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"gz sdf -k file" completes check but makes Gazebo crash

asked 2020-07-09 13:20:58 -0500

MartensCedric gravatar image

updated 2020-07-09 14:52:51 -0500

I have an URDF file. It's actually the clearpath husky with these this added.

  <link name="bowler_link">
    <visual>
      <geometry>
        <mesh filename="$(find husky_description)/meshes/red_bowler.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.07" rpy="0 0 0" />
      <geometry>
        <box size="0.32 0.25 0.14" rpy="0 0 0"/>
      </geometry>
    </collision>
  </link>

  <joint name="bowler_joint" type="fixed">
    <parent link="base_link" />
    <child link="bowler_link" />
    <origin xyz="0.1 -0.1 0" rpy="0 0 0.5" />
  </joint>

If I remove these lines, Gazebo works just fine. But when I add them, Gazebo crashes. The command line Gazebo tool tells me this is fine.

xacro husky.urdf.xacro > h.urdf
gz sdf -k h.urdf 
Check complete

When I run

[gazebo_gui-3] process has died [pid 22440, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/cedric/.ros/log/82f291a6-c20d-11ea-9047-34e6d75eecc8/gazebo_gui-3.log].
log file: /home/cedric/.ros/log/82f291a6-c20d-11ea-9047-34e6d75eecc8/gazebo_gui-3*.log

Interestingly, this is what the folder /home/cedric/.ros/log/82f291a6-c20d-11ea-9047-34e6d75eecc8/ contains :

(venv) cedric@ubuntu-cedric:~/.ros/log/82f291a6-c20d-11ea-9047-34e6d75eecc8$ ls
base_controller_spawner-4.log         robot_state_publisher-7-stdout.log  spawn_husky_model-9.log
base_controller_spawner-4-stdout.log  roslaunch-ubuntu-cedric-22396.log   spawn_husky_model-9-stdout.log
ekf_localization-5-stdout.log         rosout-1-stdout.log                 twist_mux-8-stdout.log
master.log                            rosout.log

It does not contain the gazebo_gui-3*.log file

I'm not sure what is going on that is wrong here.

EDIT 1: I found how to get the verbose option out of Gazebo [Err] [ColladaLoader.cc:109] Unable to load collada file[/home/cedric/catkin_ws/src/husky_cuarl/husky_description/meshes/red_bowler.dae]

But this file exists and has 777 permission

cedric@ubuntu-cedric:~/catkin_ws/src/husky_cuarl/husky_description/urdf$ cd /home/cedric/catkin_ws/src/husky_cuarl/husky_description/meshes/
cedric@ubuntu-cedric:~/catkin_ws/src/husky_cuarl/husky_description/meshes$ ls
accessories    bumper.dae                     red_bowler.dae   top_plate.stl  wheel.stl
base_link.dae  bumper_extension.dae           top_chassis.dae  user_rail.dae
base_link.stl  large_top_plate_collision.stl  top_chassis.stl  user_rail.stl
bowler.stl     large_top_plate.dae            top_plate.dae    wheel.dae
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answered 2020-07-09 16:30:07 -0500

MartensCedric gravatar image

Turns out the .dae file was invalid

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Asked: 2020-07-09 13:20:58 -0500

Seen: 349 times

Last updated: Jul 09 '20