Getting Segmentation Fault while lanuching the panda_world.launch file

[apandastider]

I am continuously getting the error of segmentation fault while launching the panda_world.launch file and could not spawn the robot.

Can anyone please guide me on how can I solve this issue?

Error Log :

apanrtx@apanrtx:~$ roslaunch panda_gazebo panda_world.launch ... logging to /home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/roslaunch-apanrtx-12593.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://apanrtx:38245/

SUMMARY

PARAMETERS

• /SIMULATOR_: True
• /arm/gravity_tip_name: panda_hand
• /arm/root_name: panda_link0
• /arm/tip_name: panda_hand
• /controllers_config/default_controller: panda_simulator/p...
• /controllers_config/position_controller: panda_simulator/p...
• /controllers_config/torque_controller: panda_simulator/e...
• /controllers_config/velocity_controller: panda_simulator/v...
• /franka_gripper/robot_ip: sim
• /gazebo/enable_ros_network: True
• /gripper_config/default_grasp_epsilon/inner: 0.005
• /gripper_config/default_grasp_epsilon/outer: 0.005
• /gripper_config/default_speed: 0.1
• /gripper_config/joint_names: ['panda_finger_jo...
• /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller/joint: panda_joint1
• /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller/joint: panda_joint2
• /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller/joint: panda_joint3
• /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller/joint: panda_joint4
• /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller/joint: panda_joint5
• /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller/joint: panda_joint6
• /panda_simulator/effort_joint_gravity_controller/joints/panda_joint7_controller/joint: panda_joint7
• /panda_simulator/effort_joint_gravity_controller/type: panda_sim_control...
• /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller/joint: panda_joint1
• /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller/joint: panda_joint2
• /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller/joint: panda_joint3
• /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller/joint: panda_joint4
• /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller/joint: panda_joint5
• /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller/joint: panda_joint6
• /panda_simulator/effort_joint_torque_controller/joints/panda_joint7_controller/joint: panda_joint7
• /panda_simulator/effort_joint_torque_controller/topic: /panda_simulator/...
• /panda_simulator/effort_joint_torque_controller/type: panda_sim_control...
• /panda_simulator/joint_state_controller/publish_rate: 100
• /panda_simulator/joint_state_controller/type: joint_state_contr...
• /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/joint: panda_finger_joint1
• /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/d: 0.5
• /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/i: 50
• /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/p: 5000
• /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/joint: panda_finger_joint2
• /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/d: 0.5
• /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/i: 50
• /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/p: 5000
• /panda_simulator/panda_gripper_controller/pub_topic: /franka_gripper/j...
• /panda_simulator/panda_gripper_controller/type: panda_sim_control...
• /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/joint: panda_joint1
• /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/d: 25.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/i: 10.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/p: 3000
• /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/joint: panda_joint2
• /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/d: 30.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/i: 10.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/p: 3000
• /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/joint: panda_joint3
• /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/d: 30.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/i: 10.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/p: 3000
• /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/joint: panda_joint4
• /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/d: 50.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/i: 10.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/p: 3000
• /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/joint: panda_joint5
• /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/d: 8.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/i: 10.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/p: 3000
• /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/joint: panda_joint6
• /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/d: 5.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/i: 1.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/p: 3000
• /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/joint: panda_joint7
• /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/d: 4.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/i: 10.0
• /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/p: 3000
• /panda_simulator/position_joint_position_controller/topic_joint_command: /panda_simulator/...
• /panda_simulator/position_joint_position_controller/topic_set_speed_ratio: /panda_simulator/...
• /panda_simulator/position_joint_position_controller/type: panda_sim_control...
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/joint: panda_joint1
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/d: 0.1
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/i: 0.0
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/p: 10
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/joint: panda_joint2
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/d: 0.1
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/i: 1.0
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/p: 100
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/joint: panda_joint3
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/d: 0.01
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/i: 0.0
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/p: 0.05
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/joint: panda_joint4
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/d: 0.1
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/i: 0.01
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/p: 0.5
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/joint: panda_joint5
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/d: 0.01
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/i: 0.0
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/p: 1.0
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/joint: panda_joint6
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/d: 0.01
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/i: 0.0
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/p: 0.05
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/joint: panda_joint7
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/d: 0.01
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/i: 0.0
• /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/p: 0.05
• /panda_simulator/velocity_joint_velocity_controller/topic: /panda_simulator/...
• /panda_simulator/velocity_joint_velocity_controller/type: panda_sim_control...
• /robot_config/arm_id: panda
• /robot_config/joint_config/joint_acceleration_limit/panda_joint1: 15.0
• /robot_config/joint_config/joint_acceleration_limit/panda_joint2: 7.5
• /robot_config/joint_config/joint_acceleration_limit/panda_joint3: 10.0
• /robot_config/joint_config/joint_acceleration_limit/panda_joint4: 12.5
• /robot_config/joint_config/joint_acceleration_limit/panda_joint5: 15.0
• /robot_config/joint_config/joint_acceleration_limit/panda_joint6: 20.0
• /robot_config/joint_config/joint_acceleration_limit/panda_joint7: 20.0
• /robot_config/joint_config/joint_effort_limit/panda_joint1: 87
• /robot_config/joint_config/joint_effort_limit/panda_joint2: 87
• /robot_config/joint_config/joint_effort_limit/panda_joint3: 87
• /robot_config/joint_config/joint_effort_limit/panda_joint4: 87
• /robot_config/joint_config/joint_effort_limit/panda_joint5: 12
• /robot_config/joint_config/joint_effort_limit/panda_joint6: 12
• /robot_config/joint_config/joint_effort_limit/panda_joint7: 12
• /robot_config/joint_config/joint_position_limit/lower/panda_joint1: -2.8973
• /robot_config/joint_config/joint_position_limit/lower/panda_joint2: -1.7628
• /robot_config/joint_config/joint_position_limit/lower/panda_joint3: -2.8973
• /robot_config/joint_config/joint_position_limit/lower/panda_joint4: -3.0718
• /robot_config/joint_config/joint_position_limit/lower/panda_joint5: -2.8973
• /robot_config/joint_config/joint_position_limit/lower/panda_joint6: -0.0175
• /robot_config/joint_config/joint_position_limit/lower/panda_joint7: -2.8973
• /robot_config/joint_config/joint_position_limit/upper/panda_joint1: 2.8973
• /robot_config/joint_config/joint_position_limit/upper/panda_joint2: 1.7628
• /robot_config/joint_config/joint_position_limit/upper/panda_joint3: 2.8973
• /robot_config/joint_config/joint_position_limit/upper/panda_joint4: -0.0698
• /robot_config/joint_config/joint_position_limit/upper/panda_joint5: 2.8973
• /robot_config/joint_config/joint_position_limit/upper/panda_joint6: 3.7525
• /robot_config/joint_config/joint_position_limit/upper/panda_joint7: 2.8973
• /robot_config/joint_config/joint_velocity_limit/panda_joint1: 2.175
• /robot_config/joint_config/joint_velocity_limit/panda_joint2: 2.175
• /robot_config/joint_config/joint_velocity_limit/panda_joint3: 2.175
• /robot_config/joint_config/joint_velocity_limit/panda_joint4: 2.175
• /robot_config/joint_config/joint_velocity_limit/panda_joint5: 2.61
• /robot_config/joint_config/joint_velocity_limit/panda_joint6: 2.61
• /robot_config/joint_config/joint_velocity_limit/panda_joint7: 2.61
• /robot_config/joint_names: ['panda_joint1', ...
• /robot_config/neutral_pose/panda_joint1: -0.0177920602278
• /robot_config/neutral_pose/panda_joint2: -0.760123541104
• /robot_config/neutral_pose/panda_joint3: 0.0197826070234
• /robot_config/neutral_pose/panda_joint4: -2.34205014054
• /robot_config/neutral_pose/panda_joint5: 0.0298405313558
• /robot_config/neutral_pose/panda_joint6: 1.54119352986
• /robot_config/neutral_pose/panda_joint7: 0.753448658975
• /robot_description: <?xml version="1....
• /rosdistro: melodic
• /rosversion: 1.14.11
• /use_sim_time: True

NODES / base_to_link0 (tf/static_transform_publisher) controller_spawner (controller_manager/controller_manager) controller_spawner_stopped (controller_manager/controller_manager) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gripper_action_server_emulator (panda_sim_custom_action_server/start_gripper_action_server.py) joint_trajectory_server_emulator (panda_sim_custom_action_server/start_joint_trajectory_server.py) panda_gripper_controller_spawner_stopped (controller_manager/controller_manager) robot_description (gazebo_ros/spawn_model) robot_state_publisher (robot_state_publisher/robot_state_publisher) startup_script (panda_gazebo/force_neutral_pose.py) topic_remap (topic_tools/relay) world_to_base (tf/static_transform_publisher)

auto-starting new master process[master]: started with pid [12645] ROS_MASTER_URI=http://localhost:11311

setting /run_id to a2a1954a-5fc0-11ec-8a29-04d4c45b62cf process[rosout-1]: started with pid [12679] started core service [/rosout] process[gazebo-2]: started with pid [12686] process[gazebo_gui-3]: started with pid [12691] process[robot_description-4]: started with pid [12698] process[base_to_link0-5]: started with pid [12699] process[world_to_base-6]: started with pid [12700] process[controller_spawner-7]: started with pid [12708] process[controller_spawner_stopped-8]: started with pid [12716] process[panda_gripper_controller_spawner_stopped-9]: started with pid [12734] process[robot_state_publisher-10]: started with pid [12753] process[topic_remap-11]: started with pid [12774] process[joint_trajectory_server_emulator-12]: started with pid [12793] process[gripper_action_server_emulator-13]: started with pid [12829] process[startup_script-14]: started with pid [12849] [ INFO] [1639804152.700658662]: Finished loading Gazebo ROS API Plugin. [ INFO] [1639804152.702818228]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1639804152.716822570]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1639804152.717852851]: Finished loading Gazebo ROS API Plugin. /home/apanrtx/.local/lib/python2.7/site-packages/quaternion/numba_wrapper.py:21: UserWarning:

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Could not import from numba, which means that some parts of this code may run MUCH more slowly. You may wish to install numba. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

warnings.warn(warning_text) /home/apanrtx/.local/lib/python2.7/site-packages/quaternion/numba_wrapper.py:21: UserWarning:

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Could not import from numba, which means that some parts of this code may run MUCH more slowly. You may wish to install numba. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

warnings.warn(warning_text) [ INFO] [1639804154.799223556]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1639804154.873947283]: Physics dynamic reconfigure ready. [ INFO] [1639804155.396664153]: ft_sensor plugin reporting wrench values to the frame [panda_link7] [ INFO] [1639804155.396711224]: imu plugin missing <gaussianNoise>, defaults to 0.0 [ INFO] [1639804155.419041116]: Loading gazebo_ros_control plugin [ INFO] [1639804155.422676439]: Starting gazebo_ros_control plugin in namespace: [ INFO] [1639804155.423273531]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. Segmentation fault (core dumped) [gazebo-2] process has died [pid 12686, exit code 139, cmd /home/apanrtx/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -u -e ode /home/apanrtx/catkin_ws/src/panda_simulator/panda_gazebo/worlds/panda.world __name:=gazebo __log:=/home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/gazebo-2.log]. log file: /home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/gazebo-2*.log [ERROR] [1639804156.394434, 0.000000]: SetModelConfiguration service failed. Exiting. [robot_description-4] process has died [pid 12698, exit code 1, cmd /home/apanrtx/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model -param robot_description -urdf -model panda -J panda::panda_joint1 0.000 -J panda::panda_joint2 -0.785 -J panda::panda_joint3 0.0 -J panda::panda_joint4 -2.356 -J panda::panda_joint5 0.0 -J panda::panda_joint6 1.57 -J panda::panda_joint7 0.785 __name:=robot_description __log:=/home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/robot_description-4.log]. log file: /home/apanrtx/.ros/log/a2a1954a-5fc0-11ec-8a29-04d4c45b62cf/robot_description-4*.log