"XML Element[imuTransform], child of element[sensor] not defined in SDF." warning in startup

[osrf-migration]

Original report (archived issue) by Franky Lau (Bitbucket: frankylau).

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hi all,

Actually, this issue may relates to issue #6 & issue #9.
I never success to run the qual2.launch.
The "2 cores" issue is fixed after the controller updated to version 0.8.1.
I can see that the valkyrie moves to ready position (hands up to waist), but it drops to ground eventually (after start walking).

I find that there is some warnings when loading the model from valkyrie_sim_gazebo_sync.urdf:

#!c++

[INFO] [WallTime: 1481087069.059317] [0.000000] Calling service /gazebo/spawn_urdf_model
Warning [parser.cc:778] XML Element[imuTransform], child of element[sensor] not defined in SDF. Ignoring[imuTransform]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[node], child of element[sensor] not defined in SDF. Ignoring[node]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[api], child of element[sensor] not defined in SDF. Ignoring[api]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[port], child of element[sensor] not defined in SDF. Ignoring[port]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[imuTransform], child of element[sensor] not defined in SDF. Ignoring[imuTransform]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[node], child of element[sensor] not defined in SDF. Ignoring[node]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[api], child of element[sensor] not defined in SDF. Ignoring[api]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[port], child of element[sensor] not defined in SDF. Ignoring[port]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[sensor_number], child of element[sensor] not defined in SDF. Ignoring[sensor_number]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[node], child of element[sensor] not defined in SDF. Ignoring[node]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[api], child of element[sensor] not defined in SDF. Ignoring[api]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[sensor_number], child of element[sensor] not defined in SDF. Ignoring[sensor_number]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[node], child of element[sensor] not defined in SDF. Ignoring[node]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[api], child of element[sensor] not defined in SDF. Ignoring[api]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[imuTransform], child of element[sensor] not defined in SDF. Ignoring[imuTransform]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[node], child of element[sensor] not defined in SDF. Ignoring[node]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[api], child of element[sensor] not defined in SDF. Ignoring[api]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:778] XML Element[port], child of element[sensor] not defined in SDF. Ignoring[port]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.

and some other warnings afterwards:

#!c++


[Wrn] [msgs.cc:1793] Conversion of sensor type[imu] not suppported.
[Wrn] [msgs.cc:1793] Conversion of sensor type[imu] not suppported.
[Wrn] [msgs.cc:1793] Conversion of sensor type[imu] not suppported.
[Wrn] [msgs.cc:1793] Conversion of sensor type[imu] not suppported.
[Wrn] [msgs.cc:1793] Conversion of sensor type[multicamera] not suppported.
[Wrn] [msgs.cc:1793] Conversion of sensor type[gpu_ray] not suppported.
[Wrn] [msgs.cc:1793] Conversion of sensor type[force_torque] not suppported.
[Wrn] [msgs.cc:1793] Conversion of sensor type[force_torque] not suppported.

I am not sure these warnings are related to the cause of valkyrie drops or not.
Anyone can run the walking test that also have these warnings?

[osrf-migration]

Original comment by Jordan Lack (Bitbucket: jordanlack).

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These warnings are expected. We(NASA) put a bunch of extra tags in the URDF that we parse out, and the SDF parses complains about them, but it shouldn't actually cause a problem.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• Edited issue description* changed state from "new" to "resolved"

these are expected warning messages