iCub robot “disappear” in Gazebo #648

jimingda · 2023-08-02T10:48:32Z

jimingda
Aug 2, 2023

Hi,
i launched the system app including gzserver correctly but no robot showed in Gazebo. Really don't know what's wrong

Thanks

Answered by pattacini

Aug 4, 2023

This is because tutorial_cartesian-interface.sdf is not found, meaning it's not located in a path pointed by GAZEBO_RESOURCE_PATH env variable, as @traversaro highlighted in https://github.com/orgs/robotology/discussions/645#discussioncomment-6626097.

Indeed, you had to launch the model from the command line by specifying the whole absolute path.

View full answer

pattacini · 2023-08-02T11:17:05Z

pattacini
Aug 2, 2023
Maintainer

Hi @jimingda

Consider doing some debugging.

One possibility would be launching gzserver and gzclient from the command line with the option --verbose as per https://manpages.ubuntu.com/manpages/focal/man1/gzserver.1.html. What's the reported output?

Also, what kind of system is yours? Could you tell me what distro you are using or, alternatively, which docker image are you using?

4 replies

jimingda Aug 3, 2023
Author

The platform is Ubuntu 20.04.4 LTS, not the docker because docker gazebo is fine.
And the gzserver --verbose and gzclient --verbose log as below:

(base) icub@icubsrv:~$ gzserver --verbose
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.101.128
[Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]

(base) icub@icubsrv:~$ gzclient --verbose
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.101.128
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubDarmstadt01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubErzelli02"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_6"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_7"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova02"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova03"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova04"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova04_plus"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova09"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubLisboa01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubNancy01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubParis01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubParis02"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/YCM"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/bash-completion"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/cmake"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/gazebo"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/robotology-superbuild"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/speech"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/yarp"

libcurl: (7) Failed to connect to 127.0.0.1 port 2340: Connection refused

libcurl: (7) Failed to connect to 127.0.0.1 port 2340: Connection refused
[Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [http://models.gazebosim.org//database.config]. Only locally installed models will be available.
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.

traversaro Aug 3, 2023
Maintainer

The strange error is:

libcurl: (7) Failed to connect to 127.0.0.1 port 2340: Connection refused

libcurl: (7) Failed to connect to 127.0.0.1 port 2340: Connection refused

Are you able to spawn any model at all, using the "insert" tab of Gazebo?

jimingda Aug 3, 2023
Author

I can insert icub model in the gazebo.

traversaro Aug 3, 2023
Maintainer

Two things:

You need to run --verbose with the tutorial_joint-interface.sdf argument, to have a situation similar to the one of the yarprobotinterface.
I see that you are running the code in the (base) conda environment (or other kind of environment). Do you actually need this? If you are running the robotology-superbuild compiled against apt dependencies, this can create problems. If this is not necessary, I suggest to deactivate the environment.

jimingda · 2023-08-03T09:19:29Z

jimingda
Aug 3, 2023
Author

iCub robot showed up in the gazebo now, but still some errors.

icub@icubsrv:~$ gzserver --verbose /exports/code/robotology-superbuild/build/install/share/gazebo/worlds/tutorial_joint-interface.sdf
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.31.31
Warning [parser.cc:833] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
Warning [parser.cc:833] XML Attribute[frame] in element[pose] not defined in SDF, ignoring.
[Msg] Loading world file [/exports/code/robotology-superbuild/build/install/share/gazebo/worlds/tutorial_joint-interface.sdf]
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_imu.so: libgazebo_yarp_imu.so: cannot open shared object file: No such file or directory
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_depthCamera.so: libgazebo_yarp_depthCamera.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_camera.so: libgazebo_yarp_camera.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_controlboard.so: libgazebo_yarp_controlboard.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_maissensor.so: libgazebo_yarp_maissensor.so: cannot open shared object file: No such file or directory
[Err] [Plugin.hh:212] Failed to load plugin libgazebo_yarp_maissensor.so: libgazebo_yarp_maissensor.so: cannot open shared object file: No such file or directory
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported

icub@icubsrv:~$ gzclient --verbose
Gazebo multi-robot simulator, version 11.11.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.31.31
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubDarmstadt01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubErzelli02"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_6"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_7"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova02"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova03"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova04"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova04_plus"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGenova09"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubLisboa01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubNancy01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubParis01"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubParis02"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/YCM"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/bash-completion"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/cmake"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/gazebo"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/iCub"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/robotology-superbuild"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/speech"
[Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/local/src/robot/robotology-superbuild/build/install/share/yarp"
../src/intel/isl/isl.c:2105: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available.
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
[Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported

17 replies

traversaro Aug 3, 2023
Maintainer

I think that this errors can be ignored, see for example gazebosim/gazebo-classic#489 .

jimingda Aug 4, 2023
Author

Thanks@traversaro
The problem is still that i can't see the icub on the default gazebo after launching the icub system app, despite i can see it on gazebo after gzserver and gzclint command on terminal.

pattacini Aug 4, 2023
Maintainer

This is because tutorial_cartesian-interface.sdf is not found, meaning it's not located in a path pointed by GAZEBO_RESOURCE_PATH env variable, as @traversaro highlighted in https://github.com/orgs/robotology/discussions/645#discussioncomment-6626097.

Indeed, you had to launch the model from the command line by specifying the whole absolute path.

Answer selected by jimingda

pattacini Aug 4, 2023
Maintainer

You may try something like:

export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:/exports/code/robotology-superbuild/build/install/share/gazebo/worlds/

jimingda Aug 4, 2023
Author

Thanks@pattacini
I also add the /usr/share/gazebo-11/ and the icub showed now.
export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:/usr/share/gazebo-11/

But whatever the icub system i opened, the icub behaved like below, i don't know whether it's normal or not? I remember that the icub stand up straight before on the gazebo.

pattacini Aug 4, 2023
Maintainer

This may depend on the type of model used within tutorial_cartesian-interface.sdf.
iCubGazeboV2_5_visuomanip should stay upright. Did you change the model?

jimingda Aug 8, 2023
Author

I checked the urdf and it's not modified.

ll /usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots/iCubGazeboV2_5_visuomanip/
total 132
drwxr-xr-x  2 icub icub   4096 8月   2 17:30 ./
drwxr-xr-x 29 icub icub   4096 7月  31 15:34 ../
-rw-r--r--  1 icub icub    268 6月  14  2022 model.config
-rw-r--r--  1 icub icub 119700 6月  14  2022 model.urdf

echo $GAZEBO_MODEL_PATH
/usr/local/src/robot/robotology-superbuild/build/install/share/gazebo/models:/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots:/usr/local/src/robot/robotology-superbuild/build/install/share:/usr/local/src/robot/robotology-superbuild/build/install/share/gazebo/models:/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots:/usr/local/src/robot/robotology-superbuild/build/install/share:/usr/local/src/robot/robotology-superbuild/build/install/share/gazebo/models:/usr/local/src/robot/robotology-superbuild/build/install/share/iCub/robots:/usr/local/src/robot/robotology-superbuild/build/install/share:/home/icub/icubtraining/g923/g29:/home/icub/icubtraining/g923/

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Robotology

iCub robot “disappear” in Gazebo #648

jimingda Aug 2, 2023

Replies: 2 comments · 21 replies

pattacini Aug 2, 2023 Maintainer

jimingda Aug 3, 2023 Author

traversaro Aug 3, 2023 Maintainer

jimingda Aug 3, 2023 Author

traversaro Aug 3, 2023 Maintainer

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jimingda
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Replies: 2 comments 21 replies

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