Question

After working with gazebo/drcsim all day yesterday with only the occasional crash/freeze, I started up my projects today to find that the atlas model.urdf will not load.

If I were to run:

roslaunch atlas_utils atlas.launch

I get the following Errors:

Warning [parser.cc:377] SDF has no <sdf> element in file[/usr/share/drcsim-1.3/models/atlas/model.urdf]
Error [parser.cc:619] Unable to read file[/usr/share/drcsim-1.3/models/atlas/model.urdf]
Error [parser.cc:686] Error reading element <world>
Error [parser.cc:369] Unable to read element <sdf>
Error [Server.cc:235] Unable to read sdf file[atlas.world]

And gazebo/drcsim exits cleanly. This similarly happens if the Atlas model is loaded from the Gazebo gui (with roscore running as well).

The solutions I've tried:

Complete uninstall of ROS/Gazebo/DRCSIM and reinstallation, including wiping the keys/repositories of these packages.
Regenerating the model.urdf under a different name using the rosrun xacro command to encounter the same error
Renaming world files, model files, running gzsdf to update SDF files

Any assistance to get gazebo up and running would be very appreciated.

EDIT: env | grep GAZEBO:

GAZEBO_MODEL_PATH=/usr/share/drcsim-1.3/models:/usr/share/drcsim-1.3/models:
GAZEBO_RESOURCE_PATH=/usr/share/drcsim-1.3/worlds:/usr/share/gazebo-1.3:/usr/share/gazebo_models
GAZEBO_MASTER_URI=http://localhost:11345
GAZEBO_PLUGIN_PATH=/usr/lib/drcsim-1.3/plugins:/usr/lib/gazebo-1.3/plugins
GAZEBO_MODEL_DATABASE_URI=http://gazebosim.org/models

env | grep ROS:

ROS_ROOT=/opt/ros/fuerte/share/ros
ROS_PACKAGE_PATH=/usr/share/drcsim-1.3/ros:/usr/share/drcsim-1.3/models/atlas_irobot_hand:/usr/share/drcsim-1.3/models/sandia_hand:/usr/share/drcsim-1.3/models/powerplant:/usr/share/drcsim-1.3/models/fire_hose:/usr/share/drcsim-1.3/models/atlas_sandia_hand:/usr/share/drcsim-1.3/models/atlas:/usr/share/drcsim-1.3/models/sandia_hand_left:/usr/share/drcsim-1.3/models/standpipe:/usr/share/drcsim-1.3/models/golf_cart:/usr/share/drcsim-1.3/models/sandia_hand_right:/usr/share/drcsim-1.3/models/irobot_hand:/usr/share/drcsim-1.3/models/multisense_sl:/usr/share/drcsim-1.3/models/drc_terrain:/opt/ros/fuerte/share:/opt/ros/fuerte/stacks
ROSLISP_PACKAGE_DIRECTORY=/opt/ros/fuerte/share/common-lisp/ros
ROS_MASTER_URI=http://localhost:11311
ROS_DISTRO=fuerte
ROS_ETC_DIR=/opt/ros/fuerte/etc/ros

Asked by klowrey on 2013-01-10 18:47:41 UTC

Answer 1

So

Warning [parser.cc:377] SDF has no  element in file[/usr/share/drcsim-1.3/models/atlas/model.urdf]

is expected, however,

Error [parser.cc:619] Unable to read file[/usr/share/drcsim-1.3/models/atlas/model.urdf]

should not be there as the parser should then try and parse the model as urdf next. This seems to suggest that ros-fuerte-urdfdom, ros-fuerte-urdfdom-headers, ros-fuerte-console-bridge are not installed properly, or you are running a version of gazebo compiled locally without urdfdom support.

Asked by hsu on 2013-01-11 17:46:12 UTC

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Your suggestion is appreciated. I've since run apt-get purge on every ros-fuerte-* package as well as gazebo and drcsim, apt-get clean, apt-get autoclean, apt-get update, and then finally apt-get install drcsim to reinstall. The same error persists.

Asked by klowrey on 2013-01-11 18:17:38 UTC

Can you post the output of env() | grep GAZEBO and env() | grep ROS?

Asked by nkoenig on 2013-01-11 18:56:54 UTC

The outputs to env are posted above in the initial post. This is after a vigorous scrubbing of all things ros, gazebo, and drcsim on my workstation. If there's no other idea for a solution, I'll just fall back on re-installing 12.04 to continue work.

Asked by klowrey on 2013-01-11 19:34:56 UTC

@klowrey what happened? I am getting the same error. Did you resolve it?

Asked by peshala on 2013-04-26 06:53:39 UTC

Model SDF parsing error

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