Gazebo parse problem with Groovy

asked 2013-07-22 07:32:36 -0600

tseco
11 ●8 ●9 ●9

Hello,

I have just installed ros-groovy and when I try to run the gazebo example:

roslaunch gazebo_worlds empty_world.launch

there is no problem, but if I try to lauch any of the other examples with:

roslaunch gazebo_worlds office_world.launch

I have some errors:

Msg Waiting for master.Warning [parser.cc:377] SDF has no <sdf> element in
file[/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/simple_office.world]
Error:   Could not find the 'robot' element in the xml file
         at line 59 in
/tmp/buildd/ros-groovy-urdfdom-0.2.7-0precise-20130326-0224/urdf_parser/src/model.cpp
Error [parser_urdf.cc:1814] Unable to call parseURDF on robot model
Warning [parser.cc:377] SDF has no <sdf> element in file[urdf file]
Error [parser.cc:291] parse as old urdf model file failed.
Error [Server.cc:253] Unable to read sdf
file[/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/simple_office.world]
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 29155, exit code 139, cmd
/opt/ros/groovy/stacks/simulator_gazebo/gazebo/scripts/gazebo
/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/simple_office.world
__name:=gazebo
__log:=/home/tseco/.ros/log/a6bdf53c-eae5-11e2-9efd-3cd92b6f7a37/gazebo-2.log].
log file:
/home/tseco/.ros/log/a6bdf53c-eae5-11e2-9efd-3cd92b6f7a37/gazebo-2*.log

The gazebo version installed is 1.5.

Any suggestions?

Best regards,

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answered 2013-07-23 19:22:01 -0600

gerkey
1414 ●8 ●18 ●25

It looks like the gazebo_worlds package in ROS Groovy contains some very old .world files that use a syntax that's no longer supported. Specifically, these .world files will fail to parse:

3stacks.world
balcony.world
camera.world
elevator.world
empty_listener.world
grasp.world
scan.world
simple_erratic.world
simple_office_table.world
simple_office.world
simple.world
test_friction.world
wg.world

So you should avoid using those .world files, including the .launch files that refer to them.

Note that the simulator_gazebo stack (which contains the gazebo_worlds package) has been deprecated starting in ROS Groovy and will no longer be distributed in ROS Hydro.

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Thank you very much for your answer. Is it possible to use urdf files with gazebo and groovy or only sdf files?

tseco ( 2013-07-24 01:49:12 -0600 )edit

Thank you very much.

tseco ( 2013-07-24 03:11:46 -0600 )edit

Yes you can use URDF files with gazebo.

nkoenig ( 2013-07-24 09:05:19 -0600 )edit

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answered 2013-07-22 08:45:09 -0600

Davinci
65 ●10 ●11 ●17

Seems that your are loading an urdf file and gazebo has problems with. You are you loading an sdf file with this extension? You should add a robot and sdf element if its an sdf file.

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Thank you very much!

tseco ( 2013-07-24 01:52:39 -0600 )edit

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