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Kinect plugin in Gazebo crashes on start(Seg fault)

asked 2017-05-20 15:24:33 -0500

kk6axq gravatar image

I'm new to Gazebo, and I'm trying to model my robot. I got differential drive working with a few hiccups but now I'm working on adding a Kinect. I pulled some information from here: http://gazebosim.org/tutorials?tut=ro..., and changed it slightly to add the Kinect as a sensor within the appropriate tags. When I launch it, Gazebo crashes(Segmentation fault). This is the output:

lukas@lukas-master:~/tortoisebot_ws/src/tortoisebot_description/urdf$ roslaunch tortoisebot_bringup simulation.launch 
... logging to /home/lukas/.ros/log/80918c22-3d96-11e7-b789-1078d27496be/roslaunch-lukas-master-3885.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:52336/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_urdf (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [3903]
process[gazebo_gui-2]: started with pid [3909]
process[spawn_urdf-3]: started with pid [3917]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[robot_state_publisher-4]: started with pid [3920]
[ INFO] [1495312596.828281935]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for masterMsg Waiting for master

[ INFO] [1495312596.830693779]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
sg Connected to gazebo master @ http://127.0.0.1:11345
32mMsg Msg Publicized address: 192.168.1.2
Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.2
[ INFO] [1495312597.281770980, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]
[ INFO] [1495312597.818713671, 0.139000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1495312597.831408740, 0.139000000]: Starting plugin DiffDrive(ns = //)!
[ WARN] [1495312597.835350878, 0.139000000]: DiffDrive(ns = //): missing <rosDebugLevel> default is na
[ INFO] [1495312597.840829281, 0.139000000]: DiffDrive(ns = //): <tf_prefix> = 
[ WARN] [1495312597.841349503, 0.139000000]: DiffDrive(ns = //): missing <commandTopic> default is cmd_vel
[ WARN] [1495312597.841710823, 0.139000000]: DiffDrive(ns = //): missing <odometryTopic> default is odom
[ WARN] [1495312597.841986734, 0.139000000]: DiffDrive(ns = //): missing <odometryFrame> default is odom
[ WARN] [1495312597.842767638, 0.139000000]: DiffDrive(ns = //): missing <wheelAcceleration> default is 0
[ WARN] [1495312597.843110448, 0.139000000]: DiffDrive(ns = //): missing <wheelTorque> default is 5
[ WARN] [1495312597.843383629, 0.139000000]: DiffDrive(ns = //): missing <updateRate> default is 100
[ WARN] [1495312597.843795218, 0.139000000]: DiffDrive(ns = //): missing <odometrySource> default is 1
[ WARN] [1495312597.844212206, 0.139000000]: GazeboRosDiffDrive Plugin (ns = ) missing <publishTf>, defaults to 1
[ INFO] [1495312597.849545673, 0.139000000]: DiffDrive(ns = //): Advertise joint_states!
[ INFO] [1495312597.853124327, 0.139000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel!
[ INFO] [1495312597.862958832, 0.139000000]: Physics dynamic reconfigure ready.
[ INFO] [1495312597.872353844, 0.139000000]: DiffDrive(ns = //): Subscribe to cmd_vel!
[ INFO] [1495312597.876092652, 0.139000000]: DiffDrive(ns = //): Advertise odom on odom !
[ WARN ...
(more)
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Comments

there is a new tutorial (not published yet) showing how to use a kinect sensor with ros. Maybe that will help: http://gazebosim.org/tutorials?tut=ros_depth_camera&branch=ros_depth_camera_preview

iche033 gravatar imageiche033 ( 2017-05-25 13:58:49 -0500 )edit

a gdb stacktrace would help. Give a look into how the empty_world.launch files implement the call for debug and do the same for your world file: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_ros/launch/empty_world.launch#L13 . After that call the roslaunch command with debug:=true and that will launch the gdb.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2017-05-30 11:40:10 -0500 )edit

Hi, I have the similar problems. Did you solve the problem?

alexxx gravatar imagealexxx ( 2017-06-24 11:24:11 -0500 )edit

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answered 2019-05-27 15:02:41 -0500

rfn123 gravatar image

Ensuring that the type of the sensor in the sensor tag is "depth" solved the crashing issue for me.

<sensor type="depth" name="depth_camera">

Not using the correct sensor types with the corresponding plugins apparently will throw these errors.

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Asked: 2017-05-20 15:24:33 -0500

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Last updated: May 27