Deleting a model causes another instance to be deleted during the same simulation.

asked 2017-05-10 12:18:39 -0500

dbrodeur gravatar image

updated 2017-05-23 06:52:00 -0500

I have 2 SDF models : robot_arm and mobile_robot.

mobile_robot is similar to the mobile robot from Gazebo's tutorial "make a mobile robot" except that I used the <include> tag to insert a robot_arm on top of the mobile base.

<?xml version='1.0'?>
<sdf version='1.6'>
  <model name="mobile_robot">
    <static>false</static>

    [...]

    <include>
      <uri>model://robot_arm</uri>
      <pose>0.0 0 0.15 0 0 0</pose>
    </include>
  </model>
</sdf>

I start gazebo and insert a robot_arm, then a mobile_robot (containing its own robot_arm). After that, I select the robot_arm (the one alone) and press Delete on the keyboard. robot_arm is removed but the arm included on mobile_robot as well. Then Gazebo crashes.

Worth to mention : this does not happen if I delete mobile_robot first. robot_arm stays in the simulation and nothing crashes. Inserting mobile_robot first and then robot_arm will crash the same way if I delete the robot_arm first.

I have tested with ODE, Simbody and Bullet. Same result (unless it does not crash in bullet). Using Gazebo 7 on Ubuntu 14-04.

Does anyone ever noticed something similar?

edit retag flag offensive close merge delete