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Gazebo crashes when spawning robot from URDF

asked 2017-04-10 19:15:44 -0500

damjan gravatar image

When launching pioneer3dx.gazebo.launch from the p2os_urdf ROS package, gazebo crashes with the following error message:

[spawn_pioneer-5] process has finished cleanly log file: /home/damjan/.ros/log/149f697e-1e4e-11e7-833b-3c970e29894f/spawn_pioneer-5*.log Error [Param.cc:451] Unable to set value [-nan -nan -nan] for key[size] gzclient: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed. Aborted (core dumped) [gazebo_gui-4] process has died [pid 26353, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/damjan/.ros/log/149f697e-1e4e-11e7-833b-3c970e29894f/gazebo_gui-4.log]

I'm running ROS Kinetic with Gazebo 7 (both installed with apt) on Xenial.

Seems to be a different issue from this one.

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answered 2017-04-14 03:56:09 -0500

eugene-katsevman gravatar image

I had the same issue. Sensor collistions are broken in the model. In amr_robots_description/urdf open all xacro files and replace size="0 0 0" with something like size="0.01 0.01 0.01". Then It'll work

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Thanks, this solved the crash!

damjan gravatar imagedamjan ( 2017-04-16 20:00:16 -0500 )edit

please note there are two pull request into amr to fix this bug, as well as some others.

eugene-katsevman gravatar imageeugene-katsevman ( 2017-04-17 05:48:36 -0500 )edit

Thanks! For now, I have ported your changes to [my p2os fork](https://github.com/larics/p2os/tree/bugfix-urdf-p3dx/p2os_urdf). Right now amr-ros-config seems a bit unwieldy due to all the stuff that's in there.

damjan gravatar imagedamjan ( 2017-04-19 05:15:43 -0500 )edit
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Asked: 2017-04-10 19:15:44 -0500

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Last updated: Apr 14