Spawning PR2 makes Gazebo die with Illegal Instruction [closed]

asked 2013-05-15 08:37:54 -0500

ErwanR gravatar image

updated 2013-05-22 07:45:48 -0500

Hello,

Just got a strange problem yesterday when trying to launch Gazebo and PR2 to test a new stack. The symptoms look quite frequent but the causes appears to be various, so I'm opening a new thread for that.

Under ROS Fuerte and Ubuntu 10.04, I roslaunch emptyworld environment with emptyworld.launch. Everything looks right at this time. Then, I try to spawn the PR2 through "pr2.launch" file. The PR2 visually appears, but at some point, Gazebo crashes and PR2 node (defaultcontrollersspawner) also. I still got the Gazebo GUI and can manipulate the robot (move it in the environment) but I can't spawn other objects neither control the PR2. The error I get from Gazebo is an "Illegal Instruction" (logs are enclosed at the bottom of the question). On answers.ros.org, I found that a similar issue was due to SSE compilation process, but that may have been solved with Gazebo 1.6.15 (I'm using 1.6.16). Here I read about a Graphical Card driver that was conflicting ( http://answers.gazebosim.org/question/658/gazebo-pr2-getting-stuck-at-launch/ ) but as it is a ROS Groovy issue and my Gazebo is launching well, I'm not sure it can apply. I updated Linux with the recommended updates and ros with the corresponding patches on the beginning of May. As I didn't used ROS since Monday 6th, that may be part of the explanation.

Does somebody have an idea of what's going wrong with PR2 ? I can still spawn simple boxes in the environment. Thanks for reading !

EDIT : Any advice ?

Here are the logs :

renaudo@oogawa:~/rosworkspace$ roslaunch gazeboworlds empty_world.launch

... logging to /home/renaudo/.ros/log/2436093a-bcad-11e2-be80-002219119be4/roslaunch-oogawa-19565.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://oogawa:38763/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [19585]
process[gazebo_gui-2]: started with pid [19592]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://kingawa:11345
[ INFO] [1368622405.869056587]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1368622406.697629250]: joint trajectory plugin missing <updateRate>, defaults to 0.0 (as fast as possible)

Msg Connected to gazebo master @ http://kingawa:11345
[ INFO] [1368622408.102870776, 0.265000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1368622408.569351643, 15.042000000]: Starting to spin physics dynamic reconfigure node...
LightListWidget::OnLightMsg
[ WARN] [1368622431.147719089, 1762.062000000]: multiple inconsistent <turnGravityOff> exists due to fixed joint reduction, overwriting previous ...
(more)
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Closed for the following reason the question is answered, right answer was accepted by nkoenig
close date 2014-02-21 17:04:19.415633

Comments

Any clue ?

ErwanR gravatar imageErwanR ( 2013-05-23 10:58:44 -0500 )edit
1

It would be nice to be able to update to a newer gazebo version, present on Groovy or Hydro, in order to avoid past bugs with older versions of gazebo.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2013-10-29 12:02:42 -0500 )edit