Gazebo crashing when trying to open model
I'm working through the URDF tutorials here but I am having trouble with Gazebo. Here is a minimal example:
URDF file (called como.xacro)
<?xml version="1.0" ?>
<robot name="como" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="PI" value="3.14159265358979"/>
<xacro:property name="HALF_PI" value="1.57079632679"/>
<xacro:property name="CHASSIS_HEIGHT" value="0.3"/>
<xacro:property name="CHASSIS_WIDTH" value="0.2"/>
<xacro:property name="CHASSIS_LENGTH" value="0.5"/>
<xacro:property name="CHASSIS_MASS" value="2"/>
<xacro:property name="CHASSIS_HALF_HEIGHT" value="0.15"/>
<xacro:property name="WHEEL_RADIUS" value="0.08"/>
<xacro:property name="WHEEL_WIDTH" value="0.03"/>
<xacro:property name="WHEEL_POS_X" value="0.15"/>
<xacro:property name="WHEEL_POS_Y" value="0.1"/>
<xacro:property name="WHEEL_MASS" value="0.3"/>
<link name="base_link">
<visual>
<origin xyz="0 0 ${CHASSIS_HALF_HEIGHT}" rpy="0 0 0"/>
<geometry>
<box size="${CHASSIS_LENGTH} ${CHASSIS_WIDTH} ${CHASSIS_HEIGHT}"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin xyz="0 0 ${CHASSIS_HALF_HEIGHT}" rpy="0 0 0"/>
<geometry>
<box size="${CHASSIS_LENGTH} ${CHASSIS_WIDTH} ${CHASSIS_HEIGHT}"/>
</geometry>
</collision>
<intertial>
<origin xyz="0 0 ${CHASSIS_HALF_HEIGHT}" rpy="0 0 0"/>
<mass value="${CHASSIS_MASS}"/>
<inertia ixx="0.01" ixy="0.01" ixz="0.01" iyy="0.01" iyz="0.01" izz="0.01"/>
</intertial>
</link>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace></robotNamespace>
</plugin>
</gazebo>
</robot>
And here is my launch file gazebo.launch:
<launch>
<!-- Gazebo -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="model" default="$(find como_description)/urdf/como.xacro"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<param command="$(find xacro)/xacro $(arg model)" name="robot_description"/>
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
args="-z 1.0 -unpause -urdf -model como -param robot_description" respawn="false" output="screen"/>
<!-- Combine joint values -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
</launch>
I am getting this error:
gzclient: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion '(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
Aborted (core dumped)
I looked all over the place and found that this was supposed to have been fixed with some gazebo patch, so I made sure all of my packages and such were updated (I am running Gazebo 9.0.0), and that didn't fix ...
I'm also getting the same error ! Need help guys!