Hi guys.
I was altering some minor values in our URDF and now Gazebo crashes shortly after startup. I was only changing small things, like controller PID's, friction and damping etc, and only minor alterations of probably +/- 20%. When launching Gazebo without the ros_control controllers running, the program crashes when the boom slowly falls and touches the blade (our robot is a small excavator). The error output is shown below (comes up 20 times per crash):
Error [Param.cc:451] Unable to set value [inf inf -inf -2.15675 -0.36903 -0.86877] for key[pose]
Error [Param.cc:451] Unable to set value [inf inf -inf -1.62554 -1.12305 -1.90234] for key[pose]
Error [Param.cc:451] Unable to set value [inf inf -inf -1.30275 0.434637 2.40115] for key[pose]
Error [Param.cc:451] Unable to set value [inf inf -inf 0.956331 -0.661333 -2.4084] for key[pose]
Error [Param.cc:451] Unable to set value [inf inf inf -1.15322 0.249827 -0.069431] for key[pose]
Error [Param.cc:451] Unable to set value [inf inf inf 3.07698 0.590642 1.29578] for key[pose]
The same error occurs when you turn the controllers on. You may be able to move the robot for a bit before it self-collides and then it crashes. Everything seems to work fine until a self-collision happens, but just a few hours ago everything was fine. Self collision is turned off for all the links, but we tried on/off combinations with no luck.
Ubuntu 16.04 with Kinetic and Gazebo 7. Willing to try any possible solutions you think of. Cheers guys.
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