Process dies when spawning model with laser sensor
I have been trying to spawn a simple model of Pioneer 3AT, but whenever I try loading it, the gzserver dies. I tryed changing the sensor for a camera, it spawns without any issue. I am using ros, so that's how I started :
roslaunch pioneer_gazebo pioneer.launch
Then I got:
... logging to /home/bruno/.ros/log/a8df0c6e-2b60-11e3-9451-ccaf78b21d23/roslaunch-Companion-4670.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.
started roslaunch server http://Companion:40966/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
* /use_sim_time
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[gazebo-1]: started with pid [4688]
process[gazebo_gui-2]: started with pid [4693]
Gazebo multi-robot simulator, version 1.9.1
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Gazebo multi-robot simulator, version 1.9.1
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Msg Waiting for master.[ INFO] [1380718934.440641791]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1380718934.443733504]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.15
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.15
[ INFO] [1380718935.383049465, 0.025000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1380718935.470402208, 0.099000000]: Physics dynamic reconfigure ready.
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
I have been getting this errors in parameters, if anyone knows how to solve that, I don't know if it is what causes the process to die.
After that, I span the model with this command:
rosrun gazebo_ros spawn_model -file `rospack find pioneer_description`/urdf/Pioneer3at.urdf -urdf -x 0 -y 0 -z 1 -Y -1.57 -model Pioneer
I get this:
spawn_model script started
[INFO] [WallTime: 1380719201.190478] [0.000000] Loading model xml from file
[INFO] [WallTime: 1380719201.191005] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1380719201.193276] [260.162000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1380719201.458711] [260.329000] Spawn status: SpawnModel: Successfully spawned model
But at the terminal running gazebo, I get this:
[ INFO] [1380719201.458306323, 260.329000000]: LoadThread function completed
Segmentation fault (core dumped)
[gazebo-1] process has died [pid 4688, exit code 139, cmd /opt/ros/hydro/lib/gazebo_ros/gzserver /home/bruno/catkin_ws/src/pioneer_gazebo/worlds/pioneer.world __name:=gazebo __log:=/home/bruno/.ros/log/a8df0c6e-2b60-11e3-9451-ccaf78b21d23/gazebo-1.log].
log file: /home/bruno/.ros/log/a8df0c6e-2b60-11e3-9451-ccaf78b21d23/gazebo-1*.log
And that's it all the time I try to spawn the model. Here is the Pioneer3at.urdf:
<robot name="Pioneer">
<link name="base_link">
<visual>
<geometry>
<box size=".4 .25 .20"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".25 .25 .20"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
<inertial>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<mass value="25"/>
<inertia
ixx="0.21354" ixy="0.0" ixz="0.0"
iyy="0.41667" iyz="0.0"
izz="0.46354"/>
</inertial>
</link>
<gazebo reference="base_link">
<material>Gazebo/Red</material>
</gazebo>
<link name="base_front">
<visual>
<geometry>
<cylinder radius=".125" length=".2"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder radius=".125" length=".2"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
<inertial>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<mass value="5"/>
<inertia
ixx="0.0361979" ixy="0.0" ixz="0.0"
iyy="0.0361979" iyz="0.0"
izz="0.0390625"/>
</inertial>
</link>
<joint name="baseBottomConect" type="fixed">
<origin xyz=".15 0 0"/>
<parent link="base_link"/>
<child link="base_front"/>
</joint>
<link name="base_plataform">
<visual>
<geometry>
<box size=".4 .3 .005"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".25 .3 .005"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
<inertial>
<origin xyz="0 0 0.0025" rpy="0 0 0"/>
<mass value=".5"/>
<inertia
ixx=".00375104" ixy="0.0" ixz="0.0"
iyy=".00666771" iyz="0.0"
izz="0.0104167"/>
</inertial>
</link>
<joint name="baseTop" type="fixed">
<origin xyz="0 0 .1025"/>
<parent link="base_link"/>
<child link="base_plataform"/>
</joint>
<link name="base_vanguard">
<visual>
<geometry>
<cylinder radius="0.15" length="0.005"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder radius="0.15" length="0.005"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
<inertial>
<origin xyz="0 0 0.0025" rpy="0 0 0"/>
<mass value=".3"/>
<inertia
ixx=".001688125" ixy="0.0" ixz="0.0"
iyy=".001688125" iyz="0.0"
izz=".003375"/>
</inertial>
</link>
<joint name="basePlataform" type="fixed">
<origin xyz="0.15 0 0"/>
<parent link="base_plataform"/>
<child link="base_vanguard"/>
</joint>
<link name="base_wheel1">
<origin rpy="0 0 0"/>
<visual>
<geometry>
<cylinder radius="0.105" length="0.08"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder radius="0.105" length="0.08"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
<inertial>
<origin xyz="0 0 0.04" rpy="0 0 0"/>
<mass value="1"/>
<inertia
ixx=".00328958" ixy="0.0" ixz="0.0"
iyy=".00328958" iyz="0.0"
izz=".0055125"/>
</inertial>
</link>
<joint name="wheelConnect1" type="continuous">
<origin xyz=".15 -.165 -.1" rpy="-1.5708 0 0"/>
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="base_wheel1"/>
</joint>
<link name="base_wheel2">
<origin rpy="0 0 0"/>
<visual>
<geometry>
<cylinder radius="0.105" length="0.08"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder radius="0.105" length="0.08"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
<inertial>
<origin xyz="0 0 0.04" rpy="0 0 0"/>
<mass value="1"/>
<inertia
ixx=".00328958" ixy="0.0" ixz="0.0"
iyy=".00328958" iyz="0.0"
izz=".0055125"/>
</inertial>
</link>
<joint name="wheelConnect2" type="continuous">
<origin xyz=".15 .165 -.1" rpy="-1.5708 0 0"/>
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="base_wheel2"/>
</joint>
<link name="base_wheel3">
<origin rpy="0 0 0"/>
<visual>
<geometry>
<cylinder radius="0.105" length="0.08"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder radius="0.105" length="0.08"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
<inertial>
<origin xyz="0 0 0.04" rpy="0 0 0"/>
<mass value="1"/>
<inertia
ixx=".00328958" ixy="0.0" ixz="0.0"
iyy=".00328958" iyz="0.0"
izz=".0055125"/>
</inertial>
</link>
<joint name="wheelConnect3" type="continuous">
<origin xyz="-.15 -.165 -.1" rpy="-1.5708 0 0"/>
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="base_wheel3"/>
</joint>
<link name="base_wheel4">
<origin rpy="0 0 0"/>
<visual>
<geometry>
<cylinder radius="0.105" length="0.08"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder radius="0.105" length="0.08"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
<inertial>
<origin xyz="0 0 0.04" rpy="0 0 0"/>
<mass value="1"/>
<inertia
ixx=".00328958" ixy="0.0" ixz="0.0"
iyy=".00328958" iyz="0.0"
izz=".0055125"/>
</inertial>
</link>
<joint name="wheelConnect4" type="continuous">
<origin xyz="-.15 .165 -.1" rpy="-1.5708 0 0"/>
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="base_wheel4"/>
</joint>
<link name="base_laser">
<visual>
<geometry>
<box size=".15 .15 .1"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".15 .15 .1"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
<inertial>
<origin xyz="0 0 0.04" rpy="0 0 0"/>
<mass value=".8"/>
<inertia
ixx=".004166667" ixy="0.0" ixz="0.0"
iyy=".004166667" iyz="0.0"
izz=".003"/>
</inertial>
</link>
<joint name="laserConnect" type="fixed">
<origin xyz=".15 0 .05" />
<parent link="base_plataform"/>
<child link="base_laser"/>
</joint>
<!-- hokuyo -->
<gazebo reference="base_laser">
<sensor type="gpu_ray" name="head_hokuyo_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<!-- Noise parameters based on published spec for Hokuyo laser
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
reading. -->
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>/pioneer/laser/scan</topicName>
<frameName>base_laser</frameName>
</plugin>
</sensor>
</gazebo>
</robot>
I am using Ubuntu 13.04 with ROS Hydro and the recommended Gazebo version, 1.9
Asked by Alasknnj on 2013-10-02 08:24:46 UTC
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