Troubleshooting#
MacOS#
Unable to find urdf_model.h error#
After installing all the dependencies and starting the build process, you may encounter an error that looks like this:
/Users/user/citadel_ws/src/sdformat/src/parser_urdf.cc:30:10: fatal error: 'urdf_model/model.h' file not found
#include <urdf_model/model.h>
^~~~~~~~~~~~~~~~~~~~
1 error generated.
make[2]: *** [src/CMakeFiles/sdformat9.dir/parser_urdf.cc.o] Error 1
make[1]: *** [src/CMakeFiles/sdformat9.dir/all] Error 2
make: *** [all] Error 2
Failed <<< sdformat9 [ Exited with code 2 ]
First check if urdfdom and urdfdom_headers are installed by running:
brew install urdfdom urdfdom_headers
Then if the error persists, compile with the internal version of urdfdom by running:
colcon build --cmake-args -DUSE_INTERNAL_URDF=ON --merge-install
This command will ignore the system installation of urdfdom and use the internal version instead.
Unable to load .dylib file#
When running the ign gazebo -s command, an error like the one below may show up:
Error while loading the library [/Users/citadel/citadel_ws/install/lib//libignition-physics2-dartsim-plugin.2.dylib]: dlopen(/Users/citadel/citadel_ws/install/lib//libignition-physics2-dartsim-plugin.2.dylib, 5): Library not loaded: @rpath/libIrrXML.dylib
Referenced from: /usr/local/opt/assimp/lib/libassimp.5.dylib
Reason: image not found
[Err] [Physics.cc:275] Unable to load the /Users/citadel/citadel_ws/install/lib//libignition-physics2-dartsim-plugin.2.dylib library.
Escalating to SIGKILL on [Gazebo Sim Server]
The issue is related to OSX System Integrity Protection(SIP). The workaround is to run ign with a different ruby then make sure that ruby is loaded.
brew install ruby
# Add the following to ~/.bashrc
export PATH=/usr/local/Cellar/ruby/2.6.5/bin:$PATH
# Source ~/.bashrc in terminal
. ~/.bashrc
Ubuntu#
Out of memory issues#
There can be out of memory issue during the compilation of Gazebo, especially during compilation of gz-physics. To prevent out of memory issues you can restrict the number of jobs:
MAKEFLAGS="-j<Number of jobs> " colcon build --executor sequential
Unable to create the rendering window#
If you’re getting errors like “Unable to create the rendering window”, it could mean you’re using an old OpenGL version. Gazebo Sim uses the Ogre 2 rendering engine by default, which requires an OpenGL version higher than 3.3.
This can be confirmed by checking the Ogre 2 logs at ~/.ignition/rendering/ogre2.log,
which should have an error like:
“OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers.”
You can also check your OpenGL version running:
glxinfo | grep "OpenGL version"
You should be able to use Ogre 1 without any issues however. You can check if that’s working by running with Ogre 1 instead of Ogre 2, such as:
ign gazebo -v 3 shapes.sdf --render-engine ogre
If that loads, you can continue to use Ignition with Ogre 1, just use the
--render-engine ogre option.
To enable Ogre 2 support, you’ll need to update your computer’s OpenGL version. As suggested on the Ogre logs, this may require updating your graphics card drivers.
The Ogre 2 debs from the osrfoundation repository are built from a fork of
Ogre’s v2-1 branch with changes needed for deb packaging and allowing it to
be co-installable with Ogre 1.x. The code can be found here:
Ignition crashes when an actor is added to the world#
If you are trying to spawn an actor in your environment and you get an error like Assertion !pos.isNan() && "Invalid vector supplied as parameter"
means you are passing nan values to ogre.
To fix this you need to do export LC_NUMERIC="C" before running ign gazebo.