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Cannot identify gazebo error

asked 2020-10-03 18:48:04 -0600

MakinoharaShouko gravatar image

updated 2022-06-05 11:42:19 -0600

lucasw gravatar image

I was trying to run a 3D simulation with a depth and point cloud camera and gazebo would not start. It just gave me the following error message:

[gazebo-2] process has died [pid 17326, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver --verbose -e ode worlds/ __name:=gazebo __log:=/home/makinohara/.ros/log/317cf8d0-05d2-11eb-84f1-000c29b81a2f/gazebo-2.log].
log file: /home/makinohara/.ros/log/317cf8d0-05d2-11eb-84f1-000c29b81a2f/gazebo-2*.log

I tried to look for the log file but could not find it in the log folder. I am wondering how can I identify what's the cause for gazebo crashing.

Here is how I implemented the sensor

  <xacro:macro name="modified_camera_plugin_macro"
params="namespace suffix parent_link topic mass update_rate
  hfov width height stddev scale
  *inertia *origin">
<!-- Sensor link -->
<link name="${namespace}/camera${suffix}_link">
    <xacro:insert_block name="inertia" />
    <mass value="${mass}" />
    <origin xyz="0 0 0" rpy="0 0 0" />
      <mesh filename="file://$(find uuv_sensor_ros_plugins)/meshes/oe14-372.dae" scale="${scale} ${scale} ${scale}"/>

<joint name="${namespace}/camera${suffix}_joint" type="revolute">
  <xacro:insert_block name="origin" />
  <parent link="${parent_link}" />
  <child link="${namespace}/camera${suffix}_link" />
  <limit upper="0" lower="0" effort="0" velocity="0" />
  <axis xyz="1 0 0"/>

<link name="${namespace}/camera${suffix}_link_optical">
  <xacro:box_inertial x="0.0001" y="0.0001" z="0.0001" mass="0.001">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <!-- todo: gazebo needs a collision volume or it will ignore the pose of
       the joint that leads to this link (and assume it to be the identity) -->
      <cylinder length="0.000001" radius="0.000001"/>
    <origin xyz="0 0 0" rpy="0 ${0.5*pi} 0"/>

<joint name="${namespace}/camera${suffix}_optical_joint" type="revolute">
  <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
  <parent link="${namespace}/camera${suffix}_link"/>
  <child link="${namespace}/camera${suffix}_link_optical"/>
  <limit upper="0" lower="0" effort="0" velocity="0" />
  <axis xyz="1 0 0"/>

<gazebo reference="${namespace}/camera${suffix}_link">
  <sensor type="camera" name="camera${suffix}">
    <camera name="camera${suffix}">
    <plugin name="camera${suffix}_controller" filename="">




      <focalLength>0</focalLength> ...
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@MakinoharaShouko Since the thing that is crashing is gzserver, I am sure this is something related with your world ( having something bad instantiated or any bad tag.

Weasfas gravatar image Weasfas  ( 2020-10-04 05:20:47 -0600 )edit

@Weasfas I am not sure if there is something wrong with the world. The world has been working fine until I changed the camera. And after changing back to the original camera the gazebo launched without any error.

MakinoharaShouko gravatar image MakinoharaShouko  ( 2020-10-04 17:34:38 -0600 )edit

1 Answer

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answered 2020-10-04 17:59:14 -0600

MakinoharaShouko gravatar image

I found that the camera type should be changed to "depth". Now I am not seeing the error and the topics are published properly.

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Asked: 2020-10-03 18:48:04 -0600

Seen: 253 times

Last updated: Oct 04 '20