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Problem with SDF and bottom camera

asked 2014-11-06 18:45:35 -0500

green96 gravatar image

updated 2014-11-08 11:38:38 -0500

Hi I use gazebo 2.2 with ROS package tum_simulator. This is a package with simulator of quadrotor AR Parrot Drone. Unfortunately I noticed that image from bottom camera don't display ground but sky. (strange)

http://snag.gy/L5Riw.jpg left image is a view from bottom camera :( and right image view from front camera. Black shape near window of the house is quadrotors' model.

I notice that when I run this node I got some errors, I hope that this is a reason of problems with camera.

Error [SDF.cc:788] Missing element description for [offset]
Error [SDF.cc:788] Missing element description for [drift]
Error [SDF.cc:788] Missing element description for [driftFrequency]
[ INFO] [1415319050.065958118, 659.736000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1415319050.244706409, 659.736000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Error [SDF.cc:788] Missing element description for [accelOffset]
Error [SDF.cc:788] Missing element description for [accelDriftFrequency]
Error [SDF.cc:788] Missing element description for [rateOffset]
Error [SDF.cc:788] Missing element description for [rateDriftFrequency]
Error [SDF.cc:788] Missing element description for [headingOffset]
Error [SDF.cc:788] Missing element description for [headingDriftFrequency]
Error [SDF.cc:788] Missing element description for [driftFrequency]
Error [SDF.cc:788] Missing element description for [driftFrequency]
Error [SDF.cc:788] Missing element description for [offset]
Error [SDF.cc:788] Missing element description for [driftFrequency]
Error [SDF.cc:788] Missing element description for [velocityOffset]
Error [SDF.cc:788] Missing element description for [velocityDriftFrequency]
[ INFO] [1415319050.590175130, 659.736000000]: Using imu information on topic ardrone/imu as source of orientation and angular velocity.

According to this page I should update sdformat. Now I'am using gazebo 2.2 and I have to stay with this version. How to update this sdformat and don't brake Gazebo? Does this solution works for me too?

I don't remember how I have installed Gazebo, but when I use locate Gazebo, I got:

/opt/ros/indigo/include/gazebo_plugins/GazeboRosCameraConfig.h
/opt/ros/indigo/include/gazebo_plugins/GazeboRosOpenniKinectConfig.h
/opt/ros/indigo/lib/python2.7/dist-packages/gazebo_plugins/cfg/GazeboRosCameraConfig.py
/opt/ros/indigo/lib/python2.7/dist-packages/gazebo_plugins/cfg/GazeboRosCameraConfig.pyc
/opt/ros/indigo/lib/python2.7/dist-packages/gazebo_plugins/cfg/GazeboRosOpenniKinectConfig.py
/opt/ros/indigo/lib/python2.7/dist-packages/gazebo_plugins/cfg/GazeboRosOpenniKinectConfig.pyc
/usr/share/gazebo-2.2/media/fonts/Gazebo.fontdef
/usr/share/gazebo-2.2/media/gui/imagesets/Gazebo.imageset
/usr/share/gazebo-2.2/media/gui/looknfeel/Gazebo.looknfeel
/usr/share/gazebo-2.2/media/gui/schemes/GazeboSkin.scheme

Please help me.

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Comments

Which version of sdformat are you using?

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2014-11-11 03:56:37 -0500 )edit

Problem with camera was solved, it was a bug in ROS package. But still I have this errors SDF. Do this errors on start have any influence? I am using version libsdformat-dev 1.4.11-1ubuntu0.1

I didn't try to install new version from source, because this command:

sudo apt-get remove 'libsdformat' 'sdformat'

will remove ROS

green96 gravatar imagegreen96 ( 2014-11-11 07:20:23 -0500 )edit

Ok, let's forgot about updating sdformat. Could you update your answer to include the errors related to sdformat and

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2014-11-13 15:11:37 -0500 )edit

1 Answer

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answered 2014-11-13 15:10:14 -0500

Jose Luis Rivero gravatar image

Let's review the whole situation:

  • If someone is using ROS Indigo, the gazebo expected version to work with all the ROS Indigo packages is gazebo-2.x. gazebo-2.x versions are using sdformat-1.x versions. From here we can infer that ROS Indigo packages are supposed to use sdformat-1.x.

  • The page that you are linking that is supposed to solve your problem is speaking about "spherical coordinates support" which I think that it is not related to your question, right? So you probably don't need to do anything related to sdformat-2.x.

Probably the problem in in the sdformat code of the ROS package or, not so common, could be a bug in sdformat package not ported to the sdformat-1.x.

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Comments

Ok, so I should ignore this errors. Thanks for your answer.

green96 gravatar imagegreen96 ( 2014-11-16 11:05:05 -0500 )edit
1

Not really. You should not be getting those errors. The point is that you don't need to update sdformat to fix the errors you reported, they come from elsewhere. You can keep using gazebo-2.2 + sdformat1 and investigate where those errors come from.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2014-11-19 19:45:25 -0500 )edit

Thank you.

green96 gravatar imagegreen96 ( 2014-11-20 12:52:22 -0500 )edit

Hi, Has there been any progress finding out what causes this?

Pedro_85 gravatar imagePedro_85 ( 2015-03-12 13:43:01 -0500 )edit

Hi, I've found out that the problem comes from the quadrotor_sensor.urdf.xacro file of the tum_simulator package. The package creates its own SensorModel plugins for IMU, baro, magnectic and gps. For every sensor you can configure offsets, drifts, driftsFrequencies and GaussianNoises. If you haven't defined into the URDF file, then Gazebo complains. But it is not a big deal because if the descriptions are not found, they should be initialized to 0 (hector_gazebo_plugins/sensor_model.h).

Sergi Foix gravatar imageSergi Foix ( 2016-04-18 06:20:40 -0500 )edit

So, do we need to initialize them to zero manually?

Sai Kishor Kothakota gravatar imageSai Kishor Kothakota ( 2017-04-21 07:20:36 -0500 )edit
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Asked: 2014-11-06 18:45:35 -0500

Seen: 1,864 times

Last updated: Nov 13 '14