Process dies when spawning model with laser sensor

asked 2013-10-02 08:24:46 -0600

Alasknnj gravatar image

I have been trying to spawn a simple model of Pioneer 3AT, but whenever I try loading it, the gzserver dies. I tryed changing the sensor for a camera, it spawns without any issue. I am using ros, so that's how I started :

roslaunch pioneer_gazebo pioneer.launch

Then I got:

... logging to /home/bruno/.ros/log/a8df0c6e-2b60-11e3-9451-ccaf78b21d23/roslaunch-Companion-4670.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://Companion:40966/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [4688]
process[gazebo_gui-2]: started with pid [4693]
Gazebo multi-robot simulator, version 1.9.1
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.9.1
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.[ INFO] [1380718934.440641791]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1380718934.443733504]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.15

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.15
[ INFO] [1380718935.383049465, 0.025000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1380718935.470402208, 0.099000000]: Physics dynamic reconfigure ready.
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]

I have been getting this errors in parameters, if anyone knows how to solve that, I don't know if it is what causes the process to die.

After that, I span the model with this command:

rosrun gazebo_ros spawn_model -file `rospack find pioneer_description`/urdf/Pioneer3at.urdf -urdf -x 0 -y 0 -z 1 -Y -1.57 -model Pioneer

I get this:

spawn_model script started
[INFO] [WallTime: 1380719201.190478] [0.000000] Loading model xml from file
[INFO] [WallTime: 1380719201.191005] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1380719201.193276] [260.162000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1380719201.458711] [260.329000] Spawn status: SpawnModel: Successfully spawned model

But at the terminal running gazebo, I get this:

[ INFO] [1380719201.458306323, 260.329000000]: LoadThread function completed
Segmentation fault (core dumped)
[gazebo-1] process has died [pid 4688, exit code 139, cmd /opt/ros/hydro/lib/gazebo_ros/gzserver /home/bruno/catkin_ws/src/pioneer_gazebo/worlds/pioneer.world __name:=gazebo __log:=/home/bruno/.ros/log/a8df0c6e-2b60-11e3-9451-ccaf78b21d23/gazebo-1.log].
log file: /home/bruno/.ros/log/a8df0c6e-2b60-11e3-9451-ccaf78b21d23/gazebo-1*.log

And that's it all the time I try to spawn the model. Here is the Pioneer3at.urdf:

<robot name="Pioneer">

 <link name="base_link">
  <visual>
   <geometry>
    <box size=".4 .25 .20"/>
   </geometry>
   <material name="red">
    <color rgba="1 0 0 1"/>
   </material>
  </visual>
  <collision>
   <geometry>
    <box size=".25 ...
(more)
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