gazebo 8 add laser sensor with "" and type "ray". It still fails when topic laser scan read

asked 2017-06-03 13:12:41 -0500

onlytailei gravatar image

updated 2017-06-03 14:18:44 -0500

I add the laser sensor to a gazebo as the instruction here. It's almost the same as the official tutorial. And the laser type and plugin is ray without gpu. But when I echo the laser scan topic. There is still segmentation fault.

It happened both in local computer and docker. (ubuntu 16.04, gazebo 8, ros kinetic)

GDB shows that:

Thread 28 "gzserver" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fff5b3fc700 (LWP 19493)]
gazebo::sensors::Noise::Apply (this=0x0, _in=_in@entry=2.4839986511063228) at /tmp/gazebo-8.0.0~beta5/gazebo/sensors/
107 /tmp/gazebo-8.0.0~beta5/gazebo/sensors/ No such file or directory.
(gdb) where
#0  gazebo::sensors::Noise::Apply (this=0x0, _in=_in@entry=2.4839986511063228) at /tmp/gazebo-8.0.0~beta5/gazebo/sensors/
#1  0x00007ffff606dcc8 in gazebo::sensors::RaySensor::UpdateImpl (this=0x7fff3e4c02c0) at /tmp/gazebo-8.0.0~beta5/gazebo/sensors/
#2  0x00007ffff6074d29 in gazebo::sensors::Sensor::Update (this=0x7fff3e4c02c0, _force=_force@entry=false)
    at /tmp/gazebo-8.0.0~beta5/gazebo/sensors/
#3  0x00007ffff607bb25 in gazebo::sensors::SensorManager::SensorContainer::Update (this=0xf90310, _force=<optimized out>)
    at /tmp/gazebo-8.0.0~beta5/gazebo/sensors/
#4  0x00007ffff607f6aa in gazebo::sensors::SensorManager::SensorContainer::RunLoop (this=0xf90310)
    at /tmp/gazebo-8.0.0~beta5/gazebo/sensors/
#5  0x00007ffff34195d5 in ?? () from /usr/lib/x86_64-linux-gnu/
#6  0x00007ffff5dd56ba in start_thread (arg=0x7fff5b3fc700) at pthread_create.c:333
#7  0x00007ffff63e082d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109
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