It is in fact unrelated to that. That problem is caused by -DdDOUBLE in the compiling options of ODE. If I compile ODE with this: ./configure --with-pic --enable-shared --with-trimesh=opcode --with-drawstuff=X11 --enable-double-precision --enable-release
Gazebo will crash even with the simpleshapes world Using ./configure --with-pic --enable-shared --with-trimesh=opcode --with-drawstuff=X11 works OK At least this is true with Gazebo SVN, Ode 0.11.1, gcc 4.3 , ubuntu jaunty On Fri, Jun 12, 2009 at 5:12 AM, John Hsu <[email protected]> wrote: > it was tipping over and going unstable, try this patch, > - shift bandit attachment to pioneer backwards > - reduce time step size from .03 to .01 > > > On Thu, Jun 11, 2009 at 5:02 AM, Christoph Kunze <[email protected]> > wrote: > > > 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 > > > > > > > > > > > ------------------------------------------------------------------------------ > > Crystal Reports - New Free Runtime and 30 Day Trial > > Check out the new simplified licensing option that enables unlimited > > royalty-free distribution of the report engine for externally facing > > server and web deployment. > > http://p.sf.net/sfu/businessobjects > > _______________________________________________ > > Playerstage-gazebo mailing list > > [email protected] > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > ------------------------------------------------------------------------------ > Are you an open source citizen? Join us for the Open Source Bridge > conference! > Portland, OR, June 17-19. Two days of sessions, one day of unconference: > $250. > Need another reason to go? 24-hour hacker lounge. Register today! > > http://ad.doubleclick.net/clk;215844324;13503038;v?http://opensourcebridge.org > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > -- Jordi Polo Carres NLP laboratory - NAIST http://www.bahasara.org ------------------------------------------------------------------------------ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
