Spawning robot model on Gazebo fails in OS X

asked 2016-07-02 06:39:32 -0600

tomtommy611 gravatar image

I'm currently running OS X 10.11.5 (El Capitan) on a MacBook Air (Intel HD Graphics 5000 1536 MB).

I have been trying to test RotorS (https://github.com/ethz-asl/rotors_si...), a MAV gazebo simulator, as a part of next-best-view planner exploration simulation, (https://github.com/ethz-asl/nbvplanner) but as soon as the gazebo starts, the spawning of the drone process dies. As a result, no model robot is spawned to gazebo, therefore no exploration. However, models that are saved in .gazebo/models are successfully imported.

Not only this simulation, but tutorial in http://gazebosim.org/tutorials/?tut=r... also fails to load in Gazebo. (It is well imported in rviz.)

I have been trying to fix this issues for days, but I really don't know what is the problem here.

In addition, I have three catkin_ws--one that was used to install ROS in OS X, one that was used to install Octomap package, and the other that is used to build other custom packages for current research. Is this the cause of the problem? This is my .bash_profile:

export PATH=/usr/local/bin:$PATH
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH
export ROS_PACKAGE_PATH=/Users/Jaeho/ros_catkin_ws:$ROS_PACKAGE_PATH
export LD_LIBRARY_PATH=/usr/lib/:$LD_LIBRARY_PATH
source /Users/Jaeho/ros_catkin_ws/install_isolated/setup.bash
source /Users/Jaeho/octo_catkin_ws/devel/setup.bash
source /Users/Jaeho/catkin_ws/devel/setup.bash

The below is the output.

$ roslaunch rotors_gazebo mav_hovering_example.launch
... logging to /Users/Jaeho/.ros/log/db2094d7-3ff6-11e6-9dce-001b39113a86/roslaunch-ijaehoui-MacBook-Air.local-8671.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt

started roslaunch server http://ijaehoui-MacBook-Air.local:49828/

SUMMARY
========

PARAMETERS
 * /firefly/lee_position_controller_node/angular_rate_gain/x: 0.52
 * /firefly/lee_position_controller_node/angular_rate_gain/y: 0.52
 * /firefly/lee_position_controller_node/angular_rate_gain/z: 0.18
 * /firefly/lee_position_controller_node/attitude_gain/x: 3
 * /firefly/lee_position_controller_node/attitude_gain/y: 3
 * /firefly/lee_position_controller_node/attitude_gain/z: 0.15
 * /firefly/lee_position_controller_node/inertia/xx: 0.0347563
 * /firefly/lee_position_controller_node/inertia/xy: 0.0
 * /firefly/lee_position_controller_node/inertia/xz: 0.0
 * /firefly/lee_position_controller_node/inertia/yy: 0.0458929
 * /firefly/lee_position_controller_node/inertia/yz: 0.0
 * /firefly/lee_position_controller_node/inertia/zz: 0.0977
 * /firefly/lee_position_controller_node/mass: 1.56779
 * /firefly/lee_position_controller_node/position_gain/x: 6
 * /firefly/lee_position_controller_node/position_gain/y: 6
 * /firefly/lee_position_controller_node/position_gain/z: 6
 * /firefly/lee_position_controller_node/rotor_configuration/0/angle: 0.52359877559
 * /firefly/lee_position_controller_node/rotor_configuration/0/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/0/direction: 1.0
 * /firefly/lee_position_controller_node/rotor_configuration/0/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/0/rotor_moment_constant: 0.016
 * /firefly/lee_position_controller_node/rotor_configuration/1/angle: 1.57079632679
 * /firefly/lee_position_controller_node/rotor_configuration/1/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/1/direction: -1.0
 * /firefly/lee_position_controller_node/rotor_configuration/1/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/1/rotor_moment_constant: 0.016
 * /firefly/lee_position_controller_node/rotor_configuration/2/angle: 2.61799387799
 * /firefly/lee_position_controller_node/rotor_configuration/2/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/2/direction: 1.0
 * /firefly/lee_position_controller_node/rotor_configuration/2/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/2/rotor_moment_constant: 0.016
 * /firefly/lee_position_controller_node/rotor_configuration/3/angle: -2.61799387799
 * /firefly/lee_position_controller_node/rotor_configuration/3/arm_length: 0.215
 * /firefly/lee_position_controller_node/rotor_configuration/3/direction: -1.0
 * /firefly/lee_position_controller_node/rotor_configuration/3/rotor_force_constant: 8.54858e-06
 * /firefly/lee_position_controller_node/rotor_configuration/3/rotor_moment_constant: 0.016
 * /firefly ...
(more)
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