Invalid node name gazeboo when trying to launch gazebo empty world

gazebo

asked 2013-06-25 11:52:13 -0500

sunzun
41 ●1 ●2 ●6

updated 2013-06-26 08:14:36 -0500

When trying to launch an empty world in gazebo using the command

roslaunch gazebo_worlds empty_world.launch

I encounter the error

Invalid node name [gazeboo/�]: node names cannot contain /

Is there a known fix for this issue?

The full error is:

terminate called after throwing an instance of 'ros::InvalidNodeNameException' what(): Invalid node name [gazeboo/�]: node names cannot contain / Msg Waiting for master Aborted (core dumped) Error [Connection.cc:477] Connection[0] Closed during Read terminate called after throwing an instance of 'boost::system::system_error' what(): Connection reset by peer [gazebo-2] process has died [pid 18337, exit code 134, cmd /opt/ros/groovy/stacks/simulator_gazebo/gazebo/scripts/gazebo /opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/empty.world __name:=gazebo __log:=/home/dhruv/.ros/log/6ed9ee8a-dde5-11e2-a0c6-0026c789069a/gazebo-2.log]. log file: /home/dhruv/.ros/log/6ed9ee8a-dde5-11e2-a0c6-0026c789069a/gazebo-2.log Aborted (core dumped) [gazebo_gui-3] process has died [pid 18346, exit code 134, cmd /opt/ros/groovy/stacks/simulator_gazebo/gazebo/scripts/gui __name:=gazebo_gui __log:=/home/dhruv/.ros/log/6ed9ee8a-dde5-11e2-a0c6-0026c789069a/gazebo_gui-3.log]. log file: /home/dhruv/.ros/log/6ed9ee8a-dde5-11e2-a0c6-0026c789069a/gazebo_gui-3.log

Launch file:

<launch>

<arg name="paused" default="false"/> <arg name="use_sim_time" default="true"/> <arg name="gui" default="true"/> <arg name="throttled" default="false"/>

<group if="$(arg use_sim_time)"> </group>

<group if="$(arg paused)">

<group if="$(arg throttled)"> <node name="gazebo" pkg="gazebo" type="gazebo" args="-u $(find gazebo_worlds)/worlds/empty_throttled.world" respawn="false" output="screen"/> </group>

<group unless="$(arg throttled)"> <node name="gazebo" pkg="gazebo" type="gazebo" args="-u $(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/> </group> </group> <group unless="$(arg paused)">

<group if="$(arg throttled)"> <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty_throttled.world" respawn="false" output="screen"/> </group>

<group unless="$(arg throttled)"> <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/> </group> </group>

<group if="$(arg gui)"> <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/>
</group>

</launch>

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Comments

Did you try changing the node name ? Try re-naming the node name from its current value to something else, just 'gazebo' for instance. And also please update the question with your launch file.

prasanna.kumar ( 2013-06-25 13:31:40 -0500 )edit

I believe the issue is in the ROS api for the gazebo. I haven't made any modifications to the standard groovy install for gazebo (I'm just attempting to run the launch file that ships with the package). I've posted the launch file.

sunzun ( 2013-06-26 08:06:37 -0500 )edit

I would go through the source code myself, but it's thousands of lines of code, and a simply searching for "gazeboo" leads me to believe the issue is not as simple as a typo. Of course, I could be wrong, but I couldn't find where the issue was myself.

sunzun ( 2013-06-26 08:10:33 -0500 )edit

I have the same problem, I hope to find the way to solve this.

RC ( 2013-06-26 19:13:32 -0500 )edit

Did anyone resolve this issue?

fberger ( 2014-04-25 10:31:47 -0500 )edit

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answered 2013-07-09 11:23:27 -0500

sunzun
41 ●1 ●2 ●6

Okay, so there's apparently an issue with parsing the input argc/argv arguments when initializing the node in the file

/opt/ros/groovy/stacks/simulator_gazebo/gazebo/src/gazebo_ros_api_plugin.src

I fixed this by explicitly defining the node name in the function

void GazeboRosApiPlugin::Load(int argc, char** argv)

by replacing

ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHanlder);

with

std::map<std::string,std::string> remappings; remappings["gazebo"] = "gazebo"; ros::init(remappings,"gazebo",ros::init_options::NoSigintHanlder);

Probably not the most elegant solution, nor does it actually address the root cause of this issue, but it fixes the problem.

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Comments

I had the same issue and tried your suggestion above. Do you perform a 'rosmake -a' afterwards in order to compile?

octavian ( 2013-08-22 13:31:28 -0500 )edit

Sunzun, are there any steps to do after editing the file? Also, are you editing gazebo_ros_api_plugin.src or gazebo_ros_api_plugin.cpp? Your instructions so far haven't gotten it to work for me...

fberger ( 2014-04-25 10:31:18 -0500 )edit

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answered 2014-04-26 10:00:36 -0500

fberger
11 ●1 ●1

I thought I'd explain Sunzun's solution with a bit more detail.

First edit: /opt/ros/groovy/stacks/simulator_gazebo/gazebo/src/gazebo_ros_api_plugin.cpp

By replacing:

// setup ros related
if (!ros::isInitialized()) {
   ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler);
 else 
    ROS_ERROR("Something other than this gazebo_ros_api plugin started ros::init(...), command line arguments may not be parsed properly.");

with:

// setup ros related
if (!ros::isInitialized()) {
    std::map<std::string,std::string> remappings; 
     remappings["gazebo"] = "gazebo"; 
     ros::init(remappings,"gazebo",ros::init_options::NoSigintHandler);
  } else {
    ROS_ERROR("Something other than this gazebo_ros_api plugin started ros::init(...), command line arguments may not be parsed properly.");
  }

It is important to add the brackets around the if and else statement since we now have multiple instructions within the if statement clause.

Now, in order to re-compile the package with the changes, this is perhaps a little bit of a hack but you need to first delete the ROS_NOBUILD file from within /opt/ros/groovy/stacks/simulator_gazebo/gazebo This will tell rosmake to recompile this package.

If you attempt to run rosmake simulator_gazebo, you will get a permission denied error, so now you need to temporarily change the ownership of the simulator_gazebo package.

sudo chown -R %YOUR_USER_NAME%: simulator_gazebo

Now you should be able to run:

rosmake simulator_gazebo

And it should re-compile your changes to the file!

Now, run:

 roslaunch gazebo_worlds empty_world.launch

and Enjoy!

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Invalid node name gazeboo when trying to launch gazebo empty world

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