512114658.895927389]: Skipping XML Document "/opt/ros/kinetic/share/gmapping/nodelet_plugins.xml" which had no Root Element.  This likely means the XML is malformed or missing.
[ INFO] [1512114660.877390610]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1512114660.975563828]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Thanks for you help!

Edit: I just noticed that if I let it run for a while, I get the following additional log:

[ INFO] [1512121746.440977169, 0.010000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1512121746.463265943, 0.010000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1512121746.939729408, 0.010000000]: Starting plugin Kobuki(ns = //)
[ WARN] [1512121746.939814059, 0.010000000]: Kobuki(ns = //): missing <rosDebugLevel> default is na
[ INFO] [1512121746.941314316, 0.010000000]: Kobuki(ns = //): <tf_prefix> = 
[ INFO] [1512121746.941521583, 0.010000000]: Will publish tf. [mobile_base]
[ INFO] [1512121746.956627205, 0.010000000]: Kobuki(ns = //): Advertise joint_states[joint_states]!
[ INFO] [1512121746.969620341, 0.010000000]: Kobuki(ns = //): Advertise Odometry[odom]!
[ INFO] [1512121746.989525494, 0.010000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/motor_power!
[ INFO] [1512121747.023030089, 0.010000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/reset_odometry!
[ INFO] [1512121747.050171136, 0.010000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/velocity!
[ INFO] [1512121747.056127892, 0.010000000]: Kobuki(ns = //): Advertise Cliff[mobile_base/events/cliff]!
[ INFO] [1512121747.056930586, 0.010000000]: Kobuki(ns = //): Advertise Bumper[mobile_base/events/bumper]!
[ INFO] [1512121747.059195695, 0.010000000]: Kobuki(ns = //): Advertise IMU[mobile_base/sensors/imu_data]!
[ INFO] [1512121747.059221023, 0.010000000]: GazeboRosKobuki plugin ready to go ...
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Please don't use answers unless you are answering your own question. For everything else: either use comments or edit your original question.

gvdhoorn gravatar image gvdhoorn  ( 2017-12-01 04:02:53 -0500 )edit

Ok! Thanks for editing the post (and the title).

fma gravatar image fma  ( 2017-12-01 04:12:00 -0500 )edit

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answered 2017-12-01 03:37:55 -0500

gvdhoorn gravatar image

This probably has nothing to do with the turtlebot packages, but is a result of a problem with gmapping.

See #q274849 for an explanation.

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I see... Is this gmapping nodelet mandatory, here?

fma gravatar image fma  ( 2017-12-01 03:50:51 -0500 )edit

The nodelet probably not, but gmapping is typically used with turtlebots.

As a work-around, you could do something like:

sudo wget -O /opt/ros/kinetic/share/gmapping/nodelet_plugins.xml
gvdhoorn gravatar image gvdhoorn  ( 2017-12-01 04:13:00 -0500 )edit

Note that this is really a work-around, and not a solution. You might also run into issues later with apt, when it tries to upgrade gmapping after ros-perception/slam_gmapping#56 gets merged.

gvdhoorn gravatar image gvdhoorn  ( 2017-12-01 04:14:20 -0500 )edit

Thanks. I added the file, and I don't have the error anymore. But Gazebo still does not work. I'm running kinetic in virtualbox. I saw 3D accel is not well supported, but it is disabled. I also tried to set the LIBGL_ALWAYS_SOFTWARE var to 1, without success. Don't know if it is a virtualbox issue.

fma gravatar image fma  ( 2017-12-01 06:47:13 -0500 )edit

Is it still hanging? Can you start Gazebo without the launch file (ie: gzserver)?

gvdhoorn gravatar image gvdhoorn  ( 2017-12-04 04:57:54 -0500 )edit

Yes, it still hangs, but only after the second part of the logs arrives (2 minutes after launching)... Before that, Gazebo is OK (even without the env var set)... Well, I will skip that for now, and focus on basic features...

fma gravatar image fma  ( 2017-12-04 05:27:44 -0500 )edit

I have that same issue. gazebo stucks on the splash screen with the turtlebot_world launch file. Gazebo works properly on my machine with other simulations, (for example with ridgeback_gazebo)

Pablo Iñigo Blasco gravatar image Pablo Iñigo Blasco  ( 2018-11-30 08:13:16 -0500 )edit

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Asked: 2017-12-01 02:02:55 -0500

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Last updated: Dec 01 '17