Crash after adding model and resetting #2624
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gzfuzz
changed the title
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Steps to reproduce could be simplified as:
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I have experienced the same issue. I noticed the strange behavior that it works with two models inside the SDF being spawned, but not with three. Environment
Description
Steps to reproduceUsing the empty.sdf world:
gazebo empty.sdf
gz service -s /world/empty/create --reqtype gz.msgs.EntityFactory --reptype gz.msgs.Boolean --timeout 1000 --req 'sdf_filename: "/home/rafa/test.sdf", name: "my_object"'Using this test.sdf model: <?xml version="1.0" ?>
<sdf version="1.6">
<model name='box0'>
<pose>0 0 0 0 0 0</pose>
<link name="base_link">
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<model name="box1">
<pose>0.3 0 0.5 0 0 0</pose>
<link name="link1"></link>
</model>
<joint name="box1_joint" type="fixed">
<parent>base_link</parent>
<child>box1::link1</child>
</joint>
<model name="box2">
<pose>0 -0.3 0.5 0 0 0</pose>
<link name="link2"></link>
</model>
<joint name="box2_joint" type="fixed">
<parent>base_link</parent>
<child>box2::link2</child>
</joint>
<model name="box3">
<pose>0 0 0.7 0 0 0</pose>
<link name="link3"></link>
</model>
<joint name="box3_joint" type="fixed">
<parent>base_link</parent>
<child>box3::link3</child>
</joint>
</model>
</sdf>
Important informationIf the model is set inside the world file, it does not crash. Similarly, it doesn't crash if there are no more than two models. The following SDF file does not crash, which is the same as the previous one but without the box3 model: <?xml version="1.0" ?>
<sdf version="1.6">
<model name='box0'>
<pose>0 0 0 0 0 0</pose>
<link name="base_link">
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<model name="box1">
<pose>0.3 0 0.5 0 0 0</pose>
<link name="link1"></link>
</model>
<joint name="box1_joint" type="fixed">
<parent>base_link</parent>
<child>box1::link1</child>
</joint>
<model name="box2">
<pose>0 -0.3 0.5 0 0 0</pose>
<link name="link2"></link>
</model>
<joint name="box2_joint" type="fixed">
<parent>base_link</parent>
<child>box2::link2</child>
</joint>
</model>
</sdf>Output |
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According @iche033 , we need to implement some bookkeeping to undo the changes after combining the two models together. |
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Environment
source build
gz-sim9 version: 3765579
built with
gcc version 13.2.0 (Ubuntu 13.2.0-23ubuntu4)
build options: -DCMAKE_BUILD_TYPE=Coverage
also reproduced on gz-sim8 version: a167312
Description
Steps to reproduce
gz sim examples/worlds/detachable_joint.sdf -r &gz service --timeout 10000 -s /world/detachable_joint/create --reptype gz.msgs.Boolean --reqtype gz.msgs.EntityFactory --req 'sdf: "<sdf version=\"1.11\"><model name=\"vehicle_blue\">\n <pose>0 2 0.325 0 -0 0</pose>\n <self_collide>true</self_collide>\n\n <link name=\"chassis\">\n <pose>-0.151427 -0 0.175 0 -0 0</pose>\n <inertial>\n <mass>1.14395</mass>\n <inertia>\n <ixx>0.126164</ixx>\n <ixy>0</ixy>\n <ixz>0</ixz>\n <iyy>0.416519</iyy>\n <iyz>0</iyz>\n <izz>0.481014</izz>\n </inertia>\n </inertial>\n <visual name=\"visual\">\n <geometry>\n <box>\n <size>2.01142 1 0.568726</size>\n </box>\n </geometry>\n <material>\n <ambient>0.5 0.5 1.0 1</ambient>\n <diffuse>0.5 0.5 1.0 1</diffuse>\n <specular>0.0 0.0 1.0 1</specular>\n </material>\n </visual>\n <collision name=\"collision\">\n <geometry>\n <box>\n <size>2.01142 1 0.568726</size>\n </box>\n </geometry>\n </collision>\n </link>\n\n <link name=\"front_left_wheel\">\n <pose>0.554283 0.625029 -0.025 -1.5707 0 0</pose>\n <inertial>\n <mass>2</mass>\n <inertia>\n <ixx>0.145833</ixx>\n <ixy>0</ixy>\n <ixz>0</ixz>\n <iyy>0.145833</iyy>\n <iyz>0</iyz>\n <izz>0.125</izz>\n </inertia>\n </inertial>\n <visual name=\"visual\">\n <geometry>\n <sphere>\n <radius>0.3</radius>\n </sphere>\n </geometry>\n <material>\n <ambient>0.2 0.2 0.2 1</ambient>\n <diffuse>0.2 0.2 0.2 1</diffuse>\n <specular>0.2 0.2 0.2 1</specular>\n </material>\n </visual>\n <collision name=\"collision\">\n <geometry>\n <sphere>\n <radius>0.3</radius>\n </sphere>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>1</mu>\n <mu2>1</mu2>\n <slip1>0.035</slip1>\n <slip2>0</slip2>\n <fdir1>0 0 1</fdir1>\n </ode>\n <bullet>\n <friction>1</friction>\n <friction2>1</friction2>\n <rolling_friction>0.1</rolling_friction>\n </bullet>\n </friction>\n </surface>\n </collision>\n </link>\n\n <link name=\"rear_left_wheel\">\n <pose>-0.957138 0.625029 -0.025 -1.5707 0 0</pose>\n <inertial>\n <mass>2</mass>\n <inertia>\n <ixx>0.145833</ixx>\n <ixy>0</ixy>\n <ixz>0</ixz>\n <iyy>0.145833</iyy>\n <iyz>0</iyz>\n <izz>0.125</izz>\n </inertia>\n </inertial>\n <visual name=\"visual\">\n <geometry>\n <sphere>\n <radius>0.3</radius>\n </sphere>\n </geometry>\n <material>\n <ambient>0.2 0.2 0.2 1</ambient>\n <diffuse>0.2 0.2 0.2 1</diffuse>\n <specular>0.2 0.2 0.2 1</specular>\n </material>\n </visual>\n <collision name=\"collision\">\n <geometry>\n <sphere>\n <radius>0.3</radius>\n </sphere>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>1</mu>\n <mu2>1</mu2>\n <slip1>0.035</slip1>\n <slip2>0</slip2>\n <fdir1>0 0 1</fdir1>\n </ode>\n <bullet>\n <friction>1</friction>\n <friction2>1</friction2>\n <rolling_friction>0.1</rolling_friction>\n </bullet>\n </friction>\n </surface>\n </collision>\n </link>\n\n <link name=\"front_right_wheel\">\n <pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>\n <inertial>\n <mass>2</mass>\n <inertia>\n <ixx>0.145833</ixx>\n <ixy>0</ixy>\n <ixz>0</ixz>\n <iyy>0.145833</iyy>\n <iyz>0</iyz>\n <izz>0.125</izz>\n </inertia>\n </inertial>\n <visual name=\"visual\">\n <geometry>\n <sphere>\n <radius>0.3</radius>\n </sphere>\n </geometry>\n <material>\n <ambient>0.2 0.2 0.2 1</ambient>\n <diffuse>0.2 0.2 0.2 1</diffuse>\n <specular>0.2 0.2 0.2 1</specular>\n </material>\n </visual>\n <collision name=\"collision\">\n <geometry>\n <sphere>\n <radius>0.3</radius>\n </sphere>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>1</mu>\n <mu2>1</mu2>\n <slip1>0.035</slip1>\n <slip2>0</slip2>\n <fdir1>0 0 1</fdir1>\n </ode>\n <bullet>\n <friction>1</friction>\n <friction2>1</friction2>\n <rolling_friction>0.1</rolling_friction>\n </bullet>\n </friction>\n </surface>\n </collision>\n </link>\n\n <link name=\"rear_right_wheel\">\n <pose>-0.957138 -0.625029 -0.025 -1.5707 0 0</pose>\n <inertial>\n <mass>2</mass>\n <inertia>\n <ixx>0.145833</ixx>\n <ixy>0</ixy>\n <ixz>0</ixz>\n <iyy>0.145833</iyy>\n <iyz>0</iyz>\n <izz>0.125</izz>\n </inertia>\n </inertial>\n <visual name=\"visual\">\n <geometry>\n <sphere>\n <radius>0.3</radius>\n </sphere>\n </geometry>\n <material>\n <ambient>0.2 0.2 0.2 1</ambient>\n <diffuse>0.2 0.2 0.2 1</diffuse>\n <specular>0.2 0.2 0.2 1</specular>\n </material>\n </visual>\n <collision name=\"collision\">\n <geometry>\n <sphere>\n <radius>0.3</radius>\n </sphere>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>1</mu>\n <mu2>1</mu2>\n <slip1>0.035</slip1>\n <slip2>0</slip2>\n <fdir1>0 0 1</fdir1>\n </ode>\n <bullet>\n <friction>1</friction>\n <friction2>1</friction2>\n <rolling_friction>0.1</rolling_friction>\n </bullet>\n </friction>\n </surface>\n </collision>\n </link>\n\n\n <joint name=\"front_left_wheel_joint\" type=\"revolute\">\n <parent>chassis</parent>\n <child>front_left_wheel</child>\n <axis>\n <xyz>0 0 1</xyz>\n <limit>\n <lower>-1.79769e+308</lower>\n <upper>1.79769e+308</upper>\n </limit>\n </axis>\n </joint>\n\n <joint name=\"front_right_wheel_joint\" type=\"revolute\">\n <parent>chassis</parent>\n <child>front_right_wheel</child>\n <axis>\n <xyz>0 0 1</xyz>\n <limit>\n <lower>-1.79769e+308</lower>\n <upper>1.79769e+308</upper>\n </limit>\n </axis>\n </joint>\n\n <joint name=\"rear_left_wheel_joint\" type=\"revolute\">\n <parent>chassis</parent>\n <child>rear_left_wheel</child>\n <axis>\n <xyz>0 0 1</xyz>\n <limit>\n <lower>-1.79769e+308</lower>\n <upper>1.79769e+308</upper>\n </limit>\n </axis>\n </joint>\n\n <joint name=\"rear_right_wheel_joint\" type=\"revolute\">\n <parent>chassis</parent>\n <child>rear_right_wheel</child>\n <axis>\n <xyz>0 0 1</xyz>\n <limit>\n <lower>-1.79769e+308</lower>\n <upper>1.79769e+308</upper>\n </limit>\n </axis>\n </joint>\n\n <plugin filename=\"gz-sim-diff-drive-system\" name=\"gz::sim::systems::DiffDrive\">\n <left_joint>front_left_wheel_joint</left_joint>\n <left_joint>rear_left_wheel_joint</left_joint>\n <right_joint>front_right_wheel_joint</right_joint>\n <right_joint>rear_right_wheel_joint</right_joint>\n <wheel_separation>1.25</wheel_separation>\n <wheel_radius>0.3</wheel_radius>\n </plugin>\n <plugin filename=\"gz-sim-detachable-joint-system\" name=\"gz::sim::systems::DetachableJoint\">\n <parent_link>chassis</parent_link>\n <child_model>B1</child_model>\n <child_link>body</child_link>\n <detach_topic>/B1/detach</detach_topic>\n <attach_topic>/B1/attach</attach_topic>\n <output_topic>/B1/state</output_topic>\n </plugin>\n <plugin filename=\"gz-sim-detachable-joint-system\" name=\"gz::sim::systems::DetachableJoint\">\n <parent_link>chassis</parent_link>\n <child_model>B2</child_model>\n <child_link>body</child_link>\n <detach_topic>/B2/detach</detach_topic>\n <attach_topic>/B2/attach</attach_topic>\n <output_topic>/B2/state</output_topic>\n </plugin>\n <plugin filename=\"gz-sim-detachable-joint-system\" name=\"gz::sim::systems::DetachableJoint\">\n <parent_link>chassis</parent_link>\n <child_model>B3</child_model>\n <child_link>body</child_link>\n <detach_topic>/B3/detach</detach_topic>\n <attach_topic>/B3/attach</attach_topic>\n <output_topic>/B3/state</output_topic>\n </plugin>\n </model></sdf>" pose { position { x: 8 y: 5 z: 2 } } name: "model" allow_renaming: true'Also worked by extracting a.tar.gz, then run
gz sim a.sdf -r&, andbash a.shOutput
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