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What is the correct way to bring up the atlas in the latest drcsim-groovy?

asked 2014-05-06 11:51:38 -0600

asomerville gravatar image

updated 2014-05-06 12:23:19 -0600

This may end up needing to be a bug report instead of a question but:

I can't figure out how to bring up the atlas drcsim in the latest drcsim-groovy (3.2.0-1~precise)

When attempting:

roslaunch drcsim_gazebo atlas.launch

I get:

setting /run_id to 90cf90b2-d53d-11e3-a4b9-0025648c7b5e
process[rosout-1]: started with pid [30559]
started core service [/rosout]
process[gazebo-2]: started with pid [30573]
process[atlas_robot_state_publisher-3]: started with pid [30578]
process[multisense_sl_robot_state_publisher-4]: started with pid [30598]
[DEBUG] [ros.gazebo_ros.api_plugin]: GazeboRosApiPlugin Deconstructor start
[DEBUG] [ros.gazebo_ros.api_plugin]: After sigint_event unload
[DEBUG] [ros.gazebo_ros.api_plugin]: Deconstructor skipped because never loaded
process[tf2_buffer_server-5]: started with pid [30623]
[gazebo-2] process has finished cleanly

and then a bunch of multisense_sl processes which stay up. The launch itself stays up until I interrupt it, but gazebo never comes up.

I've also tried:

# rosrun drcsim_gazebo run_gazebo

Which results in:

[DEBUG] [ros.gazebo_ros.api_plugin]: GazeboRosApiPlugin Deconstructor start
[DEBUG] [ros.gazebo_ros.api_plugin]: After sigint_event unload
[DEBUG] [ros.gazebo_ros.api_plugin]: Deconstructor skipped because never loaded
[ /opt/ros/groovy/share/drcsim_gazebo/launch ]

I've checked the logs and see nothing suspicious. Since I can't find any errors or warnings, I'm not sure how to debug this situation.

Looking into drcsim_gazebo run_gazebo I see that it simply calls which ever gazebo the shell resolves.


# First argument should be a fully-qualified path to a .world file
# (e.g., `rospack find drcsim_gazebo`/worlds/
# or a world that's install in $GAZEBO_RESOURCE_PATH/worlds/atlas
#`rospack find gazebo_worlds`/scripts/gdbrun gzserver -s $1
gazebo -s $@

Running gazebo by it self results in nothing. Runs and quits. No error.

# gazebo && echo true
[ /opt/ros/groovy/share/drcsim_gazebo/scripts ]

And it seems to be the correct gazebo:

# which gazebo

# dpkg -S $(which gazebo)
gazebo3: /usr/bin/gazebo

# dpkg -l $(dpkg -S $(which gazebo) | cut -d ':' -f1)
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name                               Version                            Description
ii  gazebo3                            3.0.0-1~precise                    Open Source Robotics Simulator
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"roslaunch drcsim_gazebo atlas.launch" is the most used command to launch drcsim. But I won't try to get DRCSim working if a single run of "gazebo" is not working first. Which other gazebo packages are installed in the system? Did you ever installed a from source compilation of gazebo into that system before using deb packages? ls -las /usr/bin/gazebo?

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2014-05-06 13:07:49 -0600 )edit

Can you try running gzserver and gzclient separately? If one crashes, could you provide a backtrace?

nkoenig gravatar imagenkoenig ( 2014-05-06 18:47:51 -0600 )edit

It turns out neither was crashing but rather returning without error because of an already running gzserver in the background. I posted an answer and a bug report below to that effect.

asomerville gravatar imageasomerville ( 2014-05-06 20:18:32 -0600 )edit

1 Answer

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answered 2014-05-06 16:42:28 -0600

asomerville gravatar image

gazebo will exit with no error if there is a gazebo instance already running. In my case gzserver was running in the background already causing gazebo and gzserver to return with no error.

I believe this is errant behavior and have filed a bug here:

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Thanks perfect, let's continue the work in the issue.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2014-05-06 17:28:59 -0600 )edit

Could you please mark your answer as valid clicking the check button?

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2014-05-08 19:26:46 -0600 )edit
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Asked: 2014-05-06 11:51:38 -0600

Seen: 508 times

Last updated: May 06 '14