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Gazebo 1.3 plugin + ROS incompatibility?

asked 2012-12-11 16:45:42 -0600

klowrey gravatar image

updated 2012-12-11 16:46:49 -0600

After writing some code to pull LIDAR data and induce simple movement control for gazebo-1.2, the update rendered these problematic.

I've re-installed gazebo, drcsim, ros-fuerte, and the boost 1.46 libraries in an attempt to find the problem, but I can still deterministically crash gazebo1.3 by following these steps:

**. /usr/share/drcsim-1.1/setup.sh
roslaunch drc_robot_utils drc_robot.launch
rosrun pr2_teleop teleop_pr2_keyboard**

Pressing a movement key exits gazebo without any thrown errors.

Attaching to the laserScan publisher in Rviz induces an exit with the following error as well:

Exception [MultiRayShape.cc:113] index[0] out of range[0-8742677509569]


Running roswtf gives the following output, but everything seems to be functional and happy in rxgraph.

ERROR Communication with [/rosout] raised an error: 
ERROR Communication with [/robot_state_publisher] raised an error: 
ERROR Communication with [/drc_robot_controller_spawner] raised an error: 
ERROR Communication with [/pr2_mechanism_diagnostics] raised an error: 
ERROR Communication with [/fake_joint_calibration] raised an error: 
ERROR Communication with [/gazebo] raised an error: 
ERROR Communication with [/tf2_buffer_server] raised an error:
ERROR The following nodes should be connected but aren't:
 * /gazebo->/robot_state_publisher (/clock)
 * /fake_joint_calibration->/drc_robot_controller_spawner (/calibrated)
 * /gazebo->/drc_robot_controller_spawner (/clock)
 * /drc_robot_controller_spawner->/rosout (/rosout)
 * /gazebo->/pr2_mechanism_diagnostics (/clock)
 * /tf2_buffer_server->/rosout (/rosout)
 * /gazebo->/robot_state_publisher (/joint_states)
 * /gazebo->/tf2_buffer_server (/clock)
 * /gazebo->/pr2_mechanism_diagnostics (/mechanism_statistics)
 * /pr2_mechanism_diagnostics->/rosout (/rosout)
 * /gazebo->/gazebo (/clock)
 * /gazebo->/rosout (/clock)
 * /robot_state_publisher->/rosout (/rosout)
 * /gazebo->/rosout (/rosout)
 * /robot_state_publisher->/tf2_buffer_server (/tf)

If anyone has a better idea than me with regards to what might be the problems in communications between ros and Gazebo, or what I could do to find out the problems, I would appreciate them very much.

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answered 2013-03-13 00:38:34 -0600

gerkey gravatar image

I suspect that this problem arose from a mismatched set of packages.

I'm unable to reproduce the behavior that you describe with gazebo 1.5.0 and drcsim 2.2.0. Do you still see the problem if you update?

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Asked: 2012-12-11 16:45:42 -0600

Seen: 282 times

Last updated: Mar 13 '13