Hi,
This is my first post on this list and unfortunately I have to start
with a problem:
When I try to run gazebo with the bandit world (same problem with some
others too), the GUI flashes up for a moment before it crashes with the
following messages:
ODE Message 2: inertia must be positive definite in dMassCheck() File
mass.cpp Line 53
ODE INTERNAL ERROR 1: assertion "bNormalizationResult" failed in
_dNormalize4() [../../include/ode/odemath.h]
Cancelled
gdb gives:
#0 0x00007f35374d8065 in raise () from /lib/libc.so.6
#1 0x00007f35374db153 in abort () from /lib/libc.so.6
#2 0x00007f3539cad5b7 in dDebug () from /usr/local/lib/libgazebo_server.so
#3 0x00007f3539cbdc8b in _dNormalize4 () from
/usr/local/lib/libgazebo_server.so
#4 0x00007f3539cbdd2c in dBodySetQuaternion () from
/usr/local/lib/libgazebo_server.so
#5 0x00007f3539bee281 in gazebo::Body::SetRotation (this=0x1510980,
r...@0x7fff4391e6c8) at
/home/user/src/gazebo/server/physics/Body.cc:591
#6 0x00007f3539bee9f0 in gazebo::Body::SetPose (this=0x1510980,
_po...@0x7fff4391ea50) at
/home/user/src/gazebo/server/physics/Body.cc:543
#7 0x00007f3539bf1399 in gazebo::Body::Load (this=0x1510980,
node=0x10ff690) at
/home/user/src/gazebo/server/physics/Body.cc:256
#8 0x00007f3539c7fb34 in gazebo::Model::LoadBody (this=0x149f880,
node=0x10ff690) at /home/user/src/gazebo/server/Model.cc:726
#9 0x00007f3539c80062 in gazebo::Model::LoadPhysical (this=0x149f880,
node=0x10d7e60) at /home/user/src/gazebo/server/Model.cc:1014
#10 0x00007f3539c82a82 in gazebo::Model::Load (this=0x149f880,
node=0x10d7e60, removeDuplicate=false) at
/home/user/src/gazebo/server/Model.cc:192
#11 0x00007f3539c6e8c7 in gazebo::World::LoadModel (this=0x1474f30,
node=0x10d7e60, parent=0x0, removeDuplicate=false) at
/home/user/src/gazebo/server/World.cc:428
#12 0x00007f3539c6edb8 in gazebo::World::LoadEntities (this=0x1474f30,
node=0x10d7e60, parent=0x0, removeDuplicate=false) at
/home/user/src/gazebo/server/World.cc:350
#13 0x00007f3539c6ede0 in gazebo::World::LoadEntities (this=0x1474f30,
node=0x10d9100, parent=0x0, removeDuplicate=false) at
/home/user/src/gazebo/server/World.cc:357
#14 0x00007f3539c70ed6 in gazebo::World::Load (this=0x1474f30,
rootNode=0x10d9100, serverId=0) at
/home/user/src/gazebo/server/World.cc:158
#15 0x00007f3539c93770 in gazebo::Simulator::Load (this=0x10ceb60,
worldfilena...@0x7fff4391fc10, serverId=0) at
/home/user/src/gazebo/server/Simulator.cc:237
#16 0x0000000000402ef8 in main (argc=2, argv=0x7fff4391fd08) at
/home/user/src/gazebo/server/main.cc:291
It seems that Body::SetRotation gets called with a quaternion that has
u=x=y=z=0 - I'm not sure if that relates to the problem.
I am using
System: Linux 2.6.29-2amd64 (Debian sid)
ODE: 0.11.1 (with -DdDOUBLE)
OGRE: 1.6.1
Gazebo: svn rev.7830
I've also tried this on my i386 Notebook which otherwise contains the
same software versions and there gazebo crashes with a segfault at:
#0 0xb73c22b5 in std::string::assign () from /usr/lib/libstdc++.so.6
#1 0xb763dd29 in gazebo::Geom::Load () from
/usr/local/lib/libgazebo_server.so
#2 0xb7632ec8 in gazebo::Body::LoadGeom ()
from /usr/local/lib/libgazebo_server.so
#3 0xb7638dcf in gazebo::Body::Load () from
/usr/local/lib/libgazebo_server.so
#4 0xb76a9341 in gazebo::Model::LoadBody ()
from /usr/local/lib/libgazebo_server.so
#5 0xb76aa611 in gazebo::Model::LoadPhysical ()
from /usr/local/lib/libgazebo_server.so
#6 0xb76ae238 in gazebo::Model::Load ()
from /usr/local/lib/libgazebo_server.so
#7 0xb76976f4 in gazebo::World::LoadModel ()
from /usr/local/lib/libgazebo_server.so
#8 0xb7697a9e in gazebo::World::LoadEntities ()
from /usr/local/lib/libgazebo_server.so
#9 0xb7697a6a in gazebo::World::LoadEntities ()
from /usr/local/lib/libgazebo_server.so
#10 0xb7697da5 in gazebo::World::Load ()
from /usr/local/lib/libgazebo_server.so
#11 0xb76b6f27 in gazebo::Simulator::Load ()
from /usr/local/lib/libgazebo_server.so
#12 0x0804a38c in main ()
Do you have any ideas on this?
- Christoph
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