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Spawning jaco2 in Gazebo: Error [Param.cc:452] Unable to set value [-nan -nan -nan] for key[size] #103

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tttor opened this issue Oct 10, 2017 · 6 comments

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commented Oct 10, 2017

running:

roslaunch kinova_gazebo robot_launch.launch

got:

Error [Param.cc:452] Unable to set value [-nan -nan -nan] for key[size]
gzclient: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed.
Aborted (core dumped)

diagnose

It seems that something is wrong in the xacro/urdf,
in this case, the default: j2n6s300_standalone.xacro

env

ROS Kinetic, Xenial
checking out from master, last commit 1bb9c19
Gazebo multi-robot simulator, version 7.8.1

@tttor

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commented Oct 10, 2017

As suggested in #102 and here
Have modified collision geometry in kinova_common.xacro and j2n6s300_standalone.xacro to

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size = "0.1 0.1 0.1"/>
      </geometry>
    </collision

but it still produces the same errors

@tttor

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commented Oct 10, 2017

Solved by modifying these 2 files:
(not only under collision tag, but also under visual tag too)

  1. kinova_common.xacro
<xacro:macro name="kinova_virtual_link" params="link_name">
        <link name="${link_name}">
            <visual>
                <geometry>
                    <box size = "0.00001 0.00001 0.00001"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <box size = "0.00001 0.00001 0.00001"/>
                </geometry>
            </collision>
        </link>
    </xacro:macro>
  1. j2n6s300_standalone.xacro
<link name="root">
   <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <box size = "0.00001 0.00001 0.00001"/>
     </geometry>
   <!--<material name="Black" /> -->
   </visual>

   <collision>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <box size = "0.00001 0.00001 0.00001"/>
     </geometry>
   </collision>
 </link>

@tttor tttor closed this Oct 10, 2017

@tttor tttor reopened this Oct 10, 2017

@martine1406

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commented Oct 23, 2017

thanks for your update. very useful for our ROS community. Do you still have an issue?

@tttor

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commented Oct 23, 2017

Hi,
No, this is not an issue anymore for me as the above solution works.
But, does the official kinova-ros team think so? or they have another solution?
The related files still have 0s in geometry tag, as in https://github.com/Kinovarobotics/kinova-ros/blob/master/kinova_description/urdf/kinova_common.xacro
Thank you.

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commented Oct 24, 2017

This is an issue in Ubuntu 16.04, but causes no error in 14.04. I think it is a good thing to keep in mind when the package will be ported to Ubuntu 16.04. Thank you for your contribution

@arquimides

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commented Apr 4, 2018

thanks tttor. Nice direct answer.

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