Hello All, Using gdb, for the same scenario described in this thread I see this segmentation fault in my client app:
Program received signal SIGSEGV, Segmentation fault. [Cambiando a Thread 0xb5f9cb70 (LWP 4316)] 0x00411a37 in boost::signals::detail::call_notification::call_notification(boost::shared_ptr<boost::signals::detail::signal_base_impl> const&) () from /usr/lib/libboost_signals-mt.so.1.38.0 I see the same issue with version 1.40 of boost: Program received signal SIGSEGV, Segmentation fault. [Cambiando a Thread 0xb5f9bb70 (LWP 8332)] 0x00411be7 in boost::signals::detail::call_notification::call_notification(boost::shared_ptr<boost::signals::detail::signal_base_impl> const&) () from /usr/lib/libboost_signals.so.1.40.0 I also see exactly the same problem after installing the software versions mentioned in this article: http://playerstage.sourceforge.net/wiki/Install_ubuntu I put a breakpoint in gazebo in: (gdb) info breakpoints Num Type Disp Enb Address What 1 breakpoint keep n 0x00ee7610 in gazebo::Simulator::PhysicsLoop() at /home/tomas/gazebo-0.10.0/server/Simulator.cc:694 5 breakpoint keep y 0x00eaeee4 in gazebo::World::UpdateSimulationIface() at /home/tomas/gazebo-0.10.0/server/World.cc:783 Which is this code, that apparently never gets called because of the exception in the client code in Boost, hence the lack of response I guess: 780 // Process all the requests 781 for (unsigned int i=0; i < requestCount; i++) 782 { 783 SimulationRequestData *req = &(this->simIface->data->requests[i]); 784 785 switch (req->type) 786 { 787 case SimulationRequestData::UNPAUSE: Here is the sample client code run using gdb with the exception in Boost: to...@tomas-desktop:~/gazebo-0.10.0/examples/libgazebo/tomas-test$ gdb tomas-test <...> (gdb) run Starting program: /home/tomas/gazebo-0.10.0/examples/libgazebo/tomas-test/tomas-test [Thread debugging using libthread_db enabled] opening /tmp/gazebo-tomas-0/simulation.default 112 33842332 [Nuevo Thread 0xb5f9cb70 (LWP 4316)] Breakpoint 1, main () at /home/tomas/gazebo-0.10.0/examples/libgazebo/tomas-test/tomas-test.cc:26 26 simIface->Open(client, "default"); (gdb) s gazebo::SimulationIface::Open (this=0x804d3d8, client=0x804d3b8, id=...) at /home/tomas/gazebo-0.10.0/libgazebo/SimIface.cc:97 97 Iface::Open(client,id); (gdb) l 92 93 //////////////////////////////////////////////////////////////////////////////// 94 /// Open a simulation interface 95 void SimulationIface::Open(Client *client, std::string id) 96 { 97 Iface::Open(client,id); 98 this->data = (SimulationData*)((char*)this->mMap+sizeof(SimulationIface)); 99 100 // Create the thread which waits "blockTimeUs" microseconds and 101 // then signals the goAckSignal (gdb) print client $1 = (class gazebo::Client *) 0x804d3b8 (gdb) print *client $2 = {_vptr.Client = 0x159860, serverId = 0, clientId = 0, filename = { static npos = 4294967295, _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x804d854 "/tmp/gazebo-tomas-0"}}, semKey = 324089338, semId = 0} (gdb) print id $3 = {static npos = 4294967295, _M_dataplus = {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No data fields>}, <No data fields>}, _M_p = 0x804d624 "default"}} (gdb) s Program received signal SIGSEGV, Segmentation fault. [Cambiando a Thread 0xb5f9cb70 (LWP 4316)] 0x00411a37 in boost::signals::detail::call_notification::call_notification(boost::shared_ptr<boost::signals::detail::signal_base_impl> const&) () from /usr/lib/libboost_signals-mt.so.1.38.0 Thanks, Tomas tarredondo wrote: > > Hello all, > > Sorry to repost but the issue is not on an old build but on 0.10.0 so i > figured the title may be confusing the issue. > > I am seeing an issue in which I cant set the basic pioneer robot speed > with a really simple world model using libgazebo (no Player). The gazebo > simulator starts up and simulation time is running, using my program I can > connect and see that the connection is fine because I tested reading the > pioneers robot velocity using the pioneer2dx.world file. > > I am using a simple world model with only a plane and the pioneer2dx model > that comes with Gazebo. I am using Ubuntu 9.10, ode 0.11.1, ogre v1-7-0, > bullet-2.76, gazebo 0.10.0. > > The code is now a simple state machine that tries to make the robot do a > square pattern. I include the code, program output, world and model files. > > Thanks for any help or ideas... (any hints are much appreciated) > > Tomas > > > REF: Code, code output, world model, pioneer model > > Here is the code: > > #include <gazebo/gazebo.h> > #include <stdio.h> > > int main() > { > gazebo::Client *client = new gazebo::Client(); > gazebo::SimulationIface *simIface = new gazebo::SimulationIface(); > gazebo::PositionIface *posIface = new gazebo::PositionIface(); > int serverId = 0; > int cmdCnt = 0; > > /// Connect to the libgazebo server > try > { > client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST); > } > catch (std::string e) > { > std::cout << "Gazebo error: Unable to connect\n" << e << "\n"; > return -1; > } > > /// Open the Simulation Interface > try > { > simIface->Open(client, "default"); > } > catch (std::string e) > { > std::cout << "Gazebo error: Unable to connect to the sim interface\n" > << e << "\n"; > return -1; > } > > /// Open the Position interface > try > { > posIface->Open(client, "pioneer2dx_model1::position_iface_0"); > } > catch (std::string e) > { > std::cout << "Gazebo error: Unable to connect to the position > interface\n" << e << "\n"; > return -1; > } > > posIface->Lock(1); > posIface->data->cmdEnableMotors = 1; > posIface->Unlock(); > > while(1) > { > posIface->Lock(1); > std::cout << "Cmd Velocity (x,y,z)" << > posIface->data->cmdVelocity.pos.x << " " << > posIface->data->cmdVelocity.pos.y << " " << > posIface->data->cmdVelocity.pos.z << std::endl; > posIface->Unlock(); > posIface->Lock(1); > std::cout << "Velocity (x,y,z):" << posIface->data->velocity.pos.x << > " " << posIface->data->velocity.pos.y << " " << > posIface->data->velocity.pos.z << std::endl; > posIface->Unlock(); > posIface->Lock(1); > std::cout << "Stall flag:" << posIface->data->stall << std::endl; > posIface->Unlock(); > posIface->Lock(1); > std::cout << "Roll,pitch,yaw:" << posIface->data->pose.roll << " " << > posIface->data->pose.pitch << " " << posIface->data->pose.yaw << > std::endl; > posIface->Unlock(); > > switch(cmdCnt) > { > case 0: > posIface->Lock(1); > posIface->data->cmdVelocity.pos.x = 1; > posIface->Unlock(); > cmdCnt++; > break; > case 1: > posIface->Lock(1); > posIface->data->cmdVelocity.pos.x = 0; > posIface->Unlock(); > cmdCnt++; > break; > case 2: > posIface->Lock(1); > posIface->data->cmdVelocity.pos.y = 1; > posIface->Unlock(); > cmdCnt++; > break; > case 3: > posIface->Lock(1); > posIface->data->cmdVelocity.pos.y = 0; > posIface->Unlock(); > cmdCnt++; > break; > case 4: > posIface->Lock(1); > posIface->data->cmdVelocity.pos.x = -1; > posIface->Unlock(); > cmdCnt++; > break; > case 5: > posIface->Lock(1); > posIface->data->cmdVelocity.pos.x = 0; > posIface->Unlock(); > cmdCnt++; > break; > case 6: > posIface->Lock(1); > posIface->data->cmdVelocity.pos.y = -1; > posIface->Unlock(); > cmdCnt++; > break; > case 7: > posIface->Lock(1); > posIface->data->cmdVelocity.pos.y = 0; > posIface->Unlock(); > cmdCnt++; > break; > default: > cmdCnt=0; > break; > > } > > usleep(3000000); > } > > posIface->Close(); > delete posIface; > > return 0; > } > > > Here is the output from the code: > > Cmd Velocity (x,y,z)+0.00000 +0.00000 +0.00000 > Velocity (x,y,z):+0.00000 +0.00000 +0.00000 > Stall flag:+0 > Roll,pitch,yaw:+0.00000 +0.00000 +0.00000 > Cmd Velocity (x,y,z)+1.00000 +0.00000 +0.00000 > Velocity (x,y,z):+0.00000 +0.00000 +0.00000 > Stall flag:+0 > Roll,pitch,yaw:+0.00000 +0.00000 +0.00000 > Cmd Velocity (x,y,z)+0.00000 +0.00000 +0.00000 > Velocity (x,y,z):+0.00000 +0.00000 +0.00000 > Stall flag:+0 > Roll,pitch,yaw:+0.00000 +0.00000 +0.00000 > Cmd Velocity (x,y,z)+0.00000 +1.00000 +0.00000 > Velocity (x,y,z):+0.00000 +0.00000 +0.00000 > Stall flag:+0 > Roll,pitch,yaw:+0.00000 +0.00000 +0.00000 > Cmd Velocity (x,y,z)+0.00000 +0.00000 +0.00000 > Velocity (x,y,z):+0.00000 +0.00000 +0.00000 > Stall flag:+0 > Roll,pitch,yaw:+0.00000 +0.00000 +0.00000 > Cmd Velocity (x,y,z)-1.00000 +0.00000 +0.00000 > Velocity (x,y,z):+0.00000 +0.00000 +0.00000 > Stall flag:+0 > Roll,pitch,yaw:+0.00000 +0.00000 +0.00000 > > Here is the world file: > > <?xml version="1.0"?> > > <gazebo:world > xmlns:xi="http://www.w3.org/2001/XInclude"; > xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"; > xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"; > > xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"; > xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"; > xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"; > xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; > > xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"; > > > xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"; > > > xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"; > > xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"; > > > > <verbosity>5</verbosity> > > <physics:ode> > <stepTime>0.001</stepTime> > <gravity>0 0 -9.8</gravity> > <cfm>10e-2</cfm> > <erp>0.2</erp> > > <!-- updateRate: <0 == throttle simTime to match realTime. > 0 == No throttling > >0 == Frequency at which to throttle the sim --> > <updateRate>0</updateRate> > </physics:ode> > > <rendering:gui> > <type>fltk</type> > <size>800 600</size> > <pos>0 0</pos> > </rendering:gui> > > <rendering:ogre> > <ambient>1 1 1 1</ambient> > <shadowTechnique>stencilAdditive</shadowTechnique> > <grid>false</grid> > </rendering:ogre> > > <!-- Ground Plane --> > <model:physical name="plane1_model"> > <xyz>0 0 0</xyz> > <rpy>0 0 0</rpy> > <static>true</static> > > <body:plane name="plane1_body"> > <geom:plane name="plane1_geom"> > <normal>0 0 1</normal> > <size>100 100</size> > <segments>10 10</segments> > <uvTile>100 100</uvTile> > <material>Gazebo/GrayGrid</material> > <mu1>109999.0</mu1> > <mu2>1000.0</mu2> > </geom:plane> > </body:plane> > </model:physical> > > > <model:physical name="pioneer2dx_model1"> > <xyz>1 1 0.5</xyz> > <rpy>0 0 0</rpy> > > <include embedded="true"> > <xi:include href="models/pioneer2dx.model" /> > </include> > > </model:physical> > > </gazebo:world> > > Here is the pioneer model used : > <?xml version="1.0"?> > > <!-- Generic Pioneer2dx Model --> > <model:physical name="default_pioneer_model" > xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"; > > xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"; > xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"; > xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"; > xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; > > xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; > > xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; > > > > <xyz>0 0 0.0</xyz> > <rpy>0.0 0.0 0.0</rpy> > > <canonicalBody>chassis_body</canonicalBody> > > <body:box name="chassis_body"> > <xyz>0.0 0.0 0.0</xyz> > <rpy>0.0 0.0 0.0</rpy> > > <geom:box name="chassis_geom"> > <xyz>0 0 0.0</xyz> > <size>0.445 0.277 0.17</size> > <mass>2.0</mass> > <mu1>1</mu1> > > <visual> > <size>0.5 0.277 0.17</size> > <xyz>0 0 0.04</xyz> > <rpy>0 180 0</rpy> > <mesh>Pioneer2dx/chassis.mesh</mesh> > <material>Gazebo/Pioneer2Body</material> > </visual> > > <visual> > <xyz>0.015 0 0.09</xyz> > <rpy>0 0 0</rpy> > <mesh>Pioneer2at/chassis_top.mesh</mesh> > <material>Gazebo/Black</material> > </visual> > > <visual> > <xyz>0.21 0.0 0.068</xyz> > <rpy>0 0 0</rpy> > <size>0.12 0.29 0.034</size> > <mesh>Pioneer2at/sonarbank.mesh</mesh> > <material>Gazebo/Gold</material> > </visual> > > <visual> > <xyz>-0.178 0.0 0.068</xyz> > <rpy>0 0 180</rpy> > <size>0.12 0.29 0.034</size> > <mesh>Pioneer2at/sonarbank.mesh</mesh> > <material>Gazebo/Gold</material> > </visual> > > </geom:box> > </body:box> > > <body:cylinder name="left_wheel"> > <xyz>0.1 -0.17 -0.0725</xyz> > <rpy>0 90 90</rpy> > > <geom:cylinder name="left_wheel_geom"> > <size>0.075 0.05</size> > <mass>0.5</mass> > <mu1>0.5</mu1> > > <visual> > <rpy>-90 0 0</rpy> > <size>0.125 0.05 0.125</size> > <mesh>Pioneer2dx/tire.mesh</mesh> > <material>Gazebo/Black</material> > </visual> > > <visual> > <rpy>-90 0 0</rpy> > <size>0.073 0.05 0.073</size> > <mesh>Pioneer2at/wheel.mesh</mesh> > <material>Gazebo/Gold</material> > </visual> > > <visual> > <rpy>0 0 0</rpy> > <xyz>0 0 0.015</xyz> > <size>0.04 0.04 0.08 </size> > <mesh>unit_cylinder</mesh> > <material>Gazebo/Black</material> > </visual> > > > </geom:cylinder> > </body:cylinder> > > <body:cylinder name="right_wheel"> > <xyz>0.1 0.17 -0.0725</xyz> > <rpy>0 90 90</rpy> > > <geom:cylinder name="right_wheel_geom"> > <size>0.075 0.05</size> > <mass>0.5</mass> > <mu1>0.5</mu1> > > <visual> > <rpy>-90 0 0</rpy> > <size>0.125 0.05 0.125</size> > <mesh>Pioneer2dx/tire.mesh</mesh> > <material>Gazebo/Black</material> > </visual> > > <visual> > <rpy>-90 0 0</rpy> > <size>0.073 0.05 0.073</size> > <mesh>Pioneer2at/wheel.mesh</mesh> > <material>Gazebo/Gold</material> > </visual> > > <visual> > <rpy>0 0 0</rpy> > <xyz>0 0 -0.015</xyz> > <size>0.04 0.04 0.08</size> > <mesh>unit_cylinder</mesh> > <material>Gazebo/Black</material> > </visual> > </geom:cylinder> > > </body:cylinder> > > <body:sphere name="castor_body"> > <xyz>-0.200 0 -0.11</xyz> > <rpy>0 0 0</rpy> > <geom:sphere name="castor_geom"> > <size>0.04</size> > <mass>0.5</mass> > <mu1>0.5</mu1> > > <visual> > <scale>0.04 0.04 0.04</scale> > <mesh>unit_sphere</mesh> > <material>Gazebo/Black</material> > </visual> > </geom:sphere> > </body:sphere> > > <joint:hinge name="left_wheel_hinge"> > <body1>left_wheel</body1> > <body2>chassis_body</body2> > <anchor>left_wheel</anchor> > <anchorOffset>0 0 0.04</anchorOffset> > <axis>0 1 0</axis> > <erp>0.8</erp> > <cfm>10e-5</cfm> > </joint:hinge> > > <joint:hinge name="right_wheel_hinge"> > <body1>right_wheel</body1> > <body2>chassis_body</body2> > <anchor>right_wheel</anchor> > <anchorOffset>0 0 -0.04</anchorOffset> > <axis>0 1 0</axis> > <erp>0.8</erp> > <cfm>10e-5</cfm> > </joint:hinge> > > <joint:ball name="ball_joint"> > <body1>castor_body</body1> > <body2>chassis_body</body2> > <anchor>castor_body</anchor> > <erp>0.8</erp> > <cfm>10e-5</cfm> > </joint:ball> > > <controller:differential_position2d name="controller1"> > <leftJoint>left_wheel_hinge</leftJoint> > <rightJoint>right_wheel_hinge</rightJoint> > <wheelSeparation>0.39</wheelSeparation> > <wheelDiameter>0.15</wheelDiameter> > <torque>5</torque> > <interface:position name="position_iface_0"/> > </controller:differential_position2d> > > > </model:physical> > -- View this message in context: http://old.nabble.com/issue-with-setting-pioneer-robot-velocity-using-only-libgazebo-and-position-interface-%28gazebo-0.10.0%29-tp28450187p28589029.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------------ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
