gazebo crash when I roslaunch pr2_empty_world

asked 2012-08-28 12:13:02 -0600

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I just installed ubuntu 12.04 and ROS fuerte. When I run 'roslaunch pr2_gazebo pr2_empty_world.launch' the entire pr2 model is not showed up on screen.

I only installed ROS and PR2 simulator package. Is there anybody helps me?

The terminal shows following messages:

Segmentation fault (core dumped) Traceback (most recent call last): File "/opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner", line 161, in <module> if __name__ == '__main__': main() File "/opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner", line 139, in main resp = load_controller(name) File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 432, in __call__ return self.call(args, *kwds) File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 522, in call raise ServiceException("transport error completing service call: %s"%(str(e))) rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details

[WARN] [WallTime: 1346191217.658283] [0.089000] Spawner couldn't reach pr2_controller_manager to take down controllers.

[gazebo-2] process has died [pid 23235, exit code 139, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -u /opt/ros/fuerte/stacks/simulator_gazebo/gazebo_worlds/worlds/empty.world __name:=gazebo __log:=/home/dpark/.ros/log/bb7462a6-f15b-11e1-acc1-38607740c1c2/gazebo-2.log]. log file: /home/dpark/.ros/log/bb7462a6-f15b-11e1-acc1-38607740c1c2/gazebo-2*.log

[spawn_pr2_model-4] process has finished cleanly log file: /home/dpark/.ros/log/bb7462a6-f15b-11e1-acc1-38607740c1c2/spawn_pr2_model-4*.log

[default_controllers_spawner-24] process has died [pid 24562, exit code 1, cmd /opt/ros/fuerte/stacks/pr2_mechanism/pr2_controller_manager/scripts/spawner --wait-for=/calibrated base_controller base_odometry head_traj_controller laser_tilt_controller torso_controller r_gripper_controller l_gripper_controller r_arm_controller l_arm_controller __name:=default_controllers_spawner __log:=/home/dpark/.ros/log/bb7462a6-f15b-11e1-acc1-38607740c1c2/default_controllers_spawner-24.log].

log file: /home/dpark/.ros/log/bb7462a6-f15b-11e1-acc1-38607740c1c2/default_controllers_spawner-24*.log

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Can you do "unset OGRE_RESOURCE_PATH" and try again? If gazebo still crashes, can you do "roslaunch gazebo_worlds debug.launch" then type "bt" at the gdb prompt after crashing: "(gdb) bt" and post all outputs? thanks.

hsu ( 2012-08-28 13:10:57 -0600 )edit

1

I did "unset OGRE_RESOURCE_PATH". Still it crashes. I also did "roslaunch gazebo_worlds debug.launch". It was not crash. The crash is only happen when I launch pr2 things~ Any suggestions? Thanks

dpark ( 2012-08-29 04:36:52 -0600 )edit

Hi, I am trying to make debugging process easier, can you take a look at this page (http://ros.org/wiki/simulator_gazebo/Troubleshooting) and fill in some more details as mentioned by the second half of the wiki here? Thanks.

hsu ( 2012-08-29 14:05:56 -0600 )edit

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answered 2013-05-24 09:41:37 -0600

This post is a wiki. Anyone with karma >75 is welcome to improve it.

[This question is almost a year old, but I still wanted to add my answer].

I also noticed this happening with

roslaunch pr2_gazebo pr2_empty_world.launch

which spawns the PR2 itself, so I tried spawning it myself in an empty world after reducing the solver step size and voilà!

So, while I guess it's not recommended to alter the file I'm about to mention, my solution is nonetheless, the following:

rosed gazebo_worlds empty.world

and change

<dt>0.001</dt>

to something like

<dt>0.0001</dt>

And then, whenever you launch the simulator, you just wait until everything has loaded and just set back the step size to whichever you prefer.

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answered 2013-11-03 19:28:04 -0600

ljk
155 ●10 ●12 ●18

updated 2013-11-03 19:28:29 -0600

I encountered the same problem and i solved by killing the server and client first and launch again

killall gzclient

killall gzserver

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2020 and this is the only thing that fixed my issue. Thank you

hillripper21 ( 2020-07-20 14:12:08 -0600 )edit

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answered 2012-09-02 13:40:44 -0600

yangyangcv

741 ●21 ●32 ●42 http://www.cnblogs.com...

i also met this problem. you can try this instead: roslaunch manipulation_worlds pr2_table_object.launch this works for me. if you want an empty world, you can delete the table and object things in the pr2_table_object.launch. i think it is very straightforward. hope that helps~

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answered 2012-09-25 05:15:45 -0600

This post is a wiki. Anyone with karma >75 is welcome to improve it.

I also have the same problem but with my robot called excavaBOT. In my case, this problem only happen when I launch a controller of base (base_controller, this controller is similar to the controller base of PR2), I also commend you that I've developed other controllers but in this particular controller I have the problem. Besides, it is curious that problem I only met in Fuerte and not in Diamonback. Therefore, I think that the problem is associated with the spawn process of controllers. Anybody has idea about the solution? Thanks

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