DRC sim - Atlas loading error

asked 2013-01-16 16:58:05 -0500

Bharadwaj Ramesh
51 ●9 ●11 ●12

I have the DRCSim installed following the instructions given on the page http://gazebosim.org/wiki/InstallDRC I run gazebo fom the terminal and the GUI opens but when i try to load the robot Atlas into it, it gets stuck and says the following error.

Error [gazeboroslaser.cpp:153] Not loading plugin since ROS hasn't been properly initialized.
Try starting gazebo with ros plugin:

gazebo -s libgazeborosapi.so

Error [gazeboroscamera_utils.cpp:234] Not loading plugin since ROS hasn't been properly

initialized. Try starting gazebo with ros plugin:

gazebo -s libgazeborosapi.so

Error [gazeboroscamera_utils.cpp:234] Not loading plugin since ROS hasn't been properly

initialized. Try starting gazebo with ros plugin:

gazebo -s libgazeborosapi.so

Error [AtlasPlugin.cc:135] rfootcontact_sensor not found

Error [AtlasPlugin.cc:144] lfootcontact_sensor not found

Error [AtlasPlugin.cc:159] Not loading plugin since ROS hasn't been properly initialized. Try

starting gazebo with ros plugin:

gazebo -s libgazeborosapi.so

Error [gazeborosjoint_trajectory.cpp:108] Not loading plugin since ROS hasn't been properly

initialized. Try starting gazebo with ros plugin:

gazebo -s libgazeborosapi.so

Error [gazeboroscontroller_manager.cpp:127] Not loading plugin since ROS hasn't been properly

initialized. Try starting gazebo with ros plugin:

gazebo -s libgazeborosapi.so

Error [gazeborosimu.cpp:124] Not loading plugin since ROS hasn't been properly initialized. Try

starting gazebo with ros plugin:

gazebo -s libgazeborosapi.so

I have been using gazebo for 2 weeks and it was working fine. I have this problem from only today, now I am not able to run this world as well

roslanch atlas_utils atlas.launch

It loads and then just dissappears.

Can someone please help me .

THank YOu

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answered 2013-01-17 20:09:14 -0500

cga
223 ●41 ●46 ●54

updated 2013-01-17 20:21:09 -0500

I have the same error on code with two cameras that used to work with no errors. I run roscore, and then gazebo world:

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345

Msg Connected to gazebo master @ http://localhost:11345
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:137] Unable to connect to model database using [/]. Only locally installed models will be available.
Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so
Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so

Executing

gazebo -s libgazebo_ros_api.so

with no world file argument leads to

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Error [Plugin.hh:126] Failed to load plugin libgazebo_ros_api.so: libgazebo_ros_api.so: cannot open shared object file: No such file or directory
Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345

Msg Connected to gazebo master @ http://localhost:11345
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:137] Unable to connect to model database using [/]. Only locally installed models will be available.

roscore starts up with the following errors:

... logging to /home/cga/.ros/log/a6b2c846-60c6-11e2-9f20-0014225a80ab/roslaunch-cga2-2011.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://cga2:57907/
ros_comm version 1.8.10
 SUMMARY
 PARAMETERS
 * /rosdistro
 * /rosversion
 NODES
 auto-starting new master
Exception AttributeError: AttributeError("'DummyThread' object has no attribute 'Thread_block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[master]: started with pid [2027]
ROSMASTER_URI=http://cga2:11311/
 setting /runid to a6b2c846-60c6-11e2-9f20-0014225a80ab
Exception AttributeError: AttributeError("'DummyThread' object has no attribute 'Thread_block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored
process[rosout-1]: started with pid [2040]
started core service [/rosout]

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answered 2013-01-28 18:22:18 -0500

cga
223 ●41 ●46 ●54

It turns out my problem was solved by starting gazebo with:

gazebo -s libgazebo_ros_api_plugin.so world

rather than just

gazebo world

which used to work, or

gazebo -s libgazebo_ros_api.so

which is what the error message:

Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so

recommends.

Chris

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Thanks for the tip; ticketed and fixed: https://bitbucket.org/osrf/drcsim/issue/104

gerkey ( 2013-01-28 22:26:09 -0500 )edit

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