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Fix slow loading of spawned model with plugins #3126
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Since gazebosim#3121 was merged, some problems have been observed with loading model plugins if a model contains sensor plugins that are slow to load. This introduces two test plugins and a test world to demonstrate the problem. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Increase the timeout from 5 seconds to 50 seconds. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
scpeters
changed the title
I suppose we could add an SDFormat world parameter? |
Rather than increase the timeout to a larger fixed value, this adds an SDFormat parameter to the world element in the ignition xml namespace. It restores the default timeout of 5 seconds and sets a timeout of 30 seconds in the test world. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
I've added an SDFormat parameter in the ignition xml namespace in 35fb921 and restored the default timeout to 5 seconds |
jacobperron
approved these changes
Oct 25, 2021
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
jacobperron
approved these changes
Oct 25, 2021
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As reported in #3125, since #3121 was recently merged I have noticed a problem with some models that are slow to load. Specifically, if a model is spawned that contains a sensor plugin that is slow to load, it is possible that model plugins will fail to load, with the following error message:
I believe this is caused by this logic in
Model::LoadPluginsthat skips loading of model plugins if the sensors take longer than 5 seconds to initialize, which includes the time required to load sensor plugins. I have increased this timeout to 50 seconds in 2589d13, though I am open to suggestions for how to make this a configurable parameter.I have added a regression test that loads a world file along with two test plugins to reproduce the failure. The world has a
WorldSpawnModelPluginthat spawns a model that has a single box with a camera sensor using theSlowLoadingSensorPluginand theInitialVelocityPluginas a model plugin. The box should be given an initial velocity after loading.