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[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.

asked 2017-09-29 04:56:39 -0500

hamzamerzic gravatar image

updated 2017-10-06 06:13:09 -0500

So far I have been using only ODE and now I would like to try Bullet with Gazebo8 deb installation. But when try to run my model I get some errors:

[Err] [BulletHingeJoint.cc:405] Joint must be created before setting friction
[Err] [BulletHingeJoint.cc:405] Joint must be created before setting friction
[Err] [BulletHingeJoint.cc:405] Joint must be created before setting friction
[Err] [BulletHingeJoint.cc:405] Joint must be created before setting friction
[Err] [BulletHingeJoint.cc:405] Joint must be created before setting friction
[Err] [BulletHingeJoint.cc:405] Joint must be created before setting friction
[Err] [BulletHingeJoint.cc:405] Joint must be created before setting friction
[Err] [BulletHingeJoint.cc:405] Joint must be created before setting friction
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:334] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:334] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:334] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:334] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:334] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:334] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:334] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:334] bulletHinge not yet created.
[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.

When I disable friction in the sdf file, I still get a wall of errors:

[Err] [BulletHingeJoint.cc:315] bulletHinge not yet created.

Any ideas what could be the issue? There doesn't seem to exist an sdf tag for joints for Bullet, and I couldn't find any examples online.

EDIT: I did not compile Gazebo from source. It is quite confusing since I found here that

The .deb packages are shipping the ODE, Bullet, and Simbody physics engines.

But on the official page it is written that Bullet is supported through source. Which one is it then?

EDIT: Built from source following the guide from here, but the same error persists. Found an issue reported here, but also a PR where the hinge joints worked.

Are Hinge joints even supported? If not, then what are the Bullet functionalities that are supported according to Gazebo? It seems so misleading at this point, and makes me doubt this "Bullet support"...

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answered 2017-10-06 19:46:11 -0500

iche033 gravatar image

I think the bullet hinge joint error messages are likely to be false positives. There are calls to set joint properties on joint initialization but those don't work for the bullet case. Later on, bullet sets these properties in it's own Init function.

But I agree the error messages are confusing and they should not omitted on initialization.

You can test bullet hinge joints by inserting existing models from the model database, e.g. double pendulum or simple arm

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Asked: 2017-09-29 04:56:39 -0500

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Last updated: Oct 06