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2013-05-23 10:58:44 -0500 commented question Spawning PR2 makes Gazebo die with Illegal Instruction

Any clue ?

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2013-05-15 08:37:54 -0500 asked a question Spawning PR2 makes Gazebo die with Illegal Instruction


Just got a strange problem yesterday when trying to launch Gazebo and PR2 to test a new stack. The symptoms look quite frequent but the causes appears to be various, so I'm opening a new thread for that.

Under ROS Fuerte and Ubuntu 10.04, I roslaunch emptyworld environment with emptyworld.launch. Everything looks right at this time. Then, I try to spawn the PR2 through "pr2.launch" file. The PR2 visually appears, but at some point, Gazebo crashes and PR2 node (defaultcontrollersspawner) also. I still got the Gazebo GUI and can manipulate the robot (move it in the environment) but I can't spawn other objects neither control the PR2. The error I get from Gazebo is an "Illegal Instruction" (logs are enclosed at the bottom of the question). On answers.ros.org, I found that a similar issue was due to SSE compilation process, but that may have been solved with Gazebo 1.6.15 (I'm using 1.6.16). Here I read about a Graphical Card driver that was conflicting ( http://answers.gazebosim.org/question/658/gazebo-pr2-getting-stuck-at-launch/ ) but as it is a ROS Groovy issue and my Gazebo is launching well, I'm not sure it can apply. I updated Linux with the recommended updates and ros with the corresponding patches on the beginning of May. As I didn't used ROS since Monday 6th, that may be part of the explanation.

Does somebody have an idea of what's going wrong with PR2 ? I can still spawn simple boxes in the environment. Thanks for reading !

EDIT : Any advice ?

Here are the logs :

renaudo@oogawa:~/rosworkspace$ roslaunch gazeboworlds empty_world.launch

... logging to /home/renaudo/.ros/log/2436093a-bcad-11e2-be80-002219119be4/roslaunch-oogawa-19565.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://oogawa:38763/


 * /rosdistro
 * /rosversion
 * /use_sim_time

    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)


core service [/rosout] found
process[gazebo-1]: started with pid [19585]
process[gazebo_gui-2]: started with pid [19592]
Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.

Gazebo multi-robot simulator, version 1.0.2
Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
Released under the Apache 2 License.

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://kingawa:11345
[ INFO] [1368622405.869056587]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1368622406.697629250]: joint trajectory plugin missing <updateRate>, defaults to 0.0 (as fast as possible)

Msg Connected to gazebo master @ http://kingawa:11345
[ INFO] [1368622408.102870776, 0.265000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1368622408.569351643, 15.042000000]: Starting to spin physics dynamic reconfigure node...
[ WARN] [1368622431.147719089, 1762.062000000]: multiple inconsistent <turnGravityOff> exists due to fixed joint reduction, overwriting previous ...
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2013-02-12 04:21:03 -0500 answered a question [solved] Jpeg file make Gazebo die

Ok, got the problem and (probably) the solution. The case is quite the same as what's described in : Answers ROS Ogre Exception

The computer I'm using have only a graphic chipset and no graphic card. My hypothesis is that loading images exceed the video memory available on the chipset (images were 4000x2000px). I resized my images and I have no problem anymore.

As a conclusion : Always be careful about the usage of memory when you're using graphical elements.

2013-02-12 03:03:49 -0500 received badge  Editor (source)
2013-02-11 10:47:59 -0500 asked a question [solved] Jpeg file make Gazebo die


I'm currently re-using some old code developed under ROS Electric with ROS Fuerte. Especially, I'm spawning in Gazebo a customized wall+photo environment described in a urdf file. I defined my own Material, for example :

material Siri/sima-south-left
            lighting off
            ambient 1 1 1 1
            diffuse 1 1 1 1
            specular 0 0 0 0
            emissive 0 0 0

            alpha_rejection greater 128
            depth_write on

                texture sima-south-left.jpg
                tex_coord_set 0
                colour_op modulate

Around every wall spawn correctly with the photo applied as texture. But on two photos (sima-south-left.jpg and sime-south-right.jpg), the texture isn't found and Gazebo die with error :

Warning [Visual.cc:689] Unable to get Material[Gazebo/WhiteEmissive] for Geometry[laby::Mur2::Mur2_geom_visual. Object will appear white
Warning [Visual.cc:745] Unable to set Material[laby::Mur20::Mur20_geom_visual_MATERIAL_Isir/sima-south-left] to Geometry[laby::Mur20::Mur20_geom_visual. Object will appear white.
Qt has caught an exception thrown from an event handler. Throwing exceptions from an event  handler is not supported in Qt. You must reimplement QApplication::notify() and catch all exceptions there.

terminate called after throwing an instance of 'Ogre::RenderingAPIException'
  what():  OGRE EXCEPTION(3:RenderingAPIException): Zero sized texture surface on texture sima-south-left.jpg face 0 mipmap 0. Probably, the GL driver refused to create the texture. in GLTexture::_createSurfaceList at /tmp/buildd/ros-fuerte-visualization-common-1.8.4/debian/ros-fuerte-visualization-common/opt/ros/fuerte/stacks/visualization_common/ogre/build/ogre_src_v1-7-3/RenderSystems/GL/src/OgreGLTexture.cpp (line 406)
/opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gui : ligne 2 : 22405 Abandon                 (core dumped) `rospack find gazebo`/gazebo/bin/gzclient -g `rospack find gazebo`/lib/libgazebo_ros_paths_plugin.so
[gazebo_gui-2] process has died [pid 22402, exit code 134, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gui __name:=gazebo_gui __log:=/home/renaudo/.ros/log/7871d046-7465-11e2-8470-00259079bc9a/gazebo_gui-2.log].
log file: /home/renaudo/.ros/log/7871d046-7465-11e2-8470-00259079bc9a/gazebo_gui-2*.log

I don't get why two specific images are making Gazebo die. Are there max/min size on texture we can use ? All images are in jpg and located in the same folder. This code was working with Electric.

Any advice would be welcome. Thanks for reading.

EDIT : I tried with some others random pictures from internet, and I have no problem to map them on walls ... that's quite strange that two specific pictures are making gazebo crash ...