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Caveats
- The Gazebo server (gzserver) occasionally crashes, at unpredictable times. The output looks like this, and the referenced log file may not exist:
terminate called after throwing an instance of 'std::runtime_error'
what(): Duration is out of dual 32-bit range
Aborted (core dumped)
[gazebo-2] process has died [pid 2749145, exit code 134, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -
u --verbose -e ode joint_states:=/_original/joint_states StereoCamera/left/image_raw:=/_original/Stere
oCamera/left/image_raw /usr/local/home/joe/ow/src/ow_europa/worlds/atacama_y1a.world __name:=gazebo
__log:=/home/joe/.ros/log/b22d1d40-5c37-11ec-9e20-0b8a462e0a66/gazebo-2.log].
log file: /home/joe/.ros/log/b22d1d40-5c37-11ec-9e20-0b8a462e0a66/gazebo-2*.log
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Pausing Gazebo during arm operations often causes a ROS action server to crash. Thus, pause is not supported at this time.
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If your Gazebo window is partially filled with "garbage" (e.g. remnants of other windows that were open), try adding the following lines to your shell init file (e.g.
.bashrc). This problem might occur on laptops with high-resolution screens.
export QT_AUTO_SCREEN_SCALE_FACTOR=0
export QT_SCREEN_SCALE_FACTORS=[1.0]
When the simulator is started the arm services (/arm/*) are sometimes not in the Service Caller menu. Refresh the list to see them.
The simulator shell output is verbose. In particular there are many RRTstar (path planner) messages, such as:
RRTstar: problem definition is not set, deferring setup completion...
RRTstar: Started planning with 1 states. Seeking a solution better than 0.00000.
RRTstar: Initial k-nearest value of 310
When a power fault is injected, the resulting battery telemetry
readings, while indicative of abnormal battery operation, are not correct with
respect to the model upon which the faults are based, due to bugs that
were discovered in the power fault implementation after Release 9. In
particular, readings of the /power_system_node/battery_temperature
and /power_system_node/remaining_useful_life topics may be erratic.
A fix for these problems is in development (as of March 11, 2022) and
will be released on the noetic-devel branch.
When particles are carried in the scoop, the console will be flooded with the following message.
ODE Message 3: LCP internal error, s <= 0
The following kind of error occasionally appears in the executive terminal during pan/tilt operations. Pan/tilt are planned to be reworked.
[ERROR] [1637092964.828277383, 1916524887.799999952]: PanAntenna timed out
[ERROR] [1637092964.828318296, 1916524887.799999952]: PanAntenna failed. Ended at 69.477832 degrees, goal was 70.000000.
Warnings like the following might appear soon after the executive node is started. They are spurious and have to do with initialization order.
[ WARN] [1637249546.320531960, 1916524870.472500086]: PLEXIL: Battery charge is low!
[ WARN] [1637249546.320597956, 1916524870.474999905]: PLEXIL: Battery too hot!
The following errors and warnings (listed in arbitrary order) sometimes occur when the simulator is starting. They may be safely ignored unless they occur excessively.
[ WARN]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ERROR] [1600978208.628103326]: Failed to find 3D sensor plugin parameters for octomap generation
[ERROR] [1562963343.559613217]: Could not find the planner configuration 'None' on the param server
[ERROR] [1562963345.732187182]: Got low value for ros::Time::now() in the solar frame publisher: 0.000000000
[Err] [msgs.cc:2883] Unrecognized geometry type
[Err] [CameraSimVisualPlugin.cpp:46] Camera is null. CameraSimVisualPlugin won't load.
Error [Element.cc:702] Missing element description for [param]
[Err] [Scene.cc:2949] Light [lander::lander_lights_link::lander_light_light1] already exists. Use topic ~/light/modify to modify it.
[ERROR] [1562963346.929316708, 1631761200.000999928]: CelestialBodyPlugin::OnUpdate - "site" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1600978213.758398746, 1916524801.982500076]: CelestialBodyPlugin::OnUpdate - "sun" passed to lookupTransform argument source_frame does not exist.
[ERROR] [1600978213.763400607, 1916524801.987499952]: CelestialBodyPlugin::OnUpdate - "jupiter" passed to lookupTransform argument source_frame does not exist.
ERROR 1: TIFFFieldWithTag:Internal error, unknown tag 0x829a
[ WARN]: Fail: ABORTED: No motion plan found. No execution attempted.
When first built, the following warning occurs. It can be safely ignored, and if desired, suppressed with catkin build --cmake-args -Wno-dev.
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if):
Policy CMP0054 is not set: Only interpret if() arguments as variables or
keywords when unquoted. Run "cmake --help-policy CMP0054" for policy
details. Use the cmake_policy command to set the policy and suppress this
warning.
Quoted variables like "chrono" will no longer be dereferenced when the
policy is set to NEW. Since the policy is not set the OLD behavior will be
used.
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES)
/usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package)
CMakeLists.txt:14 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.