crash when loading ergoCubGazeboV1_1 in gz sim #173
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Then, I am creating the world containing world_ergoCubGazeboV1_1.sdfThen, I run A black window appears, but then crash with the following terminal message: crash log |
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Interesting. If you are compiling gz-sim-yarp-plugins, can you try to enable BUILD_TESTING in the CMake build of the repo and run the tests, to understand if those work fine or not in your system? |
while configuring to build the test I get the following error: is |
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Yes, it is indeed a test dependency, you can install it with the gtest conda-forge package, see gz-sim-yarp-plugins/ci_env.yml Line 12 in e681eca |
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Here the log of the tests: I have re-run with verbose options the failed one: tests log with verbosity |
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This is interesting, tests are passing fine in CI https://github.com/robotology/gz-sim-yarp-plugins/actions/runs/10208894581/job/28246043512 . Probably you can run |
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Sure, here it is: conda list --explicitenv |
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Ok, there is nothing too strange in the env (at least that I see), we can move to actually see the test failures. For the first one, I see: Somehow the test in can't find the yarprobotinterface files. The problem seems with the relative path (relative w.r.t. to what?) passed toyarpRobotInterfaceConfigurationFile. The problem seems similar to #168 . I guess in CI the test pass as somehow this relative path encodes the assumption that the build directory is a child directory of the source directory of gz-sim-yarp-plugins, assumption that is not true when running the test in the superbuild.
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Anyhow these failures are probably unrelated, we can open a new issue for tracking this @xela-95 . |
Closed
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Looking at the logs posted in #173 (comment), here are the lines that trigger me the most: |
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The first three are the usual errors you get as the model also contains Gazebo Classic plugins, so you can ignore them. |
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Probably it is some kind of regression of https://github.com/icub-tech-iit/ergocub-software/pull/232/files and icub-tech-iit/ergocub-software#232 and icub-tech-iit/ergocub-software#236 that added the plugins for the FT imus only on Gazebo Classic and not in gz-sim ? I guess the fix is just to add those and regenerate the models, or for the time being just disable those devices from yarprobotinterface .xml files. Probably we could add some smoke test in ergocub-software to ensure that the model load successfully without failures (or even an helper command that does that from the command line, and call that from the tests). |
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Interesting, perhaps there is a different between the latest released version and the latest master version of ergocub-software? Anyhow, I guess that downgrading ergocub-software to a version before icub-tech-iit/ergocub-software#232 should also be a valid workaround for the problem. |
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I thought I was able to launch correctly gz sim, but I it worked only because I didn't launched |
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By the way, the fact that is crashing instead of printing errors may be another thing we may want to address eventually. |
I checked out the ergocub-software package to commit 49402203de8f1ef3bfd324f6b6f9ac55a1cebf1f, compiled and installed and I was able to launch the world file as in the tutorial. I had a look at the PR icub-tech-iit/ergocub-software#236 and I'm trying to understand where to make the necessary adjustments. In the meantime using the version suggested above can unlock @LoreMoretti in performing his tests. P.S.: Sorry for the delay in the response but I had to refresh how to handle this stuff 😅 |
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@LoreMoretti now that icub-tech-iit/ergocub-software#250 has been merged you should be able to complete the tutorial 🤞🏻 |
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I pulled and recompiled, Then, I started
So there is no more a crash, but the Is there anything I should do related to the |
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My bad, I was also exporting Is this not needed anymore for |
Uhm, that's strange; in theory, if you just want to launch the simulation, you don't need to set that environment variable, so Gazebo should open normally. However, if you want to launch some controllers to interact with the simulation, as it is done in https://github.com/ami-iit/walking-controllers#computer-how-to-run-the-simulation (that I tested with modern Gazebo and gz-sim-yarp-plugins in #122) you have to export that variable as you do with Classic Gazebo. |
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YARP_CLOCK is required to make sure that the YARP's network wrapper server indeed publish with a frequency coherent with the simulation time. Are you including the |
Clear, thanks!
I see the following lines in the world file: So I think yes. |
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Closing this issue since the crash has been fixed. Continuing the discussion of the |
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I am trying to load ergoCubGazeboV1_1 in gz_sim, but I am experiencing a crash.
I have installed gz-sim-yarpl-plugins as part of the robotology-superbuild (installed from source with conda dependencies).
robotology git status
conda list
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