Gazebo PR2 getting stuck at launch

asked 2013-01-10 08:51:12 -0600

jys
22 ●7 ●9 ●13

updated 2013-01-16 16:04:58 -0600

When I run empty world, everything seems to be fine.

roslaunch gazebo_worlds empty_world.launch

But when I instead try to bring up PR2 in gazebo, it gets stuck in both Fuerte and Groovy. (Update to Groovy since things were getting stuck but getting stuck the same way) This is running on Ubuntu 12.04. This is not working with lastest copy of Groovy on two different computers both running 12.04 64-bit. Also purging all ROS related stuff and reinstalling (Fuerte and Groovy) didn't help at all.

roslaunch pr2_gazebo pr2.launch

It gets stuck with following warnings. Please help!

process[robot_pose_ekf-17]: started with pid [18327]
process[base_hokuyo_node-18]: started with pid [18366]
process[tilt_hokuyo_node-19]: started with pid [18416]
process[tf2_buffer_server-20]: started with pid [18473]
[ WARN] [1357828826.779339967]: You've passed in true for auto_start for the C++ action server at [/tf2_buffer_server]. You should always pass in false to avoid race conditions.
process[camera_synchronizer_node-21]: started with pid [18498]
[ INFO] [1357828826.995402836]: Starting to spin camera_synchronizer at 100.000000 Hz...
process[default_controllers_spawner-22]: started with pid [18568]
process[r_gripper_controller/gripper_action_node-23]: started with pid [18570]
process[l_gripper_controller/gripper_action_node-24]: started with pid [18599]
process[head_traj_controller/point_head_action-25]: started with pid [18648]
process[torso_controller/position_joint_action_node-26]: started with pid [18695]
[ WARN] [1357828831.245960240]: The input topic '/wide_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828831.246159850]: The input topic '/wide_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828831.246197213]: The input topic '/wide_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828831.246220592]: The input topic '/wide_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828831.416542110]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828831.416826507]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828831.417022828]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828831.417143055]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828831.455619028]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828831.455817538]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828831.455872881]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828831.455923623]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828891.249665241]: The input topic '/wide_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828891.249748211]: The input topic '/wide_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828891.249790211]: The input topic '/wide_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828891.249831981]: The input topic '/wide_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828891.420719083]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828891.420869955]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828891.421049482]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828891.421141085]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828891.456356647]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828891.456442792]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828891.456691924]: The input topic '/narrow_stereo/right/image_raw' is not yet ...

(more)

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I am having a hard time reproducing it. If you did

ps -ef | grep gz

do you still see gzclient or gzserver running? If so, can you attach a gdb session to them, and post the result of

thread apply all bt?

thanks.

hsu ( 2013-01-10 14:57:18 -0600 )edit

I really appreciate you are trying to help. It has been very frustrating last few days since it worked fine back in October. All I did was update to latest ros/gazebo. I added more info in the question. So gzclient is running when pr2emptyworld.launch is used.

jys ( 2013-01-10 18:13:04 -0600 )edit

I attached gdb but not sure how I can give you anything useful. (new to gdb). Typed "backtrace" but shows nothing.

jys ( 2013-01-10 18:15:12 -0600 )edit

can you try this?

roslaunch gazebo_worlds debug.launch

and see if it segfaults and bring you to the (gdb) prompt? If so, type:

thread apply all bt

and post the result. thanks.

hsu ( 2013-01-11 09:53:11 -0600 )edit

roslaunch gazeboworlds debug.launch did not bring me into gdb prompt. So, I just attached gdb to pr2emptyworld.launch and ran backtrace and thread apply all bt as you suggested before. Thanks for help! I really need this working and it is odd since it is not working with both computers I have.

jys ( 2013-01-11 11:51:23 -0600 )edit

The backtrace you've provided is for the gazebo client gui, but what we need here is a backtrace of the server when it goes down. Did

roslaunch gazebo_worlds debug.launch

bring up gazebo with an empty world successfully?

hsu ( 2013-01-11 15:50:09 -0600 )edit

Yes gazeboworlds debug.launch brought up successfully... didn't bring me into gdb. It is whenever I try to launch pr2.launch or pr2emptyworld.launch than it fails. When pr2_emptyworld goes down only the client is left. server is dead.. what should I try next? ... Thanks!

jys ( 2013-01-14 11:06:31 -0600 )edit

I was finally able to attach gdb to gzserver which dies very quickly. Please see above. Thank you.

jys ( 2013-01-14 13:01:36 -0600 )edit

the error you posted trying to compile pr2_gazebo seems to indicate

sudo apt-get install ros-groovy-pr2-simulator

did not completed successfully in your previous installs. But for now you can do:

sudo apt-get install ros-groovy-orocos-kdl

and try to recompile

hsu ( 2013-01-16 14:12:51 -0600 )edit

Hsu, that didn't help. I summarized above what I have tried so far.. Hsu, is there any direct email I can discuss this issue? It is becoming very frustrating and this is huge blocker for me..

jys ( 2013-01-16 15:25:30 -0600 )edit

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answered 2013-01-23 21:59:23 -0600

jys
22 ●7 ●9 ●13

updated 2013-01-23 22:00:10 -0600

I was using default open source graphics driver for ATI Radeon HD 5450 in Ubuntu 12.04 LTS. Solution was to install ATI proprietary driver and things started to work! Thanks for help, @hsu !

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answered 2013-01-14 20:25:08 -0600

hsu
1873 ●14 ●19

updated 2013-01-16 16:40:58 -0600

Update 2013-01-16

per the error you described during compilation:

  Scanning dependencies of target rosbuild_precompile
  make[3]: Leaving directory `/home/jysung/ros_groovy/pr2_simulator/pr2_gazebo/build'
  [  0%] Built target rosbuild_precompile
  make[3]: Entering directory `/home/jysung/ros_groovy/pr2_simulator/pr2_gazebo/build'
  Scanning dependencies of target move_pr2
  make[3]: Leaving directory `/home/jysung/ros_groovy/pr2_simulator/pr2_gazebo/build'
  make[3]: Entering directory `/home/jysung/ros_groovy/pr2_simulator/pr2_gazebo/build'
  [100%] Building CXX object CMakeFiles/move_pr2.dir/src/move_pr2.cpp.o
  Linking CXX executable ../bin/move_pr2
  /usr/bin/ld: cannot find -lPyKDL
  collect2: ld returned 1 exit status
  make[3]: *** [../bin/move_pr2] Error 1
  make[3]: Leaving directory `/home/jysung/ros_groovy/pr2_simulator/pr2_gazebo/build'
  make[2]: *** [CMakeFiles/move_pr2.dir/all] Error 2
  make[2]: Leaving directory `/home/jysung/ros_groovy/pr2_simulator/pr2_gazebo/build'
  make[1]: *** [all] Error 2
  make[1]: Leaving directory `/home/jysung/ros_groovy/pr2_simulator/pr2_gazebo/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package pr2_gazebo written to:
[ rosmake ]    /home/jysung/.ros/rosmake/rosmake_output-20130116-114719/pr2_gazebo/build_output.log
[rosmake-0] Finished <<< pr2_gazebo [FAIL] [ 25.82 seconds ]

It seems there might be some problems with your setup. Can we talk offline?

Original Post 2013-01-14

Do you have both ros-groovy-visualization-common and libogre-1.7.4 installed on your system? If so, can you do

sudo apt-get remove libogre-1.7.4

without removing an avalanche of packages, then try re-launching pr2_empty_world.launch again?

It could be really helpful if you can download simulator_gazebo and pr2_simulator locally, compile them in debug mode?

mkdir ~/ros_groovy
cd ~/ros_groovy
svn co https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/trunk simulator_gazebo
svn co https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/trunk pr2_simulator
source /opt/ros/groovy/setup.bash
export ROS_PACKAGE_PATH=~/ros_groovy:${ROS_PACKAGE_PATH}
rosmake pr2_simulator

then,

roslaunch pr2_gazebo pr2_empty_world.launch

and if gzserver segfaults, where you roslaunched things should have a (gdb) prompt.

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When I try removing libogre, it complains about so many depending on it. Not sure how I can workaround removing all those ROS packages (rviz and so forth). I checked out those two codes and tried compiling but only simulator_gazebo compiles.

jys ( 2013-01-15 07:51:38 -0600 )edit

pr2_gazebo throws error "/usr/bin/ld: cannot find -lPyKDL " Have you had a chance to look at gdb logs above from gzserver in above post? Is it any helpful in debugging this?

jys ( 2013-01-15 07:51:40 -0600 )edit

I made new edit on original post. Please see bottom.. Thanks!

jys ( 2013-01-16 11:20:29 -0600 )edit

I really would love to talk.. how do you want to talk offline?

jys ( 2013-01-16 17:07:52 -0600 )edit

Hsu, please feel free to contact me at email. I guess you must have access to my email address?

jys ( 2013-01-17 15:13:26 -0600 )edit

Make sure you come back and answer the question when it's resolved.

nkoenig ( 2013-01-19 19:02:29 -0600 )edit

Sure, still waiting for Hsu to contact me..

jys ( 2013-01-21 11:49:18 -0600 )edit

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