Model SDF parsing error [closed]
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
Did you do a
sudo apt-get update
first before re-installing the components? Also, can you see the file at
/usr/share/drcsim-1.3/models/atlas/model.urdf
? Is it the same as the file below?
https://bitbucket.org/osrf/drcsim/src/2ab932f123d8e53d19290f3b7490b51057aebd7d/models/atlas/mod
yes, after uninstalling, I reloaded the URLs, did an apt-get update, and reinstalled. The model.urdf at the url is idential to the one under /drcsim-1.3/model, and even urdf files newly generated through xacro have the same parsing error. Is there more debug info I can provide?
Try:
gzsdf print /usr/share/drcsim-1.3/models/atlas/model.urdf. This command should not fail, and it should produce a lot of SDF output.Warning [parser.cc:377] SDF has no <sdf> element in file[/usr/share/drcsim-1.3/models/atlas/model.urdf] Error: SDF parsing the xml failed
hum... that's interesting. Is the urdf parsing binary your code links to possibly corrupted? I've purged all of ros as well before re-installing...