Gazebo crashes immediately after launching

asked 2019-02-04 07:00:31 -0500

pitosalas
628 ●116 ●149 ●169

updated 2019-02-06 17:23:02 -0500

This happens pretty regularly, but not 100% of the time. I am on Ubuntu 16.04, running Kinetic. I have 24G of memory.

Hardware

I am running on a dual boot MacPro 2010. According to Ubuntu I have:

$ lspci | grep VGA
05:00.0 VGA compatible controller: NVIDIA Corporation G96 [GeForce 9500 GT] (rev a1)

Here's the transcript.This happens pretty regularly, but not 100% of the time. I am on Ubuntu 16.04, running Kinetic. I have 24G of memory.

Update

Based on ideas below I tried to change drivers which eventually turned my Ubuntu into a hot mess. So that was not a good idea. Luckily its a pretty recent install so I just reinstalled from scratch! Things seem more stable but I am still having bad luck with Gazebo. This used to work with this hardware and software. Here's the most recent dump:

 roslaunch turtlebot3_gazebo turtlebot3_world.launch 
... logging to /home/pitosalas/.ros/log/26fa4e48-2a65-11e9-b967-002500efe1ca/roslaunch-pitosalasubuntu-10116.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.

started roslaunch server http://localhost:38729/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [10129]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 26fa4e48-2a65-11e9-b967-002500efe1ca
process[rosout-1]: started with pid [10142]
started core service [/rosout]
process[gazebo-2]: started with pid [10153]
process[gazebo_gui-3]: started with pid [10171]
process[spawn_urdf-4]: started with pid [10176]
[ INFO] [1549494956.646160684]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1549494956.646748625]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1549494956.721824352]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1549494956.722971344]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1549494957.976256679, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1549494958.806152043, 0.096000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1549494958.806242781, 0.096000000]: Starting Laser Plugin (ns = /)
[ INFO] [1549494958.806709443, 0.096000000]: Physics dynamic reconfigure ready.
[ INFO] [1549494958.808303798, 0.096000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1549494958.892335270, 0.096000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1549494958.892476407, 0.096000000]: DiffDrive(ns = //): <rosDebugLevel> = na
[ INFO] [1549494958.894169929, 0.096000000]: DiffDrive(ns = //): <tf_prefix> = 
[ INFO] [1549494958.895642842, 0.096000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1549494958.896562751, 0.096000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1549494958.901567846, 0.096000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1549494958.902986415, 0.096000000]: DiffDrive(ns = //): Advertise odom on odom 
[ INFO] [1549494958.934911076, 0.119000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1549494958.992847893, 0.176000000]: Physics dynamic reconfigure ready.
[spawn_urdf-4] process has finished cleanly
log file: /home/pitosalas/.ros/log/26fa4e48-2a65-11e9-b967-002500efe1ca/spawn_urdf-4*.log
Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 10171, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/pitosalas/.ros/log/26fa4e48-2a65-11e9-b967-002500efe1ca/gazebo_gui-3.log].
log file: /home/pitosalas/.ros/log/26fa4e48-2a65-11e9-b967-002500efe1ca/gazebo_gui-3*.log
^C[gazebo-2] killing on exit
^[

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Comments

What graphics card are you using?

josephcoombe ( 2019-02-04 08:43:37 -0500 )edit

See updated questoin

pitosalas ( 2019-02-04 19:32:25 -0500 )edit

Not sure if related to your issue but in your param list you have /use_sim_time: 0.1, seems odd to me.

Delb ( 2019-02-05 02:08:28 -0500 )edit

add a comment

0

answered 2019-02-04 09:31:52 -0500

josephcoombe

697 ●7 ●11 ●17 https://www.metamorphs...

updated 2019-02-04 14:07:59 -0500

I experienced a similar problem when trying to run Gazebo simulations on a machine with a non-NVIDIA graphics card.

The problem occurred more frequently when trying to load larger models.

My solution was to switch to a machine with a NVIDIA graphics card (hopefully they're a bit cheaper now that the crypto craze has subsided) and to use the proprietary driver (Settings > Software & Updates > Additional Drivers).

It doesn't have to be fancy although I have been unable to find a comprehensive list of Gazebo-supported graphics cards. The machine I use has a GeForce GTX 960M, and I've had no issues.

Note 1: The turn_simulator ROS Wiki has a similar warning:

Gazebo (and, by extension, the TUM simulator) is very picky about the installed graphics card; as far as we can tell at this time, only Nvidia cards really work (and only with the restricted Nvidia driver), ATI/AMD and Intel cards will not work, since the drivers do not have all the OpenGL/FireGL capabilities that Gazebo requires. In case of ATI drivers, we observed error messages about missing GL features, but with the Intel drivers, Gazebo simply segfaults (or rather, the Intel driver segfaults and Gazebo quits without any meaningful error message). - the ardrone_autonomy driver (i.e. the ardrone_driver executable) is not compatible with 64-bit systems (see https://projects.ardrone.org/issues/s... )

Note 2: http://answers.gazebosim.org/questions/ is usually the recommended forum for these types of questions.