Just a quick and dirty test, can you rerun your code, and monitor the output of 'top'. I'm particularly interested in the memory used by gazebo. There might be a memory leak somewhere.
I believe that in a previous email you mentioned you had C code that would also call libgazebo. Does the C code have the same problems as the Matlab code? -nate On Thu, Mar 27, 2008 at 8:05 AM, Domenico Leonello <[EMAIL PROTECTED]> wrote: > I did the same tests I talked about last mails with the helicopter > > upside down and the results are the same. Sometimes the simulation > crashes, some other not. > > Last thing: I incresed the frequency of calling from matlab the > libgazebo (from 1 Hz to 10 Hz) and now (as I expected), if the > simulation crashes, it does around 10 seconds and not 50. > > > Domenico > > Jordi Polo ha scritto: > > > > I don 't think it's a problem with that code. > > If you just make the helicopter go up and turn it upside down, the > > cameras don't fall but will fall even with the physics disabled if you > > wait in that position 50 seconds? > > > > > > > > > > On Fri, Mar 21, 2008 at 11:55 PM, <[EMAIL PROTECTED] > > > <mailto:[EMAIL PROTECTED]>> wrote: > > > > > Yes, it is a possibility also if it's strange that the crash > > happens only > > after 50-55 seconds. > > > > There is a command to impose directly the quaternion instead of euler > > angles, using libgazebo? In this case I can do other tests to > > verify this > > hypothesis! > > > > Thank you > > > > Domenico > > > > > > > Then it really seems like a quatern etc conversion bug. > > > Unfortunately I will not be able to use the computer in 3 or 4 > > days. I'll > > > try to find it once I come back. > > > If someone has related problem please explain them, it may help > > to find > > > the > > > bug. > > > > > > > > > On Thu, Mar 20, 2008 at 7:53 PM, Domenico Leonello > > > > > <[EMAIL PROTECTED] <mailto:[EMAIL PROTECTED]>> > > > wrote: > > > > > >> I tried it right now and I confirm you that now the pause > > option works > > >> well (It is possible to see on the GUI window that the > > simulation is > > >> paused). On the other side the camera problem remains. So now > > we can > > >> probably exclude an ODE problems. > > >> > > >> Any other idea? > > >> > > >> Thank you > > >> > > >> Jordi Polo ha scritto: > > >> > > > >> > Since revision 4427 (1 minute ago). > > >> > The pause boolean in the Simulator interface should behave like a > > >> > pause/play button (couldn't try it, I need to sleep now) so > > write true > > >> > there each time you want to change the state. > > >> > The value of the state can be read in the new state member. > > >> > So > > >> > > > >> > if (simIface->data->state==1) //running > > >> > simIface->data->pause =true; //pause it > > >> > > > >> > or similar should work > > >> > > > >> > Note that this interface can be modified soon (Nate should > > review it) > > >> > > > >> > > > >> > On Thu, Mar 20, 2008 at 2:23 AM, Domenico Leonello > > >> > <[EMAIL PROTECTED] <mailto:[EMAIL PROTECTED]> > > > <mailto:[EMAIL PROTECTED] <mailto:[EMAIL PROTECTED]>>> > > wrote: > > >> > > > >> > for me it's not important the physics so I would like to > > turn it > > >> off. > > >> > > > >> > There is any method via libgazebo? > > >> > > > >> > Jordi Polo ha scritto: > > >> > > > > >> > > You can turn off the physics simulation pressing the > > SPACE key > > >> > in the > > >> > > gazebo window. Do you need to access to that method via > > >> libgazebo? > > >> > > No physics means everything static and bodies can > > collide and > > >> enter > > >> > > one another. > > >> > > > > >> > > The camera problem is really weird... > > >> > > > > >> > > > > >> > > On Thu, Mar 20, 2008 at 1:35 AM, Domenico Leonello > > >> > > <[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>> > > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>>>> > > >> > wrote: > > >> > > > > >> > > Hi, > > >> > > > > > > >> > > I did other tests with my program and I noticed this: > > >> > > > > >> > > when the euler angles I passed are minor or equal > > to 12 deg > > >> > (I passed > > >> > > the equivalent radiant value), all worked fine. > > Otherwise I > > >> > had that > > >> > > strange camera problem. It can be a problem with some > > >> > internal setting > > >> > > position/attitude? A strange conversion > > euler/quaternion? > > >> > > > > >> > > I don't believe it is a ODE problem because I don't > > have any > > >> > real > > >> > > dynamic integration (I impose the position/attitude > > >> > recursively to an > > >> > > object, nothing else) but eventually what kind of > > change can > > >> > I do with > > >> > > ODE parameters? Is it possible to turn off the ODE > > >> > integration during > > >> > > libgazebo calls? (ie, can I use a completely static > > >> > environment?) > > >> > > > > >> > > Thank you > > >> > > > > >> > > Domenico > > >> > > > > >> > > Jordi Polo ha scritto: > > >> > > > > > >> > > > You said that you haven't this problem before. > > >> > > > Do you mean that you were using the same control > > program, > > >> > > upgrading to > > >> > > > Gazebo make the problem appears and downgrading > > it don't > > >> > make it > > >> > > > disappear? > > >> > > > > > >> > > > If the camera is really falling from the object > > it should > > >> be > > >> a > > >> > > problem > > >> > > > with the physics, something have being changed, for > > >> > instance the > > >> > > > friction parameter mu1 now is taken into account > > for the > > >> > > friction. You > > >> > > > can try changing that. > > >> > > > Also the rendering method of the system can be > > configured > > >> > in the > > >> > > > .gazeborc file now. > > >> > > > I can not remember of any other big change that > > may be > > >> > affecting > > >> > > you. > > >> > > > > > >> > > > Do you have the original file of the gazelle? It > > may be a > > >> good > > >> > > > addition to the sets. > > >> > > > > > >> > > > > > >> > > > On Mon, Mar 3, 2008 at 7:57 PM, Domenico Leonello > > >> > > > <[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>>> > > > > >> > > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>> <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>>>>> > > >> > > wrote: > > >> > > > > > >> > > > Thank you for the advice. > > >> > > > > > >> > > > I attached the .world file (I tried some other > > >> > configuration > > >> > > and the > > >> > > > result is the same, so...) and here the C code > > >> > > > > > >> > > > > > >> > > > > >> > > > >> > > > /******************************************************************************************/ > > >> > > > Initialization .... > > >> > > > > > >> > > > > >> > > > >> > > > /******************************************************************************************/ > > >> > > > > > >> > > > /// Connect to the libgazebo server > > >> > > > try > > >> > > > { > > >> > > > client->ConnectWait(ServerID, ClientID); > > >> > > > //client->Connect(ServerID); > > >> > > > } > > >> > > > catch (gazebo::GazeboError e) > > >> > > > { > > >> > > > std::cout << "Gazebo error: Unable to > > connect\n" << > > >> > e << > > >> > > "\n"; > > >> > > > return; > > >> > > > } > > >> > > > /// Open the Left Camera interface > > >> > > > try > > >> > > > { > > >> > > > cam_leftIface->Open(client, > > "left_iface-name"); > > >> > > > } > > >> > > > catch (gazebo::GazeboError e) > > >> > > > { > > >> > > > std::cout << "Gazebo error: Unable to > > connect to > > >> > the left > > >> > > camera > > >> > > > interface\n" > > >> > > > << e << "\n"; > > >> > > > return; > > >> > > > } > > >> > > > > > >> > > > /// Open the Right Camera interface > > >> > > > try > > >> > > > { > > >> > > > cam_rightIface->Open(client, > > "right_iface-name"); > > >> > > > } > > >> > > > catch (gazebo::GazeboError e) > > >> > > > { > > >> > > > std::cout << "Gazebo error: Unable to > > connect to > > >> the > > >> > > right camera > > >> > > > interface\n" > > >> > > > << e << "\n"; > > >> > > > return; > > >> > > > } > > >> > > > > > >> > > > /// Open the Simulation Interface > > >> > > > try > > >> > > > { > > >> > > > simIface->Open(client, "default"); > > >> > > > } > > >> > > > catch (gazebo::GazeboError e) > > >> > > > { > > >> > > > std::cout << "Gazebo error: Unable to > > connect > > >> > to the sim > > >> > > > interface\n" << e << "\n"; > > >> > > > return; > > >> > > > } > > >> > > > > > >> > > > /** Pausing simulation... (maybe not > > needed!!) **/ > > >> > > > simIface->Lock(1); > > >> > > > simIface->data->pause = 1; > > >> > > > > > >> > > > /// Setting command name for imposing 3D > > position > > >> > > > uint8_t model_req[32] = "set_pose3d"; > > >> > > > memcpy(simIface->data->model_req, > > model_req, 32); > > >> > > > > > >> > > > /// Setting model name for imposing new > > Pose in > > >> > Simulation > > >> > > > Interface > > >> > > > uint8_t model_name[512] = "helicopter"; > > >> > > > memcpy(simIface->data->model_name, model_name, > > >> 512); > > >> > > > > > >> > > > /** Writing the current odometric > > position... **/ > > >> > > > simIface->data->model_pose.pos.x = > > >> cmd_pos_change[0]; > > >> > > > simIface->data->model_pose.pos.y = > > >> cmd_pos_change[1]; > > >> > > > simIface->data->model_pose.pos.z = > > >> cmd_pos_change[2]; > > >> > > > > > >> > > > simIface->data->model_pose.roll = > > >> > cmd_rot_change[0]; > > >> > > > simIface->data->model_pose.pitch = > > >> cmd_rot_change[1]; > > >> > > > simIface->data->model_pose.yaw = > > >> cmd_rot_change[2]; > > >> > > > > > >> > > > /** Unlock simulation interface ... **/ > > >> > > > simIface->Unlock(); > > >> > > > > > >> > > > > > >> > > > > > >> > > > > > >> > > > > >> > > > >> > > > /******************************************************************************************/ > > >> > > > The cycle (called by matlab-simulink recursively) > > >> > > > > > >> > > > > >> > > > >> > > > /******************************************************************************************/ > > >> > > > > > >> > > > /** Lock simulation interface ... **/ > > >> > > > simIface->Lock(1); > > >> > > > > > >> > > > uint8_t model_name[512] = "helicopter"; > > >> > > > memcpy(simIface->data->model_name, > > model_name, 512); > > >> > > > > > >> > > > /** Writing the current odometric > > position... **/ > > >> > > > simIface->data->model_pose.pos.x = > > >> cmd_pos_change[0]; > > >> > > > simIface->data->model_pose.pos.y = > > >> cmd_pos_change[1]; > > >> > > > simIface->data->model_pose.pos.z = > > >> cmd_pos_change[2]; > > >> > > > > > >> > > > simIface->data->model_pose.roll = > > >> cmd_rot_change[0]; > > >> > > > simIface->data->model_pose.pitch = > > >> cmd_rot_change[1]; > > >> > > > simIface->data->model_pose.yaw = > > >> cmd_rot_change[2]; > > >> > > > > > >> > > > /** Unlock simulation interface ... **/ > > >> > > > simIface->Unlock(); > > >> > > > > > >> > > > > > >> > > > > >> > > > >> > > > /******************************************************************************************/ > > >> > > > > > >> > > > > >> > > > >> > > > /******************************************************************************************/ > > >> > > > > > >> > > > > > >> > > > Here two screenshot of the left camera view: > > the first > > >> > > > (left_frame_0001) > > >> > > > during a normal call, the last > > (left_frame_0059) when > > >> > > already the > > >> > > > simulation starts crashing after 50-60 calls. > > >> > > > > > >> > > > Any idea? Is it possible that any system > > update (using > > >> > aptitude) > > >> > > > created > > >> > > > any problem, for example to the ode or ogre > > libraries? > > >> > > > Note that before I haven't encountered this > > problem! > > >> > But now > > >> > > I have it > > >> > > > also downgrading the SVN version of Gazebo! > > >> > > > > > >> > > > I'm using Kubuntu (both Gusty and Feisty). > > >> > > > > > >> > > > Tell me if I post any other usefull information! > > >> > > > > > >> > > > Thank you > > >> > > > > > >> > > > > > >> > > > Jordi ha scritto: > > >> > > > > > > >> > > > > Send me as much info as you can. > > >> > > > > If you can not send me the code or the > > world file > > >> > for whatever > > >> > > > reason, > > >> > > > > send me a screenshot. > > >> > > > > Also send this mail to the ML so Nate and > > others can > > >> > give some > > >> > > > advise. > > >> > > > > Lately I have not much time for Gazebo but > > I'll try > > >> > to help > > >> > > > > > > >> > > > > > > >> > > > > On Fri, Feb 29, 2008 at 10:21 PM, Domenico > > Leonello > > >> > > > > <[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>> <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>>> > > >> > > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>> <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>>>> > > >> > > > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>> > > >> > > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>>> <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>> > > >> > > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]> > > >> > <mailto:[EMAIL PROTECTED] > > <mailto:[EMAIL PROTECTED]>>>>>> > > >> > > > wrote: > > >> > > > > > > >> > > > > Hi, > > >> > > > > > > >> > > > > maybe I found a bug in libgazebo. The > > situation > > >> > is the > > >> > > > following. > > >> > > > > > > >> > > > > Using MATLAB S-function I impose > > recursively > > >> > position and > > >> > > > attitude > > >> > > > > to an > > >> > > > > object (with an helicopter mesh) with 2 > > cameras > > >> > mounted on > > >> > > > (like a > > >> > > > > stereo pair). > > >> > > > > > > >> > > > > I observed a strange behaviour during > > the calls > > >> to > > >> > > > libgazebo. If I > > >> > > > > impose an attitude (also constant) > > different > > >> > from (0, > > >> > > 0, 0), > > >> > > > after a > > >> > > > > variable number of calls (it depends on the > > >> > entity of the > > >> > > > imposed > > >> > > > > angles) the cameras seem to fall from the > > >> > helicopter and > > >> > > > give deformed > > >> > > > > images (and then normally the simulation > > >> crashes). > > >> > > Sometimes it > > >> > > > > happens > > >> > > > > also that the trimesh attached to the > > helicopter > > >> > body > > >> > > stretches > > >> > > > > and deforms. > > >> > > > > > > >> > > > > If the imposed attitude is (0, 0, 0), I can > > >> > move the > > >> > > > cameras around > > >> > > > > with no problem. > > >> > > > > > > >> > > > > I didn't find any explanation to this > > behaviour. > > >> > > > > A memory error is unlikely (otherwise I > > can't > > >> > explain why > > >> > > > with (0, > > >> > > > > 0, 0) > > >> > > > > values all goes ok!). > > >> > > > > > > >> > > > > Maybe it is a sort of conversion error > > between > > >> > euler and > > >> > > > quaternions. > > >> > > > > This can explain why the mesh > > stretches, if the > > >> > quaternion > > >> > > > is not > > >> > > > > normalized to1! But why it happens only > > after > > >> 50-60 > > >> > > calls of > > >> > > > libgazebo > > >> > > > > and not immediatly? And wht it doesn't > > happen > > >> when > > >> > > euler angles > > >> > > > > are (0, > > >> > > > > 0, 0)? > > >> > > > > > > >> > > > > If you need, I can send you pictured of the > > >> deformed > > >> > > > helicopter and > > >> > > > > camera sight. And I can also send any > > >> information > > >> > > about the > > >> > > > C code > > >> > > > > that > > >> > > > > calls libgazebo. > > >> > > > > > > >> > > > > Thank you > > >> > > > > > > >> > > > > Domenico > > >> > > > > > > >> > > > > > > >> > > > > > > >> > > > > > > >> > > > > -- > > >> > > > > Jordi Polo Carres > > >> > > > > NLP laboratory - NAIST > > >> > > > > http://www.bahasara.org > > >> > > > > > >> > > > > > >> > > > > > >> > > > > > >> > > > > >> > > > >> > > > ------------------------------------------------------------------------- > > >> > > > This SF.net email is sponsored by: Microsoft > > >> > > > Defy all challenges. Microsoft(R) Visual > > Studio 2008. > > >> > > > > > http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ > > >> > > > _______________________________________________ > > >> > > > Playerstage-gazebo mailing list > > >> > > > [email protected] > > <mailto:[email protected]> > > >> > <mailto:[email protected] > > <mailto:[email protected]>> > > >> > > <mailto:[email protected] > > <mailto:[email protected]> > > >> > <mailto:[email protected] > > <mailto:[email protected]>>> > > >> > > > > > <mailto:[email protected] > > <mailto:[email protected]> > > >> > <mailto:[email protected] > > <mailto:[email protected]>> > > >> > > <mailto:[email protected] > > <mailto:[email protected]> > > >> > <mailto:[email protected] > > <mailto:[email protected]>>>> > > >> > > > > > >> > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > >> > > > > > >> > > > > > >> > > > > > >> > > > > > >> > > > -- > > >> > > > Jordi Polo Carres > > >> > > > NLP laboratory - NAIST > > >> > > > http://www.bahasara.org > > >> > > > > > >> > > > > >> > > > >> > > > ------------------------------------------------------------------------ > > >> > > > > > >> > > > > > >> > > > > >> > > > >> > > > ------------------------------------------------------------------------- > > >> > > > This SF.net email is sponsored by: Microsoft > > >> > > > Defy all challenges. Microsoft(R) Visual Studio 2008. > > >> > > > > > http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ > > >> > > > > > >> > > > > >> > > > >> > > > ------------------------------------------------------------------------ > > >> > > > > > >> > > > _______________________________________________ > > >> > > > Playerstage-gazebo mailing list > > >> > > > [email protected] > > <mailto:[email protected]> > > >> > <mailto:[email protected] > > <mailto:[email protected]>> > > >> > > <mailto:[email protected] > > <mailto:[email protected]> > > >> > <mailto:[email protected] > > <mailto:[email protected]>>> > > >> > > > > > >> > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > >> > > > > > >> > > > > >> > > > > >> > > > > >> > > > > >> > > -- > > >> > > Jordi Polo Carres > > >> > > NLP laboratory - NAIST > > >> > > http://www.bahasara.org > > >> > > > >> > > > >> > > > >> > > > >> > -- > > > >> > Jordi Polo Carres > > >> > NLP laboratory - NAIST > > >> > http://www.bahasara.org > > >> > > > > > > > > > > > > -- > > > Jordi Polo Carres > > > NLP laboratory - NAIST > > > http://www.bahasara.org > > > > > > > > > > > > > > > -- > > Jordi Polo Carres > > NLP laboratory - NAIST > > http://www.bahasara.org > > > > ------------------------------------------------------------------------- > > > Check out the new SourceForge.net Marketplace. > It's the best place to buy or sell services for > just about anything Open Source. > http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------- Check out the new SourceForge.net Marketplace. It's the best place to buy or sell services for just about anything Open Source. http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
