Laser Scanner Gazebo Plugin Crashes on Contact

asked 2018-06-27 09:44:56 -0600

Hello,

I have the attached urdf and xacro files for a small differential drive robot. I am able to launch the model in rviz, see the laser scanner beams and get the topic. However when any other model touches the beams gazebo segfaults with:

Thread 35 "gzserver" received signal SIGSEGV, Segmentation fault. [Switching to Thread 0x7fff597b9700 (LWP 29332)] 0x00007ffff684ca38 in gazebo::sensors::Noise::Apply(double) () from /usr/lib/x86_64-linux-gnu/libgazebo_sensors.so.7

Any ideas on what could be the issue? I tried disabling GPU acceleration but the problem persists.

Any help would be appreciated. For reference I am running Kinetic on Ubuntu 16.04 with Gazebo 7

Robot xacro file

<robot name="innobuggy" xmlns:xacro="http://www.ros.org/wiki/xacro">

<!-- PROPERTY LIST -->
<!--All units in m-kg-s-radians unit system -->
<xacro:property name="M_PI" value="3.1415926535897931"/>

<xacro:property name="footprint_vertical_offset" value="-0.05"/>

<!-- Chassis -->
<xacro:property name="base_height" value="0.12"/>
<xacro:property name="base_width" value="0.195"/>
<xacro:property name="base_length" value="0.29"/>
<xacro:property name="base_mass" value="1"/> <!-- in kg-->
<xacro:property name="wheel_mass" value="1"/> <!-- in kg-->

<!-- Wheels -->
<xacro:property name="wheel_horizontal_separation" value="0.075"/>
<xacro:property name="wheel_vertical_separation" value="0.11"/>
<xacro:property name="wheel_vertical_offset" value="-0.13"/>
<xacro:property name="wheel_radius" value="0.05"/>
<xacro:property name="wheel_width" value="0.045"/>

<!-- BASE-FOOTPRINT -->
<!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin -->
<link name="base_footprint">
    <inertial>
        <mass value="0.0001"/>
        <origin xyz="0 0 0"/>
        <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
                 iyy="0.0001" iyz="0.0"
                 izz="0.0001"/>
    </inertial>
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.001 0.001 0.001"/>
        </geometry>
    </visual>
</link>

<gazebo reference="base_footprint">
    <turnGravityOff>false</turnGravityOff>
</gazebo>

<joint name="base_link_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
</joint>

<link name="base_link">
    <visual>
        <origin xyz="0 0 ${footprint_vertical_offset}" rpy="0 0 0"/>
        <geometry>
            <!--<mesh filename="package://simple_robot_description_4wheels/meshes/inno_sim.stl"/>-->
            <box size="${base_length} ${base_width} ${base_height}"/>
        </geometry>
        <material name="Black"/>
    </visual>
    <collision>
        <origin xyz="0 0 ${footprint_vertical_offset}"/>
        <geometry>
            <box size="${base_length} ${base_width} ${base_height}"/>
        </geometry>
    </collision>
    <inertial>
        <!-- Center of mass -->
        <origin xyz="0.012  0.002 0.067" rpy="0 0 0"/>
        <!--<mass value="16.523"/>-->
        <mass value="5.523"/>
        <!-- Moments of inertia: ( base without wheels ) -->
        <inertia
                ixx="0.3136" ixy="-0.0008" ixz="0.0164"
                iyy="0.3922" iyz="-0.0009"
                izz="0.4485"/>
    </inertial>
</link>

<gazebo reference="base_link">
    <material>Gazebo/Black</material>
    <turnGravityOff>false</turnGravityOff>
</gazebo>

<!-- Start of Wheels
-->

<xacro:macro name="wheel" params="prefix trans_x trans_y trans_z">

    <link name="${prefix}_wheel">
        <visual>
            <origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
            <geometry>
                <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
            </geometry>
            <material name="Red"/>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
            <geometry>
                <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
            </geometry>
        </collision>
        <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="0.477"/>
            <inertia
                    ixx="0.0013" ixy="0 ...
(more)
edit retag flag offensive close merge delete