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gazebo confliction in groovy

asked 2013-06-18 19:31:33 -0600

RC gravatar image

updated 2014-01-28 17:16:57 -0600

ngrennan gravatar image

When I command

roslaunch pr2_gazebo pr2_empty_world.launch

and the gazebo does not show up.

Following is log for the execution

...

 process[wide_stereo/wide_stereo_proc-7]: started with pid [26125]
Warning [parser.cc:361] Converting a deprecated SDF source[/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/empty.world].
Set SDF value
  Version[1.2] to Version[1.3]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
terminate called after throwing an instance of 'ros::InvalidNodeNameException'
  what():  Invalid node name [gazeboo/\ufffd]: node names cannot contain /
process[narrow_stereo/narrow_stereo_proc-8]: started with pid [26142]
/opt/ros/groovy/stacks/simulator_gazebo/gazebo/scripts/gazebo: line 15: 26040 Aborted                 (core dumped) `rospack find gazebo`/gazebo/bin/gzserver $final
[gazebo-1] process has died [pid 26022, exit code 134, cmd /opt/ros/groovy/stacks/simulator_gazebo/gazebo/scripts/gazebo -u /opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/empty.world __name:=gazebo __log:=/home/user_/.ros/log/d5fc1d36-d868-11e2-bfc5-d8d385af9f16/gazebo-1.log].
log file: /home/user_/.ros/log/d5fc1d36-d868-11e2-bfc5-d8d385af9f16/gazebo-1*.log
process[narrow_stereo_textured/narrow_stereo_textured_proc-9]: started with pid [26174]
Msg Waiting for master.process[left_image_raw_relay-10]: started with pid [26192]
loading model xml from ros parameter
process[right_image_raw_relay-11]: started with pid [26221]
.[INFO] [WallTime: 1371619379.362006] [0.000000] waiting for service /gazebo/spawn_urdf_model
process[left_camera_info_relay-12]: started with pid [26245]
process[right_camera_info_relay-13]: started with pid [26273]
.process[r_forearm_cam/image_proc-14]: started with pid [26299]
process[l_forearm_cam/image_proc-15]: started with pid [26315]
.process[diag_agg-16]: started with pid [26362]
.process[pr2_dashboard_aggregator-17]: started with pid [26409]
.process[robot_pose_ekf-18]: started with pid [26450]
.process[base_hokuyo_node-19]: started with pid [26527]
..process[tilt_hokuyo_node-20]: started with pid [26624]
.process[tf2_buffer_server-21]: started with pid [26710]
[ WARN] [1371619387.629661593]: You've passed in true for auto_start for the C++ action server at [/tf2_buffer_server]. You should always pass in false to avoid race conditions.
.process[camera_synchronizer_node-22]: started with pid [26827]
.[ INFO] [1371619389.311096476]: Starting to spin camera_synchronizer at 100.000000 Hz...
[ WARN] [1371619389.415234391]: The input topic '/wide_stereo/left/image_raw' is not yet advertised
[ WARN] [1371619389.420206958]: The input topic '/wide_stereo/left/camera_info' is not yet advertised
[ WARN] [1371619389.421225552]: The input topic '/wide_stereo/right/image_raw' is not yet advertised

...

The reason for the problem is that groovy doesn't support sdf version 1.2. I found some articles in this site, but it did not help to solve the problem.

Any idea?


Following is log with gdb

roslaunch gazebo_worlds debug.launch

Version[1.2] to Version[1.3]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
[New Thread 0xb0f8eb40 (LWP 28463)]
[New Thread 0xb078db40 (LWP 28464)]
terminate called after throwing an instance of 'ros::InvalidNodeNameException'
  what():  Invalid node name [gazeboo/\ufffd]: node names cannot contain /

Program received signal SIGABRT, Aborted.
0xb7fdd424 in __kernel_vsyscall ()
(gdb) 
bt
#0  0xb7fdd424 in __kernel_vsyscall ()
#1  0xb76a61df in __GI_raise (sig=6)
    at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
#2  0xb76a9825 in __GI_abort () at abort.c:91
#3  0xb78ed13d in __gnu_cxx::__verbose_terminate_handler() ()
   from /usr/lib/i386-linux-gnu/libstdc++.so.6
#4  0xb78eaed3 in ?? () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#5  0xb78eaf0f in ...
(more)
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answered 2013-06-18 22:40:37 -0600

davinci gravatar image

Is the problem not the node name? It has problems with the slashes in gazeboo/\ufffd. The sdf thing is only a warning. The combination ROS and Gazebo is at the moment very troublesome unfortunately.

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Yes, it seems that there are problems in the combination.

RC gravatar imageRC ( 2013-06-19 06:44:15 -0600 )edit

I had the same problem you're having and had to go through the gazebo_ros_api.cpp (or something like this) code, and manually hard code the node name, because the argc argv components had a weird behavior in it.

t.pimentel gravatar imaget.pimentel ( 2013-06-19 09:23:21 -0600 )edit

t.pimentel, can you elaborate on how you solved this?

fberger gravatar imagefberger ( 2014-04-25 10:33:04 -0600 )edit

I don't remember exactly any more what I did, but the call to ros::init received a pointer, like
ros::init(argc,argv, nodeName);
And this was giving a problem because the pointer wasn't well set (this inside ros gazebo API (the one that comes in default ros install)) and had a invalid name.

t.pimentel gravatar imaget.pimentel ( 2014-05-06 12:57:24 -0600 )edit

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Asked: 2013-06-18 19:31:33 -0600

Seen: 535 times

Last updated: Jun 19 '13