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Gazebo7 hangs with black screen while "Preparing your world"

asked 2018-02-13 11:55:16 -0500

Felix Meßmer gravatar image

updated 2018-02-14 02:25:34 -0500

Hi,

I'm really stuck with the this problem and need help to figure out what's wrong...

I've set up two identical laptops (Dell XPS 13) in an identical way (Ubuntu 16.04 Gnome, ROS Kinetic). I've installed sudo apt install ros-kinetic-care-o-bot on both laptops.
Now I source /opt/ros/kinetic/setup.bash and then run roslaunch cob_bringup_sim robot.launch robot:=cob4-7 robot_env:=empty on both machines, i.e. only using latest release of the related packages.

While gazebo shows up the Care-O-bot with two arms on laptop A, gazebo stays black on the other laptop B (even after waiting a while to allow downloading additional models) and keeps showing the splash screen "Preparing your world..." forever.
Ironically, both laptops successfully show the Care-O-bot base when running roslaunch cob_bringup_sim robot.launch robot:=cob4-3 robot_env:=empty (base-only configuration) from debian packages.

I've already swapped the SSDs between the laptops to verify it's not a hardware (RAM, GPU,...) issue:
The simulation stays black for cob4-7 using SSD B in both laptop A and laptop B - while simulation of cob4-3 works usinging SSD B on both laptop A and laptop B.
I've also already re-installed gazebo, ros various other packages...nothing gained.

One thing I saw is that ~/.gazebo/ogre.log on SSD A shows entries like:

17:36:46: Added resource location '/opt/ros/kinetic/share/cob_description/meshes/cob4_torso' of type 'FileSystem' to resource group 'General' with recursive option
17:36:46: Initialising resource group General
17:36:46: Added resource location '/opt/ros/kinetic/share/cob_description/meshes/cob4_arm' of type 'FileSystem' to resource group 'General' with recursive option
17:36:46: Initialising resource group General
17:36:47: Added resource location '/opt/ros/kinetic/share/cob_description/meshes/drive_wheel' of type 'FileSystem' to resource group 'General' with recursive option
17:36:47: Initialising resource group General
17:36:50: Added resource location '/opt/ros/kinetic/share/cob_description/meshes/cob4_base' of type 'FileSystem' to resource group 'General' with recursive option
17:36:50: Initialising resource group General
17:36:50: Added resource location '/opt/ros/kinetic/share/cob_description/meshes/cob4_head' of type 'FileSystem' to resource group 'General' with recursive option
17:36:50: Initialising resource group General
17:36:50: Added resource location '/opt/ros/kinetic/share/cob_description/meshes/sensors' of type 'FileSystem' to resource group 'General' with recursive option
17:36:50: Initialising resource group General
17:36:52: Texture: com.png: Loading 1 faces(PF_R8G8B8,200x100x1) with 5 generated mipmaps from Image. Internal format is PF_X8R8G8B8,200x100x1.
17:36:54: Texture: spot_shadow_fade.png: Loading 1 faces(PF_R8G8B8,128x128x1) with 5 generated mipmaps from Image. Internal format is PF_X8R8G8B8,128x128x1.
7: Added resource location '/opt/ros/kinetic/share/cob_description/meshes/cob4_torso' of type 'FileSystem' to resource group 'General' with recursive option
17:36:47: Initialising resource group General
17:36:47: Added resource location '/opt/ros/kinetic/share/cob_description/meshes/cob4_head' of type 'FileSystem' to resource group 'General' with recursive option
17:36:47: Initialising resource ...
(more)
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While Gazebo is hanging with a black screen, could you run `gz topic -l` and add the output to your question?

chapulina gravatar imagechapulina ( 2018-02-13 14:27:48 -0500 )edit

Thanks for the hint....I've added some additional information above

Felix Meßmer gravatar imageFelix Meßmer ( 2018-02-14 02:18:14 -0500 )edit

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answered 2018-02-25 20:45:11 -0500

longwoo gravatar image

updated 2018-02-25 20:58:32 -0500

Make sure the models that you launched is in the path home/.gazebo/models. If not, Download it from https://bitbucket.org/osrf/gazebo_mod....

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answered 2018-02-23 13:34:29 -0500

dhood gravatar image

There's a bug that is affecting projects that customise the Gazebo world name in the SDF.

Relevant issue-tracker links are https://bitbucket.org/osrf/gazebo/iss... and https://bitbucket.org/osrf/gazebo/iss...

Does the issue go away if you change the world name to 'default' in the world file that's being loaded?

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Thanks for pointing me to these issues... Unfortunately, I can't debug this any further atm...but I can confirm that any second gzclient shows the environment correctly...

Felix Meßmer gravatar imageFelix Meßmer ( 2018-02-23 15:26:59 -0500 )edit
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Asked: 2018-02-13 11:44:07 -0500

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Last updated: Feb 25