Hello I am having the same problem as you (except for all the
namespace
errors).
I am trying to use the hinge2 joints in a model that a have created
myself. But I get this error:
ODE INTERNAL ERROR 1: assertion "bNormalizationResult" failed in
_dNormalize3() [../../../include/ode/odemath.h]
Aborted
I also get the same error when trying the simplecar .world example.
The
simplecar.model also uses hinge2 joints for its front wheels (so that
you can turn). I have been trying to tweak hinge properties to
make it
work, but so far I have been unsuccessful.
Hinge joints with one axis and ball joints have no problems.
Could it be a Gazebo or ODE bug? Or do you have to tweak your hinge
and
wheel properties to make it work?
I am running the latest Gazebo SVN with ode-0.11.
/Peter
Hello Peter,
I had the same problem with file simplecar.world. It appears this
may be an error in file simplecar.model itself.
In the left_front_wheel_hinge and right_front_wheel_hinge joints, the
values of <body1></body1> and <body2></body2> are reversed. For both
joints, <body1></body1> should be the corresponding wheel, and the
<body2></body2> should be "chassis_body", as it is for the
left_rear_wheel_hinge and right_rear_wheel_hinge joints, which are in
order of <body2></body2>..<body1></body1>.
This doesn't quite agree with the ODE wiki, which states that for
this type of joint (hinge2), <axis1></axis1> is specified relative to
<body1></body1>, so I'm not sure what the problem is:
http://opende.sourceforge.net/wiki/index.php/Manual_%
28Joint_Types_and_Functions%29#Hinge-2
I've tried re-writing file simplecar.model with no success, but
perhaps I'm missing something obvious.
With this change, the worldfile loads and Gazebo is successfully
initialized. A patch for this specific problem is attached, and has
been submitted (#2934693).
I realize this is months later, but perhaps this will help the next
person who has this problem.
Regards,
J. C. Allen
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