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When starting Gazebo with the command "roslaunch sr_hand gazebo_arm_and_hand_motor.launch" I get this error:

/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:99 : Exception: Failed to load libgazebo_ros_factory.so: libgazebo_ros_factory.so: cannot open shared object file: No such file or directory

/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Simulator.cc:326 : Exception: Failed to load the World
/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:99 : Exception: Failed to load libgazebo_ros_factory.so: libgazebo_ros_factory.so: cannot open shared object file: No such file or directory


Error Loading Gazebo
/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Simulator.cc:326 : Exception: Failed to load the World
/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:99 : Exception: Failed to load libgazebo_ros_factory.so: libgazebo_ros_factory.so: cannot open shared object file: No such file or directory


failed to cleanly remove [/tmp/gazebo-ebd-0] : [Directory not empty]
[gazebo-2] process has died [pid 23426, exit code 255].
log files: /home/ebd/.ros/log/0c876ba2-dec0-11e0-8e01-0025b311be58/gazebo-2*.log                 

The promised log files are not created.

I checked ROS_ROOT/../stacks/simulator_gazebo/gazebo_plugins/lib, and the file libgazebo_ros_factory.so is there in diamondback, but not in electric.


Originally posted by erikjber on ROS Answers with karma: 32 on 2011-09-13

Post score: 0


Original comments

Comment by erikjber on 2011-09-14:
The empty example file included with Gazebo works fine: roslaunch gazebo_worlds empty_world.launch

Comment by DimitriProsser on 2011-09-14:
Is it only the Shadow simulator that fails? Can you load other simulations?

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3 Answers 3

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Hi, Sorry about the delay in answering this thread.

Electric is not supported yet for the Gazebo simulation of our hardware (see this bug report). I'll try to fix this shortly.

Cheers,

Ugo


Originally posted by Ugo with karma: 1620 on 2011-09-14

This answer was ACCEPTED on the original site

Post score: 2

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the gazebo_ros_factory was deprecated as we wrapped the functionalities into gazebo/src/gazeboros.cpp.

Look for and remove the plugin referring to libgazebo_ros_factory in your .world file.

Once simulator_gazebo 1.4.5 debians are out, gazebo should continue to run without throwing and exiting (see this question).

On top of that, there are other bugs. I've opened a ticket with a patch that makes things work.

here's a snapshot of the working model, it seems some of the links have strange orientations (e.g. elbow flex).


Originally posted by hsu with karma: 5780 on 2011-09-14

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Post score: 1


Original comments

Comment by erikjber on 2011-09-16:
Removed reference to plugin. Still crashes.

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If you cannot wait for Ugo to fix this, here are the 2 modifications we used to start the simulator (They may not solve your problem completely):

  • in sr_hand/launch/gazebo/empty.world commenting out :
<!-- <controller:gazebo_ros_factory name="gazebo_ros_factory" plugin="libgazebo_ros_factory.so">
          <alwaysOn>true
          <updateRate>1.0
          <interface:audio name="dummy_gazebo_ros_factory_iface_should_not_be_here"/>
        </controller:gazebo_ros_factory> -->
  • in sr_hand/launch/change this line :
<!-- spawn the arm model -->
 <param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_hand)/model/robots/xacro/shadowhand_motor.urdf.xacro'" />
 <node name="spawn_hand" pkg="gazebo" type="spawn_model" args="-param robot_description -urdf -model shadowhand_motor" respawn="false" output="screen" />

Originally posted by GuiHome with karma: 242 on 2011-09-14

This answer was NOT ACCEPTED on the original site

Post score: 1


Original comments

Comment by erikjber on 2011-09-16:
I changed sr_hand/launch/gazebo_arm_and_hand_motor.launch. I also tried replacing the strings "shadowhand_motor" with "arm_and_hand_motor". Neither worked - gazebo crashes on or shortly after startup.

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