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Gazebo crashing after update!

Hi all,

I was running the default versions of ROS kinetic and Gazebo 7 that can be installed on Ubuntu 16.04, but I was experiencing an annoying problem: I could not run together gazebo and RViz, because as soon as I was launching RViz, gazebo crashed.

A friend of mine told me that uploading to gazebo 7.14.0 solved the problem.

So I run these commands:

sudo apt remove gazebo7*
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt update 
sudo apt install gazebo7*
sudo apt install ros-kinetic-gazebo-*
sudo apt install libgazebo7-dev

the gazebo package is now at version 7.14.0, but if I try to launch this file:

https://github.com/schizzz8/lucrezio_simulation_environments/blob/master/launch/empty_world_with_apartment_and_robot.launch

It segfaults:

dede@dede-P35V2:~$ roslaunch lucrezio_simulation_environments empty_world_with_apartment_and_robot.launch 
... logging to /home/dede/.ros/log/edc35106-14e8-11e9-85ef-f816547d9e84/roslaunch-dede-P35V2-24677.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://dede-P35V2:43529/

SUMMARY
========

PARAMETERS
 * /lucrezio/angular/z/has_acceleration_limits: True
 * /lucrezio/angular/z/has_velocity_limits: True
 * /lucrezio/angular/z/max_acceleration: 6.0
 * /lucrezio/angular/z/max_velocity: 2.0
 * /lucrezio/base_frame_id: base_footprint
 * /lucrezio/left_wheel: left_wheel_joint
 * /lucrezio/linear/x/has_acceleration_limits: True
 * /lucrezio/linear/x/has_velocity_limits: True
 * /lucrezio/linear/x/max_acceleration: 1.0
 * /lucrezio/linear/x/max_velocity: 0.7
 * /lucrezio/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /lucrezio/publish_rate: 50
 * /lucrezio/right_wheel: right_wheel_joint
 * /lucrezio/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /lucrezio/type: diff_drive_contro...
 * /lucrezio/wheel_separation: 0.2
 * /object_groups/livingroom: ['sink', 'burner_...
 * /objects/burner_stove/model: burner_stove
 * /objects/burner_stove/model_type: sdf
 * /objects/burner_stove/orientation: [0.0, 0.0, 0]
 * /objects/burner_stove/position: [2.868422, 2.2050...
 * /objects/cabinet_ikea_malm_big/model: cabinet_ikea_malm...
 * /objects/cabinet_ikea_malm_big/model_type: sdf
 * /objects/cabinet_ikea_malm_big/orientation: [0.0, 0.0, -3.14]
 * /objects/cabinet_ikea_malm_big/position: [-2.338829, 2.341...
 * /objects/chair_ikea_borje/model: chair_ikea_borje
 * /objects/chair_ikea_borje/model_type: sdf
 * /objects/chair_ikea_borje/orientation: [0.0, 0.0, 0.0]
 * /objects/chair_ikea_borje/position: [1.96993, 0.0, 0.0]
 * /objects/couch/model: couch
 * /objects/couch/model_type: sdf
 * /objects/couch/orientation: [0.0, 0.0, -1.57]
 * /objects/couch/position: [-1.171137, -0.05...
 * /objects/milk/model: milk
 * /objects/milk/model_type: sdf
 * /objects/milk/orientation: [0.0, 0.0, 0.0]
 * /objects/milk/position: [1.970516, -1.276...
 * /objects/salt/model: salt
 * /objects/salt/model_type: sdf
 * /objects/salt/orientation: [0.0, 0.0, 0.0]
 * /objects/salt/position: [-2.48682, 2.2044...
 * /objects/sink/model: sink
 * /objects/sink/model_type: sdf
 * /objects/sink/orientation: [0.0, 0.0, 0]
 * /objects/sink/position: [1.5323, 2.204468...
 * /objects/table_ikea_bjursta/model: table_ikea_bjursta
 * /objects/table_ikea_bjursta/model_type: sdf
 * /objects/table_ikea_bjursta/orientation: [0.0, 0.0, 0.0]
 * /objects/table_ikea_bjursta/position: [1.77236080355, -...
 * /objects/table_tv/model: table_tv
 * /objects/table_tv/model_type: sdf
 * /objects/table_tv/orientation: [0.0, 0.0, -1.57]
 * /objects/table_tv/position: [-3.507171, 0.0, 0]
 * /objects/tomato_sauce/model: tomato_sauce
 * /objects/tomato_sauce/model_type: sdf
 * /objects/tomato_sauce/orientation: [0.0, 0.0, 0.0]
 * /objects/tomato_sauce/position: [-2.14387, 2.3826...
 * /objects/tv_samsung/model: tv_samsung
 * /objects/tv_samsung/model_type: sdf
 * /objects/tv_samsung/orientation: [0.0, 0.0, 1.57]
 * /objects/tv_samsung/position: [-3.431988, 0.0, ...
 * /objects/zwieback/model: zwieback
 * /objects/zwieback/model_type: sdf
 * /objects/zwieback/orientation: [0.0, 0.0, 0.0]
 * /objects/zwieback/position: [1.64601, -1.0366...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /use_sim_time: True

NODES
  /
    base_footprint_broadcaster (tf/static_transform_publisher)
    camera_link_broadcaster (tf/static_transform_publisher)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    lucrezio_controller_spawner (controller_manager/spawner)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_objects (lucrezio_simulation_environments/spawn_object.py)
    spawn_sdf (gazebo_ros/spawn_model)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [24691]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to edc35106-14e8-11e9-85ef-f816547d9e84
process[rosout-1]: started with pid [24704]
started core service [/rosout]
process[gazebo-2]: started with pid [24728]
process[gazebo_gui-3]: started with pid [24733]
process[spawn_sdf-4]: started with pid [24738]
process[spawn_objects-5]: started with pid [24739]
process[urdf_spawner-6]: started with pid [24740]
process[camera_link_broadcaster-7]: started with pid [24741]
process[base_footprint_broadcaster-8]: started with pid [24742]
process[joint_state_publisher-9]: started with pid [24761]
process[robot_state_publisher-10]: started with pid [24769]
process[lucrezio_controller_spawner-11]: started with pid [24774]
[ INFO] [1547132627.937226771]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1547132627.939418337]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1547132627.982693599]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1547132627.991528749]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1547132628.286389, 0.000000]: Loading model XML from ros parameter
[INFO] [1547132628.288997, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1547132629.036426546, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1547132629.060751296, 0.046000000]: Physics dynamic reconfigure ready.
Segmentation fault
[gazebo-2] process has died [pid 24728, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/dede/.ros/log/edc35106-14e8-11e9-85ef-f816547d9e84/gazebo-2.log].
log file: /home/dede/.ros/log/edc35106-14e8-11e9-85ef-f816547d9e84/gazebo-2*.log
[spawn_sdf-4] process has finished cleanly
log file: /home/dede/.ros/log/edc35106-14e8-11e9-85ef-f816547d9e84/spawn_sdf-4*.log
^C[lucrezio_controller_spawner-11] killing on exit
[robot_state_publisher-10] killing on exit
[joint_state_publisher-9] killing on exit
[base_footprint_broadcaster-8] killing on exit
[camera_link_broadcaster-7] killing on exit
[urdf_spawner-6] killing on exit
[spawn_objects-5] killing on exit
[gazebo_gui-3] killing on exit
[ERROR] [1547132634.218291, 0.152000]: Service /gazebo/get_world_properties not available.
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 313, in <module>
    sm.callSpawnService()
  File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 271, in callSpawnService
    initial_pose, self.reference_frame, self.gazebo_namespace)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py", line 28, in spawn_urdf_model_client
    rospy.wait_for_service(gazebo_namespace+'/spawn_urdf_model')
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service
    raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
^C^C^C[WARN] [1547132634.713073, 0.152000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C[gazebo_gui-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
dede@dede-P35V2:~$

do you have any idea of what is causing this behavior?

Thanks.

Asked by federico.nardi on 2019-01-10 10:00:36 UTC

Comments

Just double-check that you still have the controller-manager package installed after removing Gazebo.

Asked by Carlos Agüero on 2019-01-10 13:47:13 UTC

Answers