Hello everybody, I am starting to work again on a project on ROS indigo and Gazebo 2.2.3 after a 2 months break and I am experiencing some stressful problems. Everything was working the last time I was using it. Today I tried to launch a complex simulation and gazebo crashed at start showing a segmentation fault error.
To track down the bug I built a very simple simulation consisting in an empty world launch. I realized that the problem is caused by the the models included either in the launch file or in the world file.
If I try to launch the following launch file
<?xml version="1.0"?>
<launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find uav)/worlds/vtol.world"/>
<arg name="paused" value="false"/>
<arg name="gui" value="true"/>
</include>
</launch>
the vtol.world file is the following
<?xml version="1.0"?>
<sdf version="1.4">
<world name="vtol base world">
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.666896 -1.00743 1.30147 0 0.251643 2.20019</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
<!-- this also works for ground wheeled robots: do not modify it! -->
<physics type="ode">
<gravity>0 0 -9.81</gravity>
<ode>
<solver>
<type>quick</type>
<min_step_size>0.001</min_step_size>
<iters>100</iters>
<sor>1.3</sor>
</solver>
<constraints>
<cfm>0.0001</cfm>
<erp>0.4</erp>
<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
</constraints>
</ode>
</physics>
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
</world>
</sdf>
Launching this fails and gazebo crashes due to segmentation fault. Removing the following part, solves the issue
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
where the two referred models are from the gazebo models library. Of course this is not a solutions since I include model quite often. In my .bashrc file I have added the following lines
# gazebo model path
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$HOME/Projects/2015a_Nicastro_HeterogeneousMultirobot/devel
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`rospack find uav`/description:`rospack find ugv`/description
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:`rospack find uav`/description:`rospack find uav`/description/materials:`rospack find ugv`/description
I do not understand what is wrong. Has anyone any clue? Thank you very much. Andrea
