Home | Tutorials | Wiki | Issues
Ask Your Question
0

Is there an upper bound on the length of time that Gazebo can run?

asked 2013-04-19 14:02:23 -0600

SL Remy gravatar image

updated 2013-05-07 16:23:09 -0600

Posted on the gazebo issue tracker.

(OR phrased another way) How long should (does) Gazebo run for?

If I, run Gazebo with the following world file, is there any reason that the server should terminate after a fixed duration of time?

(e.g. some sort of timeout that activates after X hours)

my.world:

<?xml version="1.0" ?>
<sdf version="1.3">
  <world name="default">
    <physics type="ode">
      <gravity>0 0 9.8</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <dt>0.001</dt>
          <iters>40</iters>
          <sor>1.0</sor>
        </solver>
        <constraints>
          <cfm>0.0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
          <contact_surface_layer>0.0</contact_surface_layer>
        </constraints>
      </ode>
    </physics>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://create</uri>
      <pose>0 0 0.5 0 0 0</pose>
    </include>

    <include>
      <uri>model://camera</uri>
      <pose>0 0 1 0 0 0</pose>
    </include>
  </world>
</sdf>
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2013-04-19 23:26:39 -0600

scpeters gravatar image

updated 2013-04-20 12:48:26 -0600

I have let it run for hours and at times overnight. I've never tested it for multiple days. There's no pre-programmed limit that I've seen, but it always has the possibility of crashing or a memory leak dragging your system to a halt. If there's a crash that you see regularly, or if you can get a backtrace with gdb, I'd encourage you to file an issue on the gazebo issue tracker.

EDIT: Also, if you are recording a log file (gazebo -r) then you need to watch your disk space because the log files can get big very quickly.

edit flag offensive delete link more

Comments

I will file an issue, I just wanted to make sure that I wasn't missing something obvious. I'm seeing a crash regularly, and I'm trying to gather data about how it happens and the operating environment. I also need to try with gazebo built from the "real" repo (tested with https://bitbucket.org/osrf/simulator_gazebo)

SL Remy gravatar imageSL Remy ( 2013-04-20 05:45:08 -0600 )edit

For reference 3 hours 12 minutes is the current run duration (must be a leak somewhere that my op environment is uncovering...)

SL Remy gravatar imageSL Remy ( 2013-04-20 08:16:01 -0600 )edit

If you are running custom plugins, they may be a source of memory leaks and bugs as well.

scpeters gravatar imagescpeters ( 2013-04-20 12:49:50 -0600 )edit

It could be an issue with the camera plugin. I'll test it on my machine.

scpeters gravatar imagescpeters ( 2013-05-01 12:18:41 -0600 )edit

I just tested it, and you have gravity pointing up, so that the camera and create fly away. I would guess that falling upwards for several hours could lead to a nan or something.

scpeters gravatar imagescpeters ( 2013-05-07 19:16:48 -0600 )edit
Login/Signup to Answer

Question Tools

Stats

Asked: 2013-04-19 14:02:23 -0600

Seen: 319 times

Last updated: May 07 '13