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using the MultiCopter motor Model control plugin causes a segmentation fault #2665

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3 of 18 tasks
torn8to opened this issue Nov 2, 2024 · 2 comments
Open
3 of 18 tasks

using the MultiCopter motor Model control plugin causes a segmentation fault #2665

torn8to opened this issue Nov 2, 2024 · 2 comments
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@torn8to
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torn8to commented Nov 2, 2024 •
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Environment

  • OS Version:Ubuntu 24.04

  • ros Version: Jammy

  • If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.

    • Rendering plugin: [ogre | ogre2].

      • Sensor rendering error.
      • GUI rendering error.

    • EGL headless mode:

      • Running in EGL headless mode

    • Generally, mention all circumstances that might affect rendering capabilities:

      • running on a dual GPU machine (integrated GPU + discrete GPU)
      • running on a multi-GPU machine (it has multiple discrete GPUs)
      • running on real hardware
      • running in virtual machine
      • running in Docker/Singularity
      • running remotely (e.g. via SSH)
      • running in a cloud
      • using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
      • GPU is concurrently used for other tasks
        • desktop acceleration
        • video decoding (i.e. a playing Youtube video)
        • video encoding
        • CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
        • multiple simulators running at the same time
      • other...

    • Rendering system info:

      • On Linux, provide the outputs of the following commands: 
        LANG=C lspci -nn | grep VGA  # might require installing pciutils
echo "$DISPLAY"
LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'  # might require installing mesa-utils package
ps aux | grep Xorg
sudo env LANG=C X -version  # if you don't have root access, try to tell the version of Xorg e.g. via package manager

ouput of above command

1:00.0 VGA compatible controller [0300]: NVIDIA Corporation GA106M [GeForce RTX 3060 Mobile / Max-Q] [10de:2560] (rev a1)
05:00.0 VGA compatible controller [0300]: Advanced Micro Devices, Inc. [AMD/ATI] Rembrandt [Radeon 680M] [1002:1681] (rev c8)
:1
direct rendering: Yes
OpenGL vendor string: NVIDIA Corporation
OpenGL renderer string: NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2
OpenGL core profile version string: 4.6.0 NVIDIA 555.58.02
OpenGL core profile shading language version string: 4.60 NVIDIA
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL version string: 4.6.0 NVIDIA 555.58.02
OpenGL shading language version string: 4.60 NVIDIA
OpenGL context flags: (none)
OpenGL profile mask: (none)
OpenGL ES profile version string: OpenGL ES 3.2 NVIDIA 555.58.02
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
nathan      3754  1.8  1.5 26525984 247304 tty2  Sl+  08:16  15:14 /usr/lib/xorg/Xorg vt2 -displayfd 3 -auth /run/user/1000/gdm/Xauthority -nolisten tcp -background none -noreset -keeptty -novtswitch -verbose 3
nathan    100248  0.0  0.0   9468  2176 pts/3    S+   21:42   0:00 grep --color=auto Xorg
[sudo] password for nathan: 

X.Org X Server 1.21.1.11
X Protocol Version 11, Revision 0
Current Operating System: Linux nathan-Legion-5-15ARH7H 6.5.0-45-generic #45~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Jul 15 16:40:02 UTC 2 x86_64
Kernel command line: BOOT_IMAGE=/boot/vmlinuz-6.5.0-45-generic root=UUID=19cbb4a0-baff-4b69-8a22-c54371589d1b ro quiet splash vt.handoff=7
xorg-server 2:21.1.12-1ubuntu1.1 (For technical support please see http://www.ubuntu.com/support) 
Current version of pixman: 0.42.2
	Before reporting problems, check http://wiki.x.org
	to make sure that you have the latest version.
[INFO] [launch]: All log files can be found below /home/nathan/.ros/log/2024-11-01-21-20-59-333501-nathan-Legion-5-15ARH7H-90336
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [90349]
[ruby $(which gz) sim-1] [Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
[ruby $(which gz) sim-1] [Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
[ruby $(which gz) sim-1] [Msg] Received world [drone_sim.sdf] from the GUI.
[ruby $(which gz) sim-1] [Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
[ruby $(which gz) sim-1] [Msg] Gazebo Sim Server v8.6.0
[ruby $(which gz) sim-1] [Msg] Loading SDF world file[/home/nathan/jazzy_ws/src/sj_demo_gazebo/resource/drone_sim.sdf].
[ruby $(which gz) sim-1] Warning [Utils.cc:132] [/sdf/model[@name="M100"]/link[@name="base_link"]/sensor[@name="air_pressure"]/air_pressure/noise:/home/nathan/.gz/fuel/fuel.gazebosim.org/openrobotics/models/cerberus_m100_sensor_config_1/10/model.sdf:L173]: XML Element[noise], child of element[air_pressure], not defined in SDF. Copying[noise] as children of [air_pressure].
[ruby $(which gz) sim-1] [Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[ruby $(which gz) sim-1] [Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Red
[ruby $(which gz) sim-1] [Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[ruby $(which gz) sim-1] [Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Blue
[ruby $(which gz) sim-1] [Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[ruby $(which gz) sim-1] [Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Red
[ruby $(which gz) sim-1] [Wrn] [SdfEntityCreator.cc:808] Gazebo does not support Ogre material scripts. See https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials for details.
[ruby $(which gz) sim-1] [Wrn] [SdfEntityCreator.cc:824] Using an internal gazebo.material to parse Gazebo/Blue
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:413:17: QML ToolButton: Binding loop detected for property "implicitHeight"
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:309:21: QML Button: Binding loop detected for property "implicitHeight"
[ruby $(which gz) sim-1] [GUI] [Wrn] [WorldControl.cc:124] Ignoring service [/world/world_demo/control], world name different from [drone_sim_world]. Fix or remove your <service> tag.
[ruby $(which gz) sim-1] [GUI] [Wrn] [WorldControl.cc:201] Ignoring topic [/world/world_demo/stats], world name different from [drone_sim_world]. Fix or remove your <stats_topic> tag.
[ruby $(which gz) sim-1] [GUI] [Wrn] [WorldStats.cc:121] Ignoring topic [/world/world_demo/stats], world name different from [drone_sim_world]. Fix or remove your <topic> tag.
[ruby $(which gz) sim-1] [GUI] [Wrn] [Application.cc:908] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[ruby $(which gz) sim-1] [Msg] Gazebo Sim GUI    v8.6.0
[ruby $(which gz) sim-1] [Dbg] [Gui.cc:263] Waiting for subscribers to [/gazebo/starting_world]...
[ruby $(which gz) sim-1] [Dbg] [Application.cc:96] Initializing application.
[ruby $(which gz) sim-1] [Dbg] [Application.cc:170] Qt using OpenGL graphics interface
[ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:657] Create main window
[ruby $(which gz) sim-1] [GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
[ruby $(which gz) sim-1] [GUI] [Dbg] [Gui.cc:343] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which gz) sim-1] [GUI] [Dbg] [PathManager.cc:57] Received resource paths.
[ruby $(which gz) sim-1] [GUI] [Dbg] [Gui.cc:401] Requesting GUI from [/world/drone_sim_world/gui/info]...
[ruby $(which gz) sim-1] [GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/drone_sim_world/state]...
[ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [MinimalScene]
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [3D View] to main window
[ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so]
[ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [GzSceneManager]
[ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Scene Manager] to main window
[ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libGzSceneManager.so]
[ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldControl]
[ruby $(which gz) sim-1] [GUI] [Msg] Using world control service [/world/drone_sim_world/control]
[ruby $(which gz) sim-1] [GUI] [Msg] Listening to stats on [/world/drone_sim_world/stats]
[ruby $(which gz) sim-1] [GUI] [Dbg] [WorldControl.cc:237] Using an event to share WorldControl msgs with the server
[ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [World control] to main window
[ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [WorldControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldControl.so]
[ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldStats]
[ruby $(which gz) sim-1] [GUI] [Msg] Listening to stats on [/world/drone_sim_world/stats]
[ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [World stats] to main window
[ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [WorldStats] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldStats.so]
[ruby $(which gz) sim-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which gz) sim-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which gz) sim-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which gz) sim-1] Stack trace (most recent call last):
[ruby $(which gz) sim-1] #30   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[ruby $(which gz) sim-1] #29   Object "gz sim server", at 0x5d4f93b011d4, in _start
[ruby $(which gz) sim-1] #28   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x76c0e842a28a, in __libc_start_main
[ruby $(which gz) sim-1] #27   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x76c0e842a1c9, in 
[ruby $(which gz) sim-1] #26   Object "gz sim server", at 0x5d4f93b01186, in 
[ruby $(which gz) sim-1] #25   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e88b9192, in ruby_run_node
[ruby $(which gz) sim-1] #24   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e88b4e5b, in 
[ruby $(which gz) sim-1] #23   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a57b39, in rb_vm_exec
[ruby $(which gz) sim-1] #22   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a545db, in 
[ruby $(which gz) sim-1] #21   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a500fe, in 
[ruby $(which gz) sim-1] #20   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a4d8ef, in 
[ruby $(which gz) sim-1] #19   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e898e099, in 
[ruby $(which gz) sim-1] #18   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e88b7216, in rb_protect
[ruby $(which gz) sim-1] #17   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a5c2c9, in rb_yield
[ruby $(which gz) sim-1] #16   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a57b39, in rb_vm_exec
[ruby $(which gz) sim-1] #15   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a545db, in 
[ruby $(which gz) sim-1] #14   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a500fe, in 
[ruby $(which gz) sim-1] #13   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a4d8ef, in 
[ruby $(which gz) sim-1] #12   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x76c0e83d7b13, in 
[ruby $(which gz) sim-1] #11   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x76c0e8a163bb, in rb_nogvl
[ruby $(which gz) sim-1] #10   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x76c0e83d743b, in 
[ruby $(which gz) sim-1] #9    Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x76c0e389b0bd, in ffi_call
[ruby $(which gz) sim-1] #8    Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x76c0e38983ee, in 
[ruby $(which gz) sim-1] #7    Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x76c0e389bb15, in 
[ruby $(which gz) sim-1] #6    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8-gz.so.8.6.0", at 0x76c0e36f58ff, in runServer
[ruby $(which gz) sim-1] #5    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x76c0e2541fa7, in 
[ruby $(which gz) sim-1] #4    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x76c0e25506e6, in gz::sim::v8::SimulationRunner::Run(unsigned long)
[ruby $(which gz) sim-1] #3    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x76c0e254fd41, in gz::sim::v8::SimulationRunner::Step(gz::sim::v8::UpdateInfo const&)
[ruby $(which gz) sim-1] #2    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x76c0e254def1, in gz::sim::v8::SimulationRunner::UpdateSystems()
[ruby $(which gz) sim-1] #1    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-multicopter-motor-model-system.so", at 0x76c0d820f85c, in gz::sim::v8::systems::MulticopterMotorModel::PreUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager&)
[ruby $(which gz) sim-1] #0    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x76c0e35685e0, in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_assign(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ruby $(which gz) sim-1] Segmentation fault (Address not mapped to object [0x10])
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[ruby $(which gz) sim-1] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:749] Create scene [scene]
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:1037] Creating texture node render interface for OpenGL
[ruby $(which gz) sim-1] [GUI] [Dbg] [SignalHandler.cc:142] Received signal[2].
[ruby $(which gz) sim-1] [GUI] [Dbg] [Gui.cc:523] Shutting down gz-sim-gui
[ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:237] Terminating application.
[ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:841] Destroy scene [scene]
[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 90349]
[INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system

Description

  • Expected behavior: Simulation Boots with motor control plugin simila to the demo quadcopter teleop
  • Actual behavior: Crashes with a segfault upon loading

Steps to reproduce

  1. recreate_ xml file
<?xml version='1.0'?>
<sdf version="1.8">
    <world name="drone_sim_world">
        <physics name="1ms" type="ignored">
	    <max_step_size>0.001</max_step_size>
	    <real_time_factor>1.0</real_time_factor>
	</physics>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin><gui>
  <plugin filename="MinimalScene" name="3D View">
  <gz-gui>
    <title>3D View</title>
    <property type="bool" key="showTitleBar">True</property>
    <property type="string" key="state">docked</property>
  </gz-gui>

  <engine>ogre2</engine>
  <scene>scene</scene>
  <ambient_light>0.4 0.4 0.4</ambient_light>
  <background_color>0.8 0.8 0.8</background_color>
  <camera_pose>-6 0 6 0 0.5 0</camera_pose>
  <camera_clip>
    <near>0.25</near>
    <far>25000</far>
  </camera_clip>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
  <gz-gui>
    <property key="resizable" type="bool">false</property>
    <property key="width" type="double">5</property>
    <property key="height" type="double">5</property>
    <property key="state" type="string">floating</property>
    <property key="showTitleBar" type="bool">false</property>
  </gz-gui>
</plugin>
	    <plugin filename="WorldControl" name="World control">
            <gz-gui>
		<title>World control</title>
		<property type="bool" key="showTitleBar">false</property>
		<property type="bool" key="resizable">false</property>
		<property type="double" key="height">72</property>
		<property type="double" key="width">121</property>
		<property type="double" key="z">1</property>
		<property type="string" key="state">floating</property>
		<anchors target="3D View">
		<line own="left" target="left"/>
		<line own="bottom" target="bottom"/>
		</anchors>
		</gz-gui>

		<play_pause>true</play_pause>
		<step>true</step>
		<start_paused>true</start_paused>
		<service>/world/world_demo/control</service>
		<stats_topic>/world/world_demo/stats</stats_topic>
	    </plugin>		
	   <plugin filename="WorldStats" name="World stats">
    <gz-gui>
        <title>World stats</title>
        <property type="bool" key="showTitleBar">false</property>
        <property type="bool" key="resizable">false</property>
        <property type="double" key="height">110</property>
        <property type="double" key="width">290</property>
        <property type="double" key="z">1</property>

        <property type="string" key="state">floating</property>
        <anchors target="3D View">
        <line own="right" target="right"/>
        <line own="bottom" target="bottom"/>
        </anchors>
    </gz-gui>

    <sim_time>true</sim_time>
    <real_time>true</real_time>
    <real_time_factor>true</real_time_factor>
    <iterations>true</iterations>
    <topic>/world/world_demo/stats</topic>

</plugin>
	    <!--<plugin filename="EntityTree" name="Entity tree"></plugin>-->
	    </gui>
	  <light type="directional" name="sun">
	    <cast_shadows>true</cast_shadows>
	    <pose>0 0 10 0 0 0</pose>
	    <diffuse>0.8 0.8 0.8 1</diffuse>
	    <specular>0.2 0.2 0.2 1</specular>
	    <attenuation>
		<range>1000</range>
		<constant>0.9</constant>
		<linear>0.01</linear>
	    <quadratic>0.001</quadratic>
	    </attenuation>
	<direction>-0.5 0.1 -0.9</direction>
    </light>
	<include>
	    <name>ionic</name>
	    <pose>0 0 0 0 0 0</pose>
	    <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ionic Interior</uri>
	    </include>
	<include>
	    <pose>0 0 .5 0 0 0</pose>
	    <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/CERBERUS_M100_SENSOR_CONFIG_1</uri>
	    <plugin 
		filename="gz-sim-multicopter-motor-model-system"
		name="gz::sim::systems::MulticopterMotorModel">
		<robotNamespace>M100</robotNamespace>
		<jointName>M100/rotor_0_joint</jointName>
		<linkName>M100/rotor_0</linkName>
		<turningDirection>ccw</turningDirection>
		<timeConstantUp>0.0125</timeConstantUp>
		<timeConstantDown>0.025</timeConstantDown>
		<maxRotVelocity>800.0</maxRotVelocity>
		<motorConstant>8.54858e-06</motorConstant>
		<momentConstant>0.016</momentConstant>
		<commandSubTopic>gazebo/comannd/motor_speed</commandSubTopic>
		<actuator_number>1</actuator_number>
		<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
		<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
		<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
		<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
		<motorType>velocity</motorType>
	    </plugin>
	    <!--<plugin
		filename="gz-sim-multicopter-motor-model-system"
		name="gz::sim::systems::MulticopterMotorModel">
		<robotNamespace>drone</robotNamespace>
		<jointName>drone/rotor_1_joint</jointName>
		<linkName>drone/rotor_1</linkName>
		<turningDirection>ccw</turningDirection>
		<timeConstantUp>0.0125</timeConstantUp>
		<timeConstantDown>0.025</timeConstantDown>
		<maxRotVelocity>800.0</maxRotVelocity>
		<motorConstant>8.5458e-06</motorConstant>
		<momentConstant>0.016</momentConstant>
		<commandSubTopic>gazebo/comannd/motor_speed</commandSubTopic>
		<actuator_number>2</actuator_number>
		<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
		<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
		<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
		<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
		<motorType>velocity</motorType>
	    </plugin>
	    <plugin
		filename="gz-sim-multicopter-motor-model-system"
		name="gz::sim::systems::MulticopterMotorModel">
		<robotNamespace>drone</robotNamespace>
		<jointName>drone/rotor_2_joint</jointName>
		<linkName>drone/rotor_2</linkName>
		<turningDirection>cw</turningDirection>
		<timeConstantUp>0.0125</timeConstantUp>
		<timeConstantDown>0.025</timeConstantDown>
		<maxRotVelocity>800.0</maxRotVelocity>
		<motorConstant>8.54858e-06</motorConstant>
		<momentConstant>0.016</momentConstant>
		<commandSubTopic>gazebo/comannd/motor_speed</commandSubTopic>
		<actuator_number>3</actuator_number>
		<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
		<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
		<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
		<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
		<motorType>velocity</motorType>
	    </plugin>
	    <plugin
		filename="gz-sim-multicopter-motor-model-system"
		name="gz::sim::systems::MulticopterMotorModel">
		<robotNamespace>drone</robotNamespace>
		<jointName>drone/rotor_3_joint</jointName>
		<linkName>drone/rotor_3</linkName>
		<turningDirection>cw</turningDirection>
		<timeConstantUp>0.0125</timeConstantUp>
		<timeConstantDown>0.025</timeConstantDown>
		<maxRotVelocity></maxRotVelocity>
		<motorConstant></motorConstant>
		<momentConstant></momentConstant>
		<commandSubTopic>0.016</commandSubTopic>
		<actuator_number>1</actuator_number>
		<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
		<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
		<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
		<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
		<motorType>velocity</motorType>
		</plugin>-->
    </include>
	</world>
</sdf>
  1. launched using this command 
      ros2 launch ros_gz_sim gz_sim.launch.py  gz_args:=" -v 4 drone_sim.sdf"

Output

console output provided above
@torn8to torn8to added the bug Something isn't working label Nov 2, 2024
@iche033 iche033 mentioned this issue Nov 4, 2024
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@iche033
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iche033 commented Nov 4, 2024 •
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Gazebo crashed because it couldn't find the specified link. Can you try changing the joint and link names to:

		<jointName>rotor_0_joint</jointName>
		<linkName>rotor_0</linkName>

There was a recent fix to prevent the crash but targeted at Ionic. I just backported it to Harmonic, which is used by Jazzy. #2666

@torn8to
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torn8to commented Nov 5, 2024

ah big thanks thanks for the changes and the info

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