Using roslaunch to start Gazebo, I got core dump error.
Using roslaunch to start Gazebo, I got below error and no showing model..
gzclient: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.Aborted (core dumped)
How to solve it? and what is the problem? If anyone knows how to solve the problem, please reply...
My xacro file.
<?xml version="1.0" encoding="utf-8" ?>
<robot name="robot">
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<!--======================= Links =========================-->
<!-- Body Base -->
<link name="Body_Base">
<visual>
<origin rpy="0 0 -1" xyz="0 0 0" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_1_base.dae" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin rpy="0 0 -1" xyz="0 0 0" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_1_base.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<mass value="1" />
<inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<!-- Body Module 1 -->
<link name="Body_Module_1">
<visual>
<origin rpy="0 0 -1" xyz="0 0 0" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_2_module_1.dae" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin rpy="0 0 -1" xyz="0 0 0" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_2_module_1.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<mass value="1" />
<inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<!-- Body Module 2 -->
<link name="Body_Module_2">
<visual>
<origin rpy="0 0 -1" xyz="0 0 -0.1" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_3_module_2.dae" />
</geometry>
<material name="grey" />
</visual>
<visual>
<origin rpy="0 0 -1" xyz="0 0 -0.1" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_4_pipe_1.dae" />
</geometry>
<material name="grey" />
</visual>
<visual>
<origin rpy="0 0 -1" xyz="0 0 -0.1" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_5_module_3.dae" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin rpy="0 0 -1" xyz="0 0 -0.1" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_3_module_2.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<collision>
<origin rpy="0 0 -1" xyz="0 0 -0.1" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_4_pipe_1.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<collision>
<origin rpy="0 0 -1" xyz="0 0 -0.1" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_5_module_3.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<mass value="1" />
<inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<!-- Body Module 3 -->
<link name="Body_Module_3">
<visual>
<origin rpy="0 0 -1" xyz="0 0 -0.5" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_6_module_dummy.dae" />
</geometry>
<material name="grey" />
</visual>
<visual>
<origin rpy="0 0 -1" xyz="0 0 -0.5" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_7_pipe_2.dae" />
</geometry>
<material name="grey" />
</visual>
<visual>
<origin rpy="0 0 -1" xyz="0 0 -0.5" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_8_module_4.dae" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin rpy="0 0 -1" xyz="0 0 -0.5" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_6_module_dummy.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<collision>
<origin rpy="0 0 -1" xyz="0 0 -0.5" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_7_pipe_2.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<collision>
<origin rpy="0 0 -1" xyz="0 0 -0.5" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_8_module_4.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<mass value="1" />
<inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<!-- Body Module 4 -->
<link name="Body_Module_4">
<visual>
<origin rpy="0 0 -1" xyz="0 0 -0.9" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_9_module_5.dae" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin rpy="0 0 -1" xyz="0 0 -0.9" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_9_module_5.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<mass value="1" />
<inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<!-- Body Module 5 -->
<link name="Body_Module_5">
<visual>
<origin rpy="0 0 -1" xyz="0 0.1 -0.9" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_10_module_6.dae" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin rpy="0 0 -1" xyz="0 0.1 -0.9" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_10_module_6.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<mass value="1" />
<inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<!-- Body Tool Flange -->
<link name="Body_Tool_Flange">
<visual>
<origin rpy="0 0 -1" xyz="0 0.1 -1" />
<geometry>
<mesh filename="package://rb_description/meshes/visual/_11_tool_flange.dae" />
</geometry>
<material name="grey" />
</visual>
<collision>
<origin rpy="0 0 -1" xyz="0 0.1 -1" />
<geometry>
<mesh filename="package://rb_description/meshes/collision/_11_tool_flange.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<mass value="1" />
<inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="Tool_Center_Point">
<visual>
<origin rpy="0 0 0" xyz="0.1 0 -1" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
<material name="grey" />
</visual>
</link>
<!--======================= Joints =========================-->
<link name="world" />
<joint name="world_fixed" type="fixed">
<parent link="world" />
<child link="Body_Base" />
<origin rpy="0 0 0" xyz="0 0 0" />
</joint>
<joint name="base" type="revolute">
<parent link="Body_Base" />
<child link="Body_Module_1" />
<origin rpy="0 0 0" xyz="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="10.0" lower="-6" upper="6" velocity="2.5" />
</joint>
<joint name="shoulder" type="revolute">
<parent link="Body_Module_1" />
<child link="Body_Module_2" />
<origin rpy="0 0 0" xyz="0 0 0.1" />
<axis xyz="0 1 0" />
<limit effort="10.0" lower="-6" upper="6" velocity="2.5" />
</joint>
<joint name="elbow" type="revolute">
<parent link="Body_Module_2" />
<child link="Body_Module_3" />
<origin rpy="0 0 0" xyz="0 0 0.4" />
<axis xyz="0 1 0" />
<limit effort="10.0" lower="-2" upper="2" velocity="2.5" />
</joint>
<joint name="wrist1" type="revolute">
<parent link="Body_Module_3" />
<child link="Body_Module_4" />
<origin rpy="0 0 0" xyz="0 0 0.392" />
<axis xyz="0 1 0" />
<limit effort="10.0" lower="-6" upper="6" velocity="2.5" />
</joint>
<joint name="wrist2" type="revolute">
<parent link="Body_Module_4" />
<child link="Body_Module_5" />
<origin rpy="0 0 0" xyz="0 -0.1 0" />
<axis xyz="0 0 1" />
<limit effort="10.0" lower="-6" upper="6" velocity="2.5" />
</joint>
<joint name="wrist3" type="revolute">
<parent link="Body_Module_5" />
<child link="Body_Tool_Flange" />
<origin rpy="0 0 0" xyz="0 0 0.1" />
<axis xyz="0 1 0" />
<limit effort="10.0" lower="-6" upper="6" velocity="2.5" />
</joint>
<joint name="Tool_Flange" type="fixed">
<parent link="Body_Tool_Flange" />
<child link="Tool_Center_Point" />
<origin rpy="0 0 0" xyz="0 -0.09 0" />
<axis xyz="0 0 0" />
</joint>
Asked by kim on 2022-02-12 03:14:22 UTC
Answers
my first suggestion is run gazebo with the debug and verbose argument in you launch file. run bt on the gdb in launch files cli. disable all plugins if any are used.
installing gazebo from `sudo apt-get ros-melodic' uses a 9.0.0 version. for me, many of these errors disappeared after installing from gazebo. version 9.19.0 as of July 2022.
Asked by dwd394 on 2022-07-07 11:17:50 UTC
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