WSL: Gazebo frozen on loading with black screen

asked 2019-08-30 19:13:09 -0600

Horse-man gravatar image

Hi, I'm using ROS Kinetic on WSL with Ubuntu 16.04.

I tried to run several gazebo simulations: turtlebot2, rosbot, p3dx. But everytime I got the same error: Gazebo freeze during the loading, the simulation window still black and the loader popup still displayed on screen. I'm using MobaXterm as XServer to display GUI applications and it works fine with RViz and RQt.

The following is the console log I got while running roslaunch turtlebot_gazebo turtlebot_world.launch (it seems there's only INFO messages with no errors):

SUMMARY
========

PARAMETERS
 * /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: 1.12.14
 * /use_sim_time: True

NODES
  /
    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)

auto-starting new master
process[master]: started with pid [2193]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c298ffe4-cb7c-11e9-b553-448a5b46aec4
process[rosout-1]: started with pid [2206]
started core service [/rosout]
process[gazebo-2]: started with pid [2209]
process[gazebo_gui-3]: started with pid [2225]
process[spawn_turtlebot_model-4]: started with pid [2234]
process[mobile_base_nodelet_manager-5]: started with pid [2241]
process[cmd_vel_mux-6]: started with pid [2242]
process[bumper2pointcloud-7]: started with pid [2243]
process[robot_state_publisher-8]: started with pid [2244]
process[laserscan_nodelet_manager-9]: started with pid [2251]
process[depthimage_to_laserscan-10]: started with pid [2263]
[ INFO] [1567207241.981544000]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1567207241.983867200]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1567207242.073075300]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1567207242.076090800]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1567207245.054823300]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1567207245.069051600]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1567207245.692282700]: Starting plugin Kobuki(ns = //)
[ WARN] [1567207245.692398500]: Kobuki(ns = //): missing <rosDebugLevel> default is na
[ INFO] [1567207245.696353300]: Kobuki(ns = //): <tf_prefix> =
[ INFO] [1567207245.696921100]: Will publish tf. [mobile_base]
[ INFO] [1567207245.701842300]: Kobuki(ns = //): Advertise joint_states[joint_states]!
[ INFO] [1567207245.705258800]: Kobuki(ns = //): Advertise Odometry[odom]!
[ INFO] [1567207245.721842100]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/motor_power!
[ INFO] [1567207245.740437700]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/reset_odometry!
[ INFO] [1567207245.753940600]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/velocity!
[ INFO] [1567207245.756578000]: Kobuki(ns = //): Advertise Cliff[mobile_base/events/cliff]!
[ INFO] [1567207245.759263300]: Kobuki(ns = //): Advertise Bumper[mobile_base/events/bumper]!
[ INFO] [1567207245.761691300]: Kobuki(ns = //): Advertise IMU[mobile_base/sensors/imu_data]!
[ INFO] [1567207245.761786600]: GazeboRosKobuki plugin ready to go! [mobile_base]
[ INFO] [1567207245.794065400, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1567207245.820701700, 0.040000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[spawn_turtlebot_model-4] process has finished cleanly
log file: /home/amine/.ros/log/c298ffe4-cb7c-11e9-b553-448a5b46aec4/spawn_turtlebot_model-4*.log
[ INFO] [1567207246.233673800, 0.260000000]: Physics dynamic reconfigure ready.
[ INFO] [1567207246.245706100, 0.270000000]: Physics dynamic reconfigure ready.

For more information about the kernel versions:

$ uname -r
4.4.0-17134-Microsoft
$ cat /etc/os-release
NAME="Ubuntu"
VERSION="16.04.6 LTS (Xenial Xerus)"

Environnemnt variables:

$ env ...
(more)
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