Inertia error when running experiment via roslaunch

[erdisayar]

Hi,

When I try to run roslaunch flightros rotors_gazebo.launch , I am gettting the following errors.

• [ERROR] [1641380685.118407413]: Couldn't open joystick /dev/input/js0. Will retry every second.

• gzserver: /var/lib/jenkins/workspace/gazebo9-debbuilder/build/gazebo-9.19.0/gazebo/physics/ode/ODELink.cc:443: virtual ignition::math::v4::Vector3d gazebo::physics::ODELink::WorldLinearVel(const Vector3d&) const: Assertion (this->inertial != nullptr)&& ("Inertial pointer is null")' failed. Aborted (core dumped)

Any idea how to fix these errors ?

Here is the complete log.

process[gazebo-1]: started with pid [20731] process[gazebo_gui-2]: started with pid [20736] process[hummingbird/spawn_hummingbird-3]: started with pid [20741] process[hummingbird/rpg_rotors_interface-4]: started with pid [20742] process[hummingbird/rpg_flightmare_render-5]: started with pid [20747] process[hummingbird/autopilot-6]: started with pid [20749] process[hummingbird/flight_pilot_node-7]: started with pid [20752] [ INFO] [1641380572.425707194]: [/hummingbird/autopilot] state_predictor/integration_step_size = 0.001 [ INFO] [1641380572.426416325]: [/hummingbird/autopilot] state_predictor/maximum_prediction_horizon = 0.1 [ INFO] [1641380572.426786358]: [/hummingbird/autopilot] state_predictor/tau_thrust_up_dynamics = 0.03 [ INFO] [1641380572.427081519]: [/hummingbird/autopilot] state_predictor/tau_thrust_down_dynamics = 0.03 [ INFO] [1641380572.427369604]: [/hummingbird/autopilot] state_predictor/tau_angle_rate_dynamics = 0.04 [ INFO] [1641380572.427666458]: [/hummingbird/autopilot] state_estimate_timeout = 0.1 [ INFO] [1641380572.427960105]: [/hummingbird/autopilot] velocity_estimate_in_world_frame = 0 [ INFO] [1641380572.428253481]: [/hummingbird/autopilot] control_command_delay = 0.05 [ INFO] [1641380572.428530939]: [/hummingbird/autopilot] start_land_velocity = 0.5 [ INFO] [1641380572.428804783]: [/hummingbird/autopilot] start_land_acceleration = 1 [ INFO] [1641380572.429080299]: [/hummingbird/autopilot] start_idle_duration = 2 [ INFO] [1641380572.429371520]: [/hummingbird/autopilot] idle_thrust = 2 [ INFO] [1641380572.429648125]: [/hummingbird/autopilot] optitrack_start_height = 1 [ INFO] [1641380572.429933847]: [/hummingbird/autopilot] optitrack_start_land_timeout = 5 [ INFO] [1641380572.430248222]: [/hummingbird/autopilot] optitrack_land_drop_height = 0.3 [ INFO] [1641380572.430580629]: [/hummingbird/autopilot] propeller_ramp_down_timeout = 1.5 [ INFO] [1641380572.430913085]: [/hummingbird/autopilot] breaking_velocity_threshold = 0.2 [ INFO] [1641380572.431246571]: [/hummingbird/autopilot] breaking_timeout = 0.5 [ INFO] [1641380572.431565509]: [/hummingbird/autopilot] go_to_pose_max_velocity = 1.5 [ INFO] [1641380572.431860960]: [/hummingbird/autopilot] go_to_pose_max_normalized_thrust = 12 [ INFO] [1641380572.432164331]: [/hummingbird/autopilot] go_to_pose_max_roll_pitch_rate = 0.5 [ INFO] [1641380572.432489041]: [/hummingbird/autopilot] velocity_command_input_timeout = 0.1 [ INFO] [1641380572.432801179]: [/hummingbird/autopilot] tau_velocity_command = 0.8 [ INFO] [1641380572.433145232]: [/hummingbird/autopilot] reference_state_input_timeout = 0.1 [ INFO] [1641380572.433533796]: [/hummingbird/autopilot] emergency_land_duration = 4 [ INFO] [1641380572.433929131]: [/hummingbird/autopilot] emergency_land_thrust = 9 process[hummingbird/joy_node-8]: started with pid [20757] [ INFO] [1641380572.435054084]: [/hummingbird/autopilot] control_command_input_timeout = 0.1 [ INFO] [1641380572.436134964]: [/hummingbird/autopilot] enable_command_feedthrough = 0 [ INFO] [1641380572.436432440]: [/hummingbird/autopilot] predictive_control_lookahead = 2 [ INFO] [1641380572.436779466]: [/hummingbird/autopilot] position_controller/use_rate_mode = 1 [ INFO] [1641380572.437104075]: [/hummingbird/autopilot] position_controller/kpxy = 10 [ INFO] [1641380572.437486157]: [/hummingbird/autopilot] position_controller/kdxy = 4 [ INFO] [1641380572.437806109]: [/hummingbird/autopilot] position_controller/kpz = 15 [ INFO] [1641380572.438111577]: [/hummingbird/autopilot] position_controller/kdz = 6 [ INFO] [1641380572.438442412]: [/hummingbird/autopilot] position_controller/krp = 12 [ INFO] [1641380572.438812244]: [/hummingbird/autopilot] position_controller/kyaw = 5 [ INFO] [1641380572.439069153]: [/hummingbird/autopilot] position_controller/pxy_error_max = 0.6 [ INFO] [1641380572.439337253]: [/hummingbird/autopilot] position_controller/vxy_error_max = 1 [ INFO] [1641380572.439578317]: [/hummingbird/autopilot] position_controller/pz_error_max = 0.3 [ INFO] [1641380572.439989274]: [/hummingbird/autopilot] position_controller/vz_error_max = 0.75 [ INFO] [1641380572.440327945]: [/hummingbird/autopilot] position_controller/yaw_error_max = 0.7 [ INFO] [1641380572.440947112]: [/hummingbird/autopilot] position_controller/perform_aerodynamics_compensation = 0 [ INFO] [1641380572.441872288]: [/hummingbird/autopilot] position_controller/k_drag_x = 0 [ INFO] [1641380572.442236385]: [/hummingbird/autopilot] position_controller/k_drag_y = 0 [ INFO] [1641380572.442753364]: [/hummingbird/autopilot] position_controller/k_drag_z = 0 [ INFO] [1641380572.443532423]: [/hummingbird/autopilot] position_controller/k_thrust_horz = 0 process[hummingbird/manual_flight_assistant-9]: started with pid [20763] [ INFO] [1641380572.447168247]: [/hummingbird/flight_pilot_node] main_loop_freq = 50 [ INFO] [1641380572.449442947]: [/hummingbird/flight_pilot_node] unity_render = 1 [ INFO] [1641380572.449469096]: [/hummingbird/flight_pilot_node] Loaded all parameters. 1 0 0 0 1 0 0 0 1 process[hummingbird/rqt_quad_gui-10]: started with pid [20769] [ INFO] [1641380572.464283763]: [/hummingbird/manual_flight_assistant] joypad_timeout = 0.5 [ERROR] [1641380572.465126244]: Couldn't open joystick /dev/input/js0. Will retry every second. [ INFO] [1641380572.466669639]: [/hummingbird/manual_flight_assistant] sbus_timeout = 0.5 [ INFO] [1641380572.467283957]: [/hummingbird/manual_flight_assistant] joypad_axes_zero_tolerance = 0.05 [ INFO] [1641380572.467759191]: [/hummingbird/manual_flight_assistant] sbus_axes_zero_tolerance = 10 [ INFO] [1641380572.468009399]: [/hummingbird/manual_flight_assistant] vmax_xy = 1.5 [ INFO] [1641380572.468437856]: [/hummingbird/manual_flight_assistant] vmax_z = 0.7 [ INFO] [1641380572.468844244]: [/hummingbird/manual_flight_assistant] rmax_yaw = 1.5 [ INFO] [1641380572.741706700]: Finished loading Gazebo ROS API Plugin. [ INFO] [1641380572.742920371]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1641380572.815075805]: Finished loading Gazebo ROS API Plugin. [ INFO] [1641380572.817270019]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1641380573.175679283]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1641380573.183838, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1641380573.199350, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1641380573.203725, 0.000000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1641380573.214423721]: Physics dynamic reconfigure ready. [INFO] [1641380573.413115, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity [hummingbird/spawn_hummingbird-3] process has finished cleanly log file: /home/nrp/.ros/log/84d662dc-6715-11ec-906d-8c04ba98a864/hummingbird-spawn_hummingbird-3*.log gzserver: /var/lib/jenkins/workspace/gazebo9-debbuilder/build/gazebo-9.19.0/gazebo/physics/ode/ODELink.cc:443: virtual ignition::math::v4::Vector3d gazebo::physics::ODELink::WorldLinearVel(const Vector3d&) const: Assertion `(this->inertial != nullptr)&&("Inertial pointer is null")' failed. Aborted (core dumped) [gazebo-1] process has died [pid 20731, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -u -e ode /home/nrp/catkin_ws/src/rotors_simulator/rotors_gazebo/worlds/basic.world __name:=gazebo __log:=/home/nrp/.ros/log/84d662dc-6715-11ec-906d-8c04ba98a864/gazebo-1.log]. log file: /home/nrp/.ros/log/84d662dc-6715-11ec-906d-8c04ba98a864/gazebo-1*.log

[DennisWangCW]

same issue. any solutions?