Gazebo with PR2, Groovy Seg-Faults on Travis-CI

asked 2014-07-03 20:53:47 -0500

Max gravatar image

Hi all,

I've looked through this site and elsewhere for hours, so my apologies if I missed a duplicate question.

My issue: I need to run a system that uses:
- Ubuntu 12.04
- ROS Groovy
- Gazebo (of any version that works)
- a simulated PR2

I'd been running the default Gazebo installed with ros-groovy-desktop-full / ros-groovy-pr2-simulator / ros-groovy-simulator-gazebo, etc., which is 1.5.0. This works fine on my development machine, but when running on Travis, I get errors and a seg fault:
https://travis-ci.org/mbforbes/pr2_pbd/builds/29103854

All I really want to do is get this to run on Travis (just the most basic demo: roslaunch pr2_gazebo pr2_table_object.launch gui:=false).

From reading questions on this site, it appears that others who have had similar issues have been told to move to Gazebo 1.9. When I install Gazebo 1.9, all of the ROS commands still launch 1.5.0. So I need to hook up ROS to use Gazebo 1.9; that's fine, there are guides.

However, it doesn't seem possible to do this with the simulated PR2 (see this question, opened about 9 months ago). It seems like pr2_gazebo is a different beast than normal Gazebo. All guides for integrating ROS say to uninstall previous ROS-packaged versions of Gazebo, but doing so would uninstall all of the pr2 simulation stacks and packages, because they all depend on it. And reinstalling them would reinstall the ROS Gazebo we don't want.

So, is there a way to do this? Can I run Ubuntu precise, ROS Groovy, Gazebo 1.9, and a simulated PR2? How can you maneuver apt-get or the installation to do this?

I'm happy to edit the question and provide clarifications. Thanks so much for any help.

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