usnistgov/ARIAC

ariac.launch.py fails due to gazebo not being sourced

Closed this issue · 3 comments

endre90 commented

OS:

Ubuntu 22.04

ROS2:

Humble (binaries)

Issue:

ros2 launch ariac_gazebo ariac.launch.py
...
[gzserver-1] [INFO] [1707231972.413343279] [task_manager]: Starting ARIAC 2024
[gzclient-2] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access<T>::type = gazebo::rendering::Camera*]: Assertion `px != 0' failed.
[spawner-14] [INFO] [1707231973.849087385] [agv2_controller_spawner]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1707231973.850133767] [joint_state_broadcaster_spawner]: Waiting for '/controller_manager' node to exist
[spawner-16] [INFO] [1707231973.862401182] [agv4_controller_spawner]: Waiting for '/controller_manager' node to exist
[spawner-11] [INFO] [1707231973.864487873] [linear_rail_controller_spawner]: Waiting for '/controller_manager' node to exist
[spawner-15] [INFO] [1707231973.871183656] [agv3_controller_spawner]: Waiting for '/controller_manager' node to exist
[spawner-12] [INFO] [1707231973.871668267] [gantry_controller_spawner]: Waiting for '/controller_manager' node to exist
[spawner-13] [INFO] [1707231973.871852425] [agv1_controller_spawner]: Waiting for '/controller_manager' node to exist
[spawner-10] [INFO] [1707231973.878488192] [ceiling_robot_controller_spawner]: Waiting for '/controller_manager' node to exist
[spawner-17] [INFO] [1707231973.906133894] [floor_robot_static_controller_spawner]: Waiting for '/controller_manager' node to exist
[ERROR] [gzclient-2]: process has died [pid 91785, exit code -6, cmd 'gzclient'].
...

Fix that worked for me:

Additionally to sourcing the main ROS setup from /opt/ros/ and from the ~/ariac_ws/, source the source Gazebo's setup file:

. /usr/share/gazebo/setup.sh

P.S. Info could be added to https://pages.nist.gov/ARIAC_docs/en/latest/getting_started/installation.html

jaybrecht commented

It should not be necessary to source gazebo's setup file in order to run the competition. I believe this error may also be due to running on humble but I am not positive. Please let me know if you continue to run into this error when running on iron.

endre90 commented

Thanks, I will. I'll switch to Iron now and try it out.

endre90 commented

I ran now with Iron and I have no issues.

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