Gazebo 7.9 and OpenCV

[duwke]

The Getting Started instructions "Using UUV Simulator with ROS Kinetic and Gazebo 7" seem to have a couple of issues, and we have narrowed them down to problems with Gazebo 7.9 and OpenCV. First, to get uuv_simulator to build, we had to make the changes as described here:

https://github.com/ros-perception/vision_opencv/issues/193 https://github.com/opencv/opencv/pull/10299

We updated the opencv make file as described above, and it did build to completion. We assume your project is waiting on that same pull request.

I have catkin installed, so I built with "catkin build," but when trying to launch the samples, I got the following:

$ roslaunch uuv_descriptions empty_underwater_world.launch [empty_underwater_world.launch] is neither a launch file in package [uuv_descriptions] nor is [uuv_descriptions] a launch file name The traceback for the exception was written to the log file

I tried the following, with no change: https://uuvsimulator.github.io/faq.html#after-running-catkin-build-i-still-can-t-start-any-nodes-or-launch-files. I did notice there was no install directory. Instead, I used the catkin_make install, and gazebo did launch.

Unfortunately, it seems some models fail to load: roslaunch uuv_descriptions ocean_waves.launch roslaunch uuv_descriptions empty_underwater_world.launch Similar screen shots in 7.8.1 (recompiled from source)

I am unable to get the RexROV to launch.

Let me know if you would like any log files.

[musamarcusso]

Hi @duwke, I actually had similar things happening yesterday while helping a colleague install the simulation. I am not at the office at the moment, but I will have a closer look into it as soon as I can.

[musamarcusso]

Short question: did you source the devel/setup.bash after compilation? Log files would also be great to understand the problem :)

[duwke]

What logs would you like? I built 7.8.1, so I'll need to get back to 7.9

[musamarcusso]

I am still looking into the OpenCV issue, but if you could send log files on failing to launch RexROV that would be great. I made a pull request #167 to avoid having the build crash because of the dependency of the camera plugins with OpenCV, but I am still looking into the issue with Gazebo as well.

[duwke]

RexRov model looks fine, just the water looks incorrect.
I used the following commands: roslaunch uuv_descriptions ocean_waves.launch roslaunch uuv_descriptions upload_rexrov.launch x:=0 y:=0 z:=-20 mode:=default namespace:=rexrov

Here are my log files master.log publish_world_models-4.log rexrov-urdf_spawner-1.log roslaunch-duwke-21067.log roslaunch-duwke-21605.log rosout.log