Parallel Physics Gazebo 7.7.0 ROS Kinetic Ubuntu 16

edit

Hi I want to test the parallel physic feature (islands). For that, I followed: parallel-physics

and I installed everything else needed: libgtest-dev, python-empy

SDFormat:

hg merge sdformat4_4.1.0
hg commit
hg sum
    parent: 2729:e7c0bfb62385 tip
    Merge with branch sdformat4_4.1.0
    branch: island_threads
    commit: 1 unknown (clean)
    update: (current)
    phases: 1 draft

I installed libignition2-math with dgb and dev.

I encountered the following problems:

1. Diagnostics.cc:55:50: error: no match for ‘operator/’ (operand types are ‘std::string {aka std::basic_string<char>}’ and ‘const char [7]’)

so I replaced

this->dataPtr->logPath = paths->GetTmpPath() / "gazebo";

with

this->dataPtr->logPath = paths->GetTmpPath() / boost::filesystem::path("gazebo");

as advised on the forum.

1. speed_thread_islands.cc:21:39: fatal error: helper_physics_generator.hh: No such file or directory#include "helper_physics_generator.hh"

so I replaced

#include "helper_physics_generator.hh"

with

#include "gazebo/test/helper_physics_generator.hh"

Then it built....

The problem is that now I have a crash on

#0  ignition::math::SignalStats::InsertData (this=this@entry=0x30, _data=1.9623000000000002e-05) at /var/lib/jenkins/workspace/ign-math-debbuilder/build/ignition-math2-2.8.0/src/SignalStats.cc:237
#1  0x00007facceca4839 in gazebo::util::DiagnosticTimer::InsertData (this=this@entry=0x7fac7c005e30, _name="loadPlugins", _time=...) at /home/robil/gazebo_parallel/src/gazebo/gazebo/util/Diagnostics.cc:409
#2  0x00007facceca55be in gazebo::util::DiagnosticTimer::Lap (this=0x7fac7c005e30, _prefix="loadPlugins") at /home/robil/gazebo_parallel/src/gazebo/gazebo/util/Diagnostics.cc:377
#3  0x00007facceca5861 in gazebo::util::DiagnosticManager::Lap (this=<optimized out>, _name="World::Step", _prefix="loadPlugins") at /home/robil/gazebo_parallel/src/gazebo/gazebo/util/Diagnostics.cc:189
#4  0x00007faccd60b05e in gazebo::physics::World::Step (this=this@entry=0xdd00e0) at /

I am using: libignition-math2.so.2 => /usr/lib/x86_64-linux-gnu/libignition-math2.so.2 (0x00007f2342f68000) that is linked to: /usr/lib/x86_64-linux-gnu/libignition-math2.so.2 -> libignition-math2.so.2.8.0

Obviously I must have some incompatibilities... anyone can help me to sort that problem out?

Thanks