Problems with gazebo simulation in GitLab CI (Continuous Integration) testing

asked 2019-12-02 10:26:27 -0600

Angelos gravatar image

updated 2019-12-02 10:37:04 -0600

Dear all,

In the past, I was able to use Kinetic with gazebo 7 (headless) to have it as a part of CI (Continuous Integration) testing in GitLab without any issues. Since Melodic and gazebo 9 I faced a serious problem.

Let me explain... As a base of my CI script, I use osrf/ros:melodic-desktop-full

So, my .gitlab-ci.yml file looks like:

stages:
  - build
  - test

image: osrf/ros:melodic-desktop-full

before_script:
  - apt-get update && apt-get upgrade -y
  - apt-get install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
  - apt-get install -y alsa-utils
  - apt-get clean
  - mkdir -p ~/catkin_ws/src

build:
  stage: build
  script:
    - cd ~/catkin_ws/src 
    - git clone https://gitlab.com/...r.git
    - cd ~/catkin_ws 
    - wstool init src src/cs_monster/coscr.rosinstall
    - rosdep install --from-paths src --ignore-src -r -y
    - catkin_make -DCMAKE_BUILD_TYPE=Release

testing:
  stage: test
  script:
    - cd ~/catkin_ws/src 
    - git clone https://gitlab.com/...r.git
    - cd ~/catkin_ws 
    - wstool init src src/cs_monster/coscr.rosinstall
    - rosdep install --from-paths src --ignore-src -r -y
    - catkin_make -DCMAKE_BUILD_TYPE=Release
    - source devel/setup.bash
    - export GAZEBO_IP=127.0.0.1
    - roslaunch coscr_gazebo playpen.launch test:=true &
    - sleep 90
    - roslaunch coscr_navigation amcl_demo.launch test:=true &
    - sleep 190
    - rosnode kill -a

So when the first roslaunch executes, I get the following error:

ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
2742 ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
2743 ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
2744 ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
2745 ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
2746 ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
2747 ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
2748 ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
2749 AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory

I have seen people facing similar problems when they try to run gazebo through WSL but I was not able to find a solution. Do you have any idea?

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