I designed a model in Fusion and exported it to to SDF using SDFusion script.
Till now everything seems to work fine, the 2 of the 4 joints did not cause any problems and worked ok, but when I add the plugin for the other 2 joints I get this error:
ODE INTERNAL ERROR 1: assertion "aabbBound >= dMinIntExact && aabbBound < dMaxIntExact" failed in collide() [collision_space.cpp:460]
Stack trace (most recent call last):
#31 Object "gz sim --verbose=1 -r -s /home/joseph/px4_14/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf", at 0x557039bab1cd, in _start
#30 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff289a76082, in __libc_start_main
#29 Object "gz sim --verbose=1 -r -s /home/joseph/px4_14/PX4-Autopilot/Tools/simulation/gz/worlds/default.sdf", at 0x557039bab17e, in
#28 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7ff289cf245d, in ruby_run_node
#27 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7ff289ced5f0, in
#26 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7ff289e5cd01, in rb_vm_exec
#25 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7ff289e565f0, in
#24 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7ff289e45815, in
#23 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7ff289e5f2ea, in
#22 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7ff289e524c4, in
#21 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7ff285a96714, in
#20 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7ff289e23939, in rb_nogvl
#19 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7ff285a968fb, in
#18 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7ff285a41409, in
#17 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7ff285a41ff4, in
#16 Object "/usr/lib/x86_64-linux-gnu/libgz-sim7-gz.so.7.6.0", at 0x7ff284fefc0d, in runServer
#15 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7ff284bdf85b, in gz::sim::v7::Server::Run(bool, unsigned long, bool)
#14 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7ff284beb20e, in
#13 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7ff284bfbdd2, in gz::sim::v7::SimulationRunner::Run(unsigned long)
#12 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7ff284bfb570, in gz::sim::v7::SimulationRunner::Step(gz::sim::v7::UpdateInfo const&)
#11 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7ff284bf4299, in gz::sim::v7::SimulationRunner::UpdateSystems()
#10 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7ff2745d50a3, in gz::sim::v7::systems::Physics::Update(gz::sim::v7::UpdateInfo const&, gz::sim::v7::EntityComponentManager&)
#9 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7ff2745beb6a, in gz::sim::v7::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
#8 Object "/usr/lib/x86_64-linux-gnu/gz-physics-6/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7ff25c7ecb0b, in gz::physics::dartsim::SimulationFeatures::WorldForwardStep(gz::physics::Identity const&, gz::physics::SpecifyData<gz::physics::RequireData<gz::physics::WorldPoses>, gz::physics::ExpectData<gz::physics::ChangedWorldPoses, gz::physics::Contacts, gz::physics::JointPositions> >&, gz::physics::CompositeData&, gz::physics::ExpectData<gz::physics::ApplyExternalForceTorques, gz::physics::ApplyGeneralizedForces, gz::physics::VelocityControlCommands, gz::physics::ServoControlCommands, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)
#7 Object "/lib/x86_64-linux-gnu/libdart.so.6", at 0x7ff25c4c2d20, in dart::simulation::World::step(bool)
#6 Object "/lib/x86_64-linux-gnu/libdart.so.6", at 0x7ff25c4a77b5, in dart::constraint::ConstraintSolver::solve()
#5 Object "/lib/x86_64-linux-gnu/libdart.so.6", at 0x7ff25c4a627d, in dart::constraint::ConstraintSolver::updateConstraints()
#4 Object "/lib/x86_64-linux-gnu/libdart-collision-ode.so.6", at 0x7ff25c610b6b, in dart::collision::OdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
#3 Object "/lib/x86_64-linux-gnu/libode.so.8", at 0x7ff25be00456, in dxHashSpace::collide(void*, void (*)(void*, dxGeom*, dxGeom*))
#2 Object "/lib/x86_64-linux-gnu/libode.so.8", at 0x7ff25be08c57, in dDebug
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff289a74858, in abort
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff289a9500b, in gsignal
Aborted (Signal sent by tkill() 68794 1000)
And my sdf file is this:
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="VA25_VTOL_8">
<link name="left_aileron">
<self_collide>false</self_collide>
<pose>0.7838276492938377 0.7437513761748877 0.3226151407425975 0.0 -0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0 0 0</pose>
<mass>0.2075195906736219</mass>
<inertia>
<ixx>0.004639328106225412</ixx>
<ixy>0.00011534778131801886</ixy>
<ixz>-3.3698935533152508e-06</ixz>
<iyy>3.622073888525393e-05</iyy>
<iyz>1.1542852124915726e-05</iyz>
<izz>0.004671151873854069</izz>
</inertia>
</inertial>
<collision name="left_aileron_collision">
<geometry>
<mesh>
<uri>model://VA25_VTOL_8/meshes/CAD/left_aileron.stl</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
</collision>
<visual name="left_aileron_visual">
<geometry>
<mesh>
<uri>model://VA25_VTOL_8/meshes/CAD/left_aileron.stl</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<link name="right_aileron">
<self_collide>false</self_collide>
<pose>0.7841266999404997 -0.6799887781862646 0.32260314824080005 0.0 -0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0 0 0</pose>
<mass>0.207508066232339</mass>
<inertia>
<ixx>0.004639128589166831</ixx>
<ixy>-0.00011534518553532963</ixy>
<ixz>-3.3698325271302566e-06</ixz>
<iyy>3.621969166158579e-05</iyy>
<iyz>-1.154250086589741e-05</iyz>
<izz>0.004670951608339374</izz>
</inertia>
</inertial>
<collision name="right_aileron_collision">
<geometry>
<mesh>
<uri>model://VA25_VTOL_8/meshes/CAD/right_aileron.stl</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
</collision>
<visual name="right_aileron_visual">
<geometry>
<mesh>
<uri>model://VA25_VTOL_8/meshes/CAD/right_aileron.stl</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<link name="left_ruddervator">
<self_collide>false</self_collide>
<pose>0.019245965210225736 0.15184614204919272 0.4017142660362421 0.0 -0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0 0 0</pose>
<mass>0.05522739640235409</mass>
<inertia>
<ixx>0.00038256835251192884</ixx>
<ixy>2.0938677507076166e-05</ixy>
<ixz>2.0893317350946816e-05</ixz>
<iyy>0.00020035459730011527</iyy>
<iyz>-0.00019115648057952797</iyz>
<izz>0.00020036995484959148</izz>
</inertia>
</inertial>
<visual name="left_ruddervator_visual">
<geometry>
<mesh>
<uri>model://VA25_VTOL_8/meshes/CAD/left_ruddervator.stl</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<link name="right_ruddervator">
<self_collide>false</self_collide>
<pose>0.019249698492502014 -0.1515642581504666 0.40148577356656384 0.0 -0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0 0 0</pose>
<mass>0.05522723094122592</mass>
<inertia>
<ixx>0.0003825683512394051</ixx>
<ixy>-2.089331982008309e-05</ixy>
<ixz>2.09386804012488e-05</ixz>
<iyy>0.0002003699179794211</iyy>
<iyz>0.0001911564803055427</iyz>
<izz>0.00020035456240694014</izz>
</inertia>
</inertial>
<visual name="right_ruddervator_visual">
<geometry>
<mesh>
<uri>model://VA25_VTOL_8/meshes/CAD/right_ruddervator.stl</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<link name="base">
<self_collide>false</self_collide>
<pose>0.9024726334202346 0.01159045634930561 0.2795115726981846 0.0 -0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 0.0 0 0 0</pose>
<mass>38.85005456400121</mass>
<inertia>
<ixx>4.773862562333618</ixx>
<ixy>-0.002871126139243279</ixy>
<ixz>0.09901728719870735</ixz>
<iyy>2.399717603969929</iyy>
<iyz>-0.020853780404358212</iyz>
<izz>6.9366771796705144</izz>
</inertia>
</inertial>
<collision name="base_collision">
<geometry>
<mesh>
<uri>model://VA25_VTOL_8/meshes/CAD/base.stl</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
</collision>
<visual name="base_visual">
<geometry>
<mesh>
<uri>model://VA25_VTOL_8/meshes/CAD/base.stl</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
<sensor name="air_pressure_sensor" type="air_pressure">
<always_on>1</always_on>
<update_rate>50</update_rate>
<air_pressure>
<pressure>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</pressure>
</air_pressure>
</sensor>
</link>
<joint name="left_aileron_joint" type="revolute">
<parent>base</parent>
<child>left_aileron</child>
<pose>0.016164280041980846 0.034657323358010785 -0.005562735333249265 0 0 0</pose>
<axis>
<xyz>-0.037678878844781175 0.9992887623566787 0.00150715515379122</xyz>
<limit>
<lower>-0.6981317007977318</lower>
<upper>0.6981317007977318</upper>
</limit>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<joint name="right_aileron_joint" type="revolute">
<parent>base</parent>
<child>right_aileron</child>
<pose>0.015865229395315622 -0.03464405123119874 -0.005550742831451671 0 0 0</pose>
<axis>
<xyz>0.03767887884479353 0.9992887623566784 -0.0015071551537917574</xyz>
<limit>
<lower>-0.6981317007977318</lower>
<upper>0.6981317007977318</upper>
</limit>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<joint name="left_ruddervator_joint" type="revolute">
<parent>base</parent>
<child>left_ruddervator</child>
<pose>0.016004672326555003 0.003273461396103041 0.0033801627997988247 0 0 0</pose>
<axis>
<xyz>-0.08156122422289849 0.7047509371058911 0.7047509371058904</xyz>
<limit>
<lower>-0.6981317007977318</lower>
<upper>0.6981317007977318</upper>
</limit>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<joint name="right_ruddervator_joint" type="revolute">
<parent>base</parent>
<child>right_ruddervator</child>
<pose>0.016000939044278732 -0.0034122222669650706 0.003305665389560062 0 0 0</pose>
<axis>
<xyz>-0.08156122422289848 -0.7047509371058905 0.7047509371058909</xyz>
<limit>
<lower>-0.6981317007977318</lower>
<upper>0.6981317007977318</upper>
</limit>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.05 0.3 0.05</cp>
<area>0.50</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>base</link_name>
<control_joint_name>left_aileron_joint</control_joint_name>
<control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
</plugin>
<plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>left_aileron_joint</joint_name>
<sub_topic>servo_0</sub_topic>
</plugin>
<plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>right_aileron_joint</joint_name>
<sub_topic>servo_1</sub_topic>
</plugin>
</model>
</sdf>
As this file works as intended and raises no errors, until I add these lines for other 2 joints:
<plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>left_ruddervator_joint</joint_name>
<sub_topic>servo_2</sub_topic>
</plugin>
<plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>right_ruddervator_joint</joint_name>
<sub_topic>servo_3</sub_topic>
</plugin>
I tried to adjust the collision objects, or delete them all as it looks like something with collision objects. But the result was still the same. My setup is Gazebo garden and ubuntu 20.04
