libModelPropShop.so gives Invalid vector supplied as parameter

[murphym18]

I ran into this bug when trying to run gzweb. I can't create the thumbnails.

Steps to reproduce:

1. install gazebo11 on Ubuntu 20.04 using the repos. Here is a docker file I made:

   FROM ubuntu:20.04
   
   RUN apt-get update && apt-get -y install \
           gnupg \
           gnupg2 \
           lsb-release \
           wget \
       && echo deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main > /etc/apt/sources.list.d/gazebo-stable.list \
       && wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
   
   RUN apt-get update \
       && DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
           ant \
           binutils \
           bc \
           dirmngr \
           gazebo11 \
           gstreamer1.0-plugins-bad \
           gstreamer1.0-plugins-base \
           gstreamer1.0-plugins-good \
           gstreamer1.0-plugins-ugly \
           libeigen3-dev \
           libgazebo11-dev \
           libgstreamer-plugins-base1.0-dev \
           libimage-exiftool-perl \
           libopencv-dev \
           libxml2-utils \
           mesa-utils \
           protobuf-compiler \
           x-window-system \
           ignition-edifice
   
   # you might not want to keep this last line
   COPY ./gazebo_models /gazebo_models
   

2. get a gazebo model. I used the bowl from gazebo_models.git, but feel free to use something else. It seems like any model will re-create the bug.
3. run gzserver with the libModelPropShop plugin. Here is what I did: Run the docker image from step 1:

   xhost +
   docker run -it --rm --privileged --env=LOCAL_USER_ID="$(id -u)" -v /tmp/.X11-unix:/tmp/.X11-unix:ro -e DISPLAY=$DISPLAY  66a1b0409a2f /bin/bash
   

   but you'll need to replace 66a1b0409a2f with the container ID from step 1. Next, in the container, run gzserver with libModelPropShop, here's what I did:

   source /usr/share/gazebo-11/setup.sh
   export GAZEBO_MODEL_DATABASE_URI=""
   mkdir /tmp/gz-thumb
   gzserver -s libModelPropShop.so /usr/share/gazebo-11/worlds/empty.world --propshop-save /tmp/gz-thumb --propshop-model /gazebo_models/bowl/model.sdf
   

Buggy behavior

When I do the above steps, here is the output from gzserver:

gzserver: /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:405: virtual void Ogre::Node::setPosition(const Ogre::Vector3&): Assertion `!pos.isNaN() && "Invalid vector supplied as parameter"' failed.
Aborted (core dumped)

The thumbnail images are not created.

Expected behavior

When I built gazebo from source (in docker) the bug was gone. gzserver ran fine and the thumbnails were created. I used commit: b502f17729302fa0da8e2a00ffbd69112bb7e6aa (as of this evening this commit was tagged with gazebo11_11.8.0)

As a side note, I noticed that gazebo seems to run faster in the version I built from source. If it's helpful, I can post the docker file I used to build gazebo... but it's somewhat long.