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hector_gazebo stack error when rosmake

asked 2012-06-25 07:15:08 -0500

FrancoR gravatar image

Hi, I'm trying to build hector_quadrotor stack, but it need hector_gazebo first. When I try to build hector_gazebo i get:

/home/franco/ros_workspace/hector_gazebo/hector_gazebo_thermal_camera/include/hector_gazebo_thermal_camera/gazebo_ros_thermal_camera.h:63:27: error fatal: gazebo/Param.hh: No such file or directory

I think it's a API problem with the new gazebo. Am I in correct? I am usin Ubuntu 12.04, ROS fuerte, and I have installed (before ROS) Gazebo 1.0.1.

Can help me?

Thanks. Franco

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Looks like it is an API issue. In the hector quadroto announcement they did say that they would be updating for Gazebo 1.0 after Fuerte was released: http://www.ros.org/news/2012/03/announcement-of-hector-quadrotor-stack.html. There is also a Fuerte branch in their svn repo.

JonW gravatar image JonW  ( 2012-06-25 15:39:09 -0500 )edit

7 Answers

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answered 2012-06-26 00:45:02 -0500

Hi,

I had the same error, but by browsing in the tu-darmstadt repository i found the branch for fuerte, as JonW said. It compiles without problem.

the source is

http://tu-darmstadt-ros-pkg.googlecode.com/svn/branches/fuerte/hector_gazebo/

they also have all the other packages there.

regards.

Mario

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answered 2012-07-07 07:54:36 -0500

Mike Gao gravatar image

Hi, the problems I encounter during compiling the darmstadt ros package are: 1. no "quadrotorPropulsion" directory needed by "quadrotor_aerodynamics.cpp" when compiling "hector_quadrotor" stack; 2. where can I find the package "hector_ugv_urdf" needed by "hector_ugv_common" stack? Appreciate for any suggestion! Thanks in advance, Mike.

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Hi Mike! 1. You do not need to build the new package hector_quadrotor_controller for running the demo. Just "rosmake hector_quadrotor_gazebo" should do the job. 2. There was a misnamed dependency in package hector_ugv_gazebo. But I do not see why this package should be needed for hector_quadrotor?

Johannes Meyer gravatar image Johannes Meyer  ( 2012-07-08 00:04:12 -0500 )edit

Hi Johannes! Thanks for your reply. Actually in the file "quadrotor_base.urdf.xacro", it includes the controller from "quadrotor_aerodynamics", thus I comment it out, then it works.

Mike Gao gravatar image Mike Gao  ( 2012-07-08 23:00:47 -0500 )edit

Could you simply introduce the function of controller package, if it is convenient? I am interested. I know I need Matlab to compile it, but currently I do not install Matlab.

Mike Gao gravatar image Mike Gao  ( 2012-07-08 23:06:13 -0500 )edit

Concerning the ugv package, actually I would also like to manipulate some ground robot in simulation, and the ugv stack seems to provide such function, then I want to have a try. But it seems it lacks a package named "monstertruck_urdf"...Thanks!

Mike Gao gravatar image Mike Gao  ( 2012-07-08 23:25:50 -0500 )edit

Mike, your last questions are beyond the scope of this thread and I will answer them separately. I commented out the quadrotors_aerodynamics in "quadrotor_base.urdf.xacro".

Johannes Meyer gravatar image Johannes Meyer  ( 2012-07-10 00:01:10 -0500 )edit

Thanks! I wrote you an email, if you have time to take a look, thanks again!

Mike Gao gravatar image Mike Gao  ( 2012-07-11 09:09:23 -0500 )edit
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answered 2012-06-27 02:57:58 -0500

FrancoR gravatar image

Yes, I changed the code yesterday but it comes another errors. I resolved the errors "by hand". The stack built well, but now I have problem with running.

When I launch the demo (like the tutorial here) I get many errors like this:

Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored

The proccess apears to start normally but crash at the end with this lines:

[ INFO] [1340800786.290306880]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... gzserver: /home/franco/Gazebo/ogre_src_v1-7-4/OgreMain/include/OgreSingleton.h:80: Ogre::Singleton<t>::Singleton() [with T = Ogre::TerrainPageSourceListenerManager]: Assertion `!ms_Singleton' failed. Aborted (core dumped) ================================================================================REQUIRED process [gazebo-2] has died! process has died [pid 3153, exit code 134, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo /home/franco/ros_workspace/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world __name:=gazebo __log:=/home/franco/.ros/log/283d9ab6-c055-11e1-8ddd-0026c60ec908/gazebo-2.log]. log file: /home/franco/.ros/log/283d9ab6-c055-11e1-8ddd-0026c60ec908/gazebo-2.log Initiating shutdown! ================================================================================*

Any ideaa????

Thanks!

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answered 2012-06-26 07:29:47 -0500

FrancoR gravatar image

Thanks Mario. I downloaded and built well. Now I still have a problem with hector_quadrotor_gazebo. It seem it is not updated with the correct API. When I build with rosmake hector_quadrotor_gazebo_plugin has an error when the header files call gazebo headers. The files include "gazebo.h", but gazebo 1.0.0 has "gazebo.hh". If a fix that by hand there still are errors (by same reason).

Any idea?. Thanks!
Franco

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Yes, i had to do tha same, change gazebo.h for gazebo.hh in the two header files (gazebo_ros_baro.h quadrotor_simple_controller.h). , are you able to complete the rosmake ohector_quadrotor_gazebo_plugin?

Mario Garzon gravatar image Mario Garzon  ( 2012-06-27 01:20:19 -0500 )edit

Thanks for pointing that out. I updated the include lines in the fuerte branch of the tu-darmstadt-ros-pkg repository.

Johannes Meyer gravatar image Johannes Meyer  ( 2012-07-04 05:50:10 -0500 )edit

Thanks Johannes. I still can't run the demo (after changing the header). Please take a look to my console output in the below post.

FrancoR gravatar image FrancoR  ( 2012-07-05 04:58:30 -0500 )edit
0

answered 2012-06-27 03:07:00 -0500

updated 2012-06-27 03:07:21 -0500

The Problem you expire

Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored

is a well known open issue from Python 2.7. See also here and the tickets here | here.

Actually it is claimed not to interfere with any executable code, i.e. even if the message occurs the code should still work well. But i also noticed that at least for fuerte in Ubuntu 12.04 this is not the case and processes die after the happening.

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answered 2012-07-11 04:18:55 -0500

FrancoR gravatar image

I did that Johannes Meyer said.

I dont understand very well the problem.

My output from rosrun gazebo debug:

franco@franco-dv6:~/ros_workspace$ rosrun gazebo debug GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2) 7.4-2012.04 Copyright (C) 2012 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Para las instrucciones de informe de errores, vea: http://bugs.launchpad.net/gdb-linaro/... Leyendo símbolos desde /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo/bin/gzserver...(no se encontraron símbolos de depuración)hecho. [Depuración de hilo usando libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". Gazebo multi-robot simulator, version 1.0.2 Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors. Released under the Apache 2 License. http://gazebosim.org

[Nuevo Thread 0x7fffe7d3e700 (LWP 9804)]

[Nuevo Thread 0x7fffe753d700 (LWP 9805)]

[Nuevo Thread 0x7fffe6d3c700 (LWP 9807)]

[Nuevo Thread 0x7fffe653b700 (LWP 9808)]

[Nuevo Thread 0x7fffe5d3a700 (LWP 9809)]

[Nuevo Thread 0x7fffe5539700 (LWP 9814)]

[Nuevo Thread 0x7fffe4d38700 (LWP 9815)]

[Nuevo Thread 0x7fffcffff700 (LWP 9816)]

Msg Waiting for master

Msg Connected to gazebo master @ http://localhost:11345

/set_physics_properties] has not been advertised, waiting...

gzserver: /home/franco/Gazebo/ogre_src_v1-7-4/OgreMain/include/OgreSingleton.h:80: Ogre::Singleton<t>::Singleton() [with T = Ogre::TerrainPageSourceListenerManager]: Assertion `!ms_Singleton' failed.

Program received signal SIGABRT, Aborted.

0x00007ffff582f445 in raise () from /lib/x86_64-linux-gnu/libc.so.6

(gdb)

------------------------------------------------

My output from rosrun gazebo gui:

franco@franco-dv6:~/ros_workspace$ rosrun gazebo gui Gazebo multi-robot simulator, version 1.0.2 Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors. Released under the Apache 2 License. http://gazebosim.org

Msg Waiting for master

Msg Connected to gazebo master @ http://localhost:11345

Error [Transport.cc:102] Unable to get topic namespaces in [50] tries.

Error [Node.cc:68] No namespace found

/opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gui: línea 2: 9840 Violación de segmento (core' generado)rospack find gazebo/gazebo/bin/gzclient -grospack find gazebo`/lib/libgazebo_ros_paths_plugin.so franco@franco-dv6:~/ros_workspace$

---------------------------------------------------------

My output from roslaunch hector_quadrotor_gazebo spawn_quadrotor.launch are same that last post but the procces stall at these lines:

process[ground_truth_to_tf-3]: started with pid [9904]

loading model xml from ros parameter

Any idea? I downloaded the last revision from hector stacks (http://tu-darmstadt-ros-pkg.googlecode.com/svn/branches/fuerte/)

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answered 2012-06-27 03:44:40 -0500

FrancoR gravatar image

I put the entire output (there are a couple of warn message too):

franco@franco-dv6:~/ros_workspace/hector_quadrotor$ roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch ... logging to /home/franco/.ros/log/352e3458-c05d-11e1-b2e2-0026c60ec908/roslaunch-franco-dv6-3497.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://franco-dv6:56736/

SUMMARY

PARAMETERS * /ground_truth_to_tf/frame_id * /ground_truth_to_tf/odometry_topic * /robot_description * /robot_state_publisher/publish_frequency * /robot_state_publisher/tf_prefix * /rosdistro * /rosversion * /use_sim_time

NODES / gazebo (gazebo/gazebo) ground_truth_to_tf (odometry_to_tf/odometry_to_tf) robot_state_publisher (robot_state_publisher/state_publisher) rviz (rviz/rviz) spawn_robot (gazebo/spawn_model)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored

process[gazebo-1]: started with pid [3520] Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored

process[spawn_robot-2]: started with pid [3528]

Gazebo multi-robot simulator, version 1.0.2

Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors. Released under the Apache 2 License. http://gazebosim.org

Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored

process[robot_state_publisher-3]: started with pid [3538]

As a workaround, you can add an extra dummy link to your URDF. Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored

rocess[ground_truth_to_tf-4]: started with pid [3561]

33mWarning [parser.cc:332] Gazebo SDF has no gazebo element

Warning [parser.cc:243] parser for sdf version 1.0 failed, trying to parse as old deprecated format

Msg Waiting for master

Msg Connected to gazebo master @ http://localhost:11345

Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored

process[rviz-5]: started with pid [3594]

Config file '/home/franco/.rviz/config' could not be opened for reading.

gzserver: /home/franco/Gazebo/ogre_src_v1-7-4/OgreMain/include/OgreSingleton.h:80: Ogre::Singleton<t>::Singleton() [with T = Ogre::TerrainPageSourceListenerManager]: Assertion `!ms_Singleton' failed. Aborted (core dumped)

================================================================================REQUIRED process [gazebo-1] has died!

process has died [pid 3520, exit code 134, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo /home/franco/ros_workspace/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world __name:=gazebo __log:=/home/franco/.ros/log/352e3458-c05d-11e1-b2e2-0026c60ec908/gazebo-1.log]. log file: /home/franco/.ros/log/352e3458-c05d-11e1-b2e2-0026c60ec908/gazebo-1*.log Initiating shutdown!

================================================================================

loading model xml from ros parameter

[rviz-5] killing on exit

[ground_truth_to_tf-4] killing on exit

[robot_state_publisher-3] killing on exit

[spawn_robot-2] killing on exit

[gazebo-1] killing on exit

Traceback (most recent call last):

File "/opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/spawn_model", line 293, in <module> sm.callSpawnService()

File "/opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/spawn_model", line 239, in callSpawnService rospy.wait_for_service('/gazebo/get_physics_properties')

File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 158, in wait_for_service raise ROSInterruptException("rospy shutdown")

rospy.exceptions.ROSInterruptException: rospy shutdown

shutting down processing monitor... ... shutting down processing monitor complete done

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Could you try to run gazebo in the debugger to find out why the process dies? Run "rosrun gazebo debug" to start the server in gdb, "rosrun gazebo gui" for the GUI and "roslaunch hector_quadrotor_gazebo spawn_quadrotor.launch" to spawn a quad. gdb command "bt" prints the backtrace after the crash.

Johannes Meyer gravatar image Johannes Meyer  ( 2012-07-08 01:03:09 -0500 )edit

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Asked: 2012-06-25 07:15:08 -0500

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Last updated: Jul 11 '12