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The minimum corner of the box must be less than or equal to maximum corner

asked 2018-12-16 07:25:48 -0500

nameofuser1 gravatar image

updated 2018-12-16 07:26:21 -0500

I encountered very strange behavior of Gazebo. I have the very simplest XACRO file:

<?xml version="1.0" ?>
<robot name="car" xmlns:xacro="http://ros.org/wiki/xacro">

    <link name="base">
        <visual>
            <geometry>
                <!--<box size="0.6 0.1 0.2" />-->
                <cylinder length="0.6" radius="0.2"/>
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </visual>

        <collision>
            <geometry>
                <!--<box size="0.6 0.1 0.2" />-->
                <cylinder length="0.6" radius="0.2"/>
            </geometry>

            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
    </link>

</robot>

Launch file:

<launch>
    <arg name="limited" default="false"/>
    <arg name="paused" default="false"/>
    <arg name="gui" default="true"/>

    <!-- startup simulated world -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" default="$(find car_gazebo)/worlds/simple_world.world"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="gui" value="$(arg gui)"/>
    </include>

    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find car_gazebo)/urdf/car.urdf.xacro'" />

    <!-- push robot_description to factory and spawn robot in gazebo -->
    <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model car" respawn="false" output="screen" />

</launch>

And there is no any primitives drawn despite the fact that I get message about successful spawning: Spawn status: SpawnModel: Successfully spawned entity. Moreover clicking on car model in models tab in Gazebo leads to an Ogre crash with the following error:

gzclient: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion (min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner" failed

Has someone ever faced the same issue? I use Gazebo 9.0.0.

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2 Answers

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answered 2018-12-16 11:15:57 -0500

chapulina gravatar image

I suspect this may have been solved by this recent pull request and will be released soon on Gazebo 9.15.0.

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answered 2019-06-14 04:06:52 -0500

rahul gravatar image

What I found out that if you do not provide Inertial, you get the error. Try adding following within <link></link> , then the error will be gone.

  <inertial>
      <mass value="${mass}" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
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Asked: 2018-12-16 07:25:48 -0500

Seen: 1,169 times

Last updated: Jun 14