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Fuerte turtlebot simulator Ubuntu 12.04 precise

asked 2012-07-10 08:10:53 -0500

Savvas gravatar image

Hi,

I am having a hard time running the turtlebot simulator with ros-fuerte on Ubuntu precise 12.04. I used to run the simulator without any problems with Ubuntu Lucid and ros-electric. It seems to be an issue with the gazebo server and the boost libraries. More specifically, after issuing:

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

I get the following error:

waiting for service spawn_urdf_model gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr<t>::operator->() const [with T = urdf::Inertial]: Assertion `px != 0' failed.

Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details

Aborted (core dumped)

I have observed the same behavior on 3 different 12.04 machines (Ububtu, lubuntu, Xubuntu). Is this a known problem for fuerte-precise turtlebot simulator or am I doing sth wrong? Note that stripping down the turtlebot urdf to just the create base seems to work - but that's definitely not a solution.

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4 Answers

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2

answered 2012-07-12 12:34:15 -0500

mgrimson gravatar image

I noticed that in the turtlebot_description/urdf/turtlebot_body.urdf.xacro file they had commented out this:

<inertial>
  <mass value="0.0001" />
  <origin xyz="0 0 0" />
  <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
          iyy="0.0001" iyz="0.0" 
          izz="0.0001" />
</inertial>

After removing the commented out part, the turtlebot was spawned correctly and all of the topics seem to be published as well.

The only issue is that while running you will be bombarded by this warning:

Warning [RaySensor.cc:206] ranges not constructed yet (zero sized)

But other than that it seems to run correctly.

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Thank you very much for this. Indeed this fixed the problem.

Savvas gravatar imageSavvas ( 2012-07-12 22:51:25 -0500 )edit

This seems to be a more general problem. I guess, this part was commented out, because otherwise KDL complains about not being able to handle inertia in the first link. Leaving the inertia out was working for Electric, but now it crashes with the new Gazebo.

bit-pirate gravatar imagebit-pirate ( 2012-07-24 14:39:40 -0500 )edit
1

answered 2012-07-31 15:28:32 -0500

hsu gravatar image

this has been addressed in trunk of simulator_gazebo (see r29773), with release of simulator_gazebo 1.6.12, the inertial block is not needed any more.

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Any idea on when this will be out, or is there anywhere were I can check when it will be out? Thanks.

hcostelha gravatar imagehcostelha ( 2012-08-03 06:03:46 -0500 )edit

just made a release, see http://www.ros.org/debbuild/fuerte.html for deb build status of simulator_gazebo 1.6.12.

hsu gravatar imagehsu ( 2012-08-04 08:59:34 -0500 )edit

Now it no longer yields the problem above, but it still fails. I will post a comment below with the details.

hcostelha gravatar imagehcostelha ( 2012-08-08 00:32:30 -0500 )edit
1

answered 2012-08-08 00:38:23 -0500

hcostelha gravatar image

updated 2012-08-08 00:41:47 -0500

Updating with "simulator_gazebo 1.6.12" no longer gives the problem mentioned above due to inertial information missing, but it still crashes with the following:

hcostelha@orange:p2os> roslaunch turtlebot_gazebo turtlebot_empty_world.launch
... logging to /home/hcostelha/.ros/log/2718b24c-e0a3-11e1-a2a1-0022695aa7fd/roslaunch-orange-3108.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://orange:38215/

SUMMARY
========

PARAMETERS
 * /diagnostic_aggregator/analyzers/digital_io/path
 * /diagnostic_aggregator/analyzers/digital_io/startswith
 * /diagnostic_aggregator/analyzers/digital_io/timeout
 * /diagnostic_aggregator/analyzers/digital_io/type
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/mode/startswith
 * /diagnostic_aggregator/analyzers/mode/timeout
 * /diagnostic_aggregator/analyzers/mode/type
 * /diagnostic_aggregator/analyzers/nodes/contains
 * /diagnostic_aggregator/analyzers/nodes/path
 * /diagnostic_aggregator/analyzers/nodes/timeout
 * /diagnostic_aggregator/analyzers/nodes/type
 * /diagnostic_aggregator/analyzers/power/path
 * /diagnostic_aggregator/analyzers/power/startswith
 * /diagnostic_aggregator/analyzers/power/timeout
 * /diagnostic_aggregator/analyzers/power/type
 * /diagnostic_aggregator/analyzers/sensors/path
 * /diagnostic_aggregator/analyzers/sensors/startswith
 * /diagnostic_aggregator/analyzers/sensors/timeout
 * /diagnostic_aggregator/analyzers/sensors/type
 * /diagnostic_aggregator/base_path
 * /diagnostic_aggregator/pub_rate
 * /kinect_laser/max_height
 * /kinect_laser/min_height
 * /kinect_laser/output_frame_id
 * /kinect_laser_narrow/max_height
 * /kinect_laser_narrow/min_height
 * /kinect_laser_narrow/output_frame_id
 * /pointcloud_throttle/max_rate
 * /robot_description
 * /robot_pose_ekf/freq
 * /robot_pose_ekf/imu_used
 * /robot_pose_ekf/odom_used
 * /robot_pose_ekf/publish_tf
 * /robot_pose_ekf/sensor_timeout
 * /robot_pose_ekf/vo_used
 * /robot_state_publisher/publish_frequency
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/state_publisher)
    spawn_turtlebot_model (gazebo/spawn_model)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[master]: started with pid [3128]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2718b24c-e0a3-11e1-a2a1-0022695aa7fd
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[rosout-1]: started with pid [3141]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[gazebo-2]: started with pid [3155]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[gazebo_gui-3]: started with pid [3159]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[spawn_turtlebot_model-4]: started with pid [3166]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[diagnostic_aggregator-5]: started with pid [3167]
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-6]: started with pid [3168]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[robot_pose_ekf-7]: started with pid [3184]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[pointcloud_throttle-8]: started with pid [3220]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[kinect_laser-9]: started with pid [3235]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block ...
(more)
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Comments

Yep, ran an upgrade tonight and there was a bunch of Fuerte updates. I get this error intermittently and it stops Gazebo loading. If I try a second time Gazebo appears to load....

dbworth gravatar imagedbworth ( 2012-08-08 04:11:38 -0500 )edit

I tried today after another batch of updates and it is working now. The simulator_gazebo is still version 1.6.12, so It the problem now might have been elsewhere.

hcostelha gravatar imagehcostelha ( 2012-08-18 11:43:05 -0500 )edit
0

answered 2012-07-24 03:07:06 -0500

dbworth gravatar image

Had the same problem trying to test my own URDF file, with the first link having no inertial properties. Ticket lodged: https://bitbucket.org/osrf/gazebo/issue/4/failed-to-spawn-urdf-model-in-gazebo-if

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This is (most probably) not a Gazebo problem. Here is the ticket whose fix actually causes the crash: https://kforge.ros.org/turtlebot/trac/ticket/138 and here a new ticket for the creator of the warning (KDL parser): https://kforge.ros.org/robotmodel/Trac/ticket/6

bit-pirate gravatar imagebit-pirate ( 2012-07-24 15:18:28 -0500 )edit

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Asked: 2012-07-10 08:10:53 -0500

Seen: 4,754 times

Last updated: Aug 08 '12