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Gazebo doesn't start even though no errors are reported

asked 2020-02-18 16:43:15 -0600

John999991 gravatar image

updated 2020-02-18 18:37:04 -0600

This is rather weird. Gazebo refuses to start but no errors are reported...

The problem lies somewhere in the URDF file of the robot since commenting it out fixes things:

ROBOT URDF:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!--This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00390777224516517 -0.032446267219719 0.184169550820421"/>
      <mass value="4.20121630268732"/>
      <inertia ixx="0.0149000386129946" ixy="-4.66831001352174E-09" ixz="5.23920338795194E-08" iyy="0.0234359493013497" iyz="0.000771538751024883" izz="0.0286744535302635"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.529411764705882 0.549019607843137 0.549019607843137 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="FL">
    <inertial>
      <origin rpy="0 0 0" xyz="-5.55111512312578E-17 9.10729824887824E-18 -6.93889390390723E-18"/>
      <mass value="0.0615219544751675"/>
      <inertia ixx="5.54433425808419E-05" ixy="-1.45453466603006E-20" ixz="-1.00225538664655E-21" iyy="3.00921775305435E-05" iyz="2.309188417276E-21" izz="3.00921775305435E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/FL.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/FL.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="FLJ" type="continuous">
    <origin rpy="1.5707963267949 0 0" xyz="-0.162088045105054 0.0440194465480433 -0.0035605397876617"/>
    <parent link="base_link"/>
    <child link="FL"/>
    <axis xyz="-1 0 0"/>
  </joint>
  <link name="FR">
    <inertial>
      <origin rpy="0 0 0" xyz="2.77555756156289E-17 -5.3776427755281E-17 3.46944695195361E-17"/>
      <mass value="0.0615219544751675"/>
      <inertia ixx="5.54433425808419E-05" ixy="-1.73616162087809E-20" ixz="-8.97406720914896E-21" iyy="3.00921775305435E-05" iyz="-2.24902265994014E-21" izz="3.00921775305435E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/FR.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/FR.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="FRJ" type="continuous">
    <origin rpy="1.5707963267949 0 0" xyz="0.169947769597777 0.0440194465480434 -0 ...
(more)
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Comments

What's labeled as OUTPUT FROM GAZEBO is actually output from roslaunch and the programs it launched. Gazebo classic prints nothing to console by default unless given the --verbose flag. Adding that flag may give more information about what went wrong.

http://answers.gazebosim.org/question...

sloretz gravatar image sloretz  ( 2020-02-18 18:14:17 -0600 )edit

Run Gazebo under --verbose flag and added the results following my original question. Please check my question. I cannot see anything strange meaning no red marks etc.

John999991 gravatar image John999991  ( 2020-02-18 18:35:20 -0600 )edit

1 Answer

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2

answered 2020-02-19 02:00:41 -0600

Delb gravatar image

There is a pretty staright-forward log :

 gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.

And at the beginning of the ouput of roslaunch :

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

So I assume that you don't define the parameter robot_description in your launch file and simply give it as an argument of the spawn_model node. In your launch file you simply need to add :

<!--  ******************** Robot Model ********************  -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find YOUR_PACKAGE)/urdf/URDF_NAME'"/>
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Comments

Great. That was the problem. The thing I don't get is how did the Gazebo loaded the model at my previous attempts? Because the problem started at a specific point and on. Anyway thank you very much...

John999991 gravatar image John999991  ( 2020-02-19 03:38:12 -0600 )edit

If this has answered your question can you please mark the answer as correct ?

For your question I agree that it is rather strange that you could have loaded the model without the parameter robot_description, maybe if you show your launch file I could find something. Are you sure it was the correct model that was loaded into Gazebo when it worked ?

Delb gravatar image Delb  ( 2020-02-19 04:19:19 -0600 )edit

Yes 100%, because it was loading and after 2-3 re-loads it couldn't load.

John999991 gravatar image John999991  ( 2020-02-19 11:01:47 -0600 )edit

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Asked: 2020-02-18 16:43:15 -0600

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Last updated: Feb 19 '20