gazebo_ros: Wait spawning Gazebo Model until ros::Time::now() is not 0. #1024

marcin-sielski · 2019-12-17T16:27:39Z

Why:

Plugin incorrectly sends failure status message.

This change addresses the need by:

Looping over ros::Time::now() until non-zero is returned.

Why: * Plugin incorrectly sends failure status message. This change addresses the need by: * Looping over ros::Time::now() until non-zero is returned.

chapulina · 2019-12-23T23:12:41Z

gazebo_ros/src/gazebo_ros_api_plugin.cpp

@@ -2660,6 +2660,8 @@ bool GazeboRosApiPlugin::spawnAndConform(TiXmlDocument &gazebo_model_xml, const

  /// \brief poll and wait, verify that the model is spawned within Hardcoded 10 seconds
  ros::Duration model_spawn_timeout(10.0);
+  /// Wait until time can be read.
+  while (ros::Time::now().is_zero());


If simulation is started paused, this line will hang until simulation starts running. I'm not sure if this is desired.

It might make more sense to switch this to be wall time not ROS time. I'm assuming this is resource contention based and not simulation time passing. Then we won't need to worry about whether ROS time is initialized.

As far as I understand the comment form @spark4160 it is related to simulation time passing.

Where would I find the file gazebo_ros_api_plugin?

https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_ros/src/gazebo_ros_api_plugin.cpp

I installed gazebo ros packages using sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control and I can not find this directory!

Where would I find the file on melodic distribution?

@hichamhendy did you find a solution for this

No, I skipped it!!

I checked the terminal that launched my gazebo world and found the errors that I needed to fix there. So if the URDF file has any issues, it doesn't load and times out.

spark4160 · 2020-04-23T06:02:42Z

I encountered this problem while spawning models as gazebo starts using worlds that had the sim_time, real_time and wall_time tags in the world definition set to positive values. This meant the timeout variable was getting set when ros::Time::now() was returning 0 but as soon as the world actually started, the clock would skip forward to the defined sim_time and the spawn would immediately time out.

It's not a solution to this issue as the spawn model service should handle this case, but if you're reading this, check the sim_time of your world.

See ros-simulation/gazebo_ros_pkgs#1024 (comment)

grassjelly · 2020-05-07T20:14:19Z

I encountered this problem while spawning models as gazebo starts using worlds that had the sim_time, real_time and wall_time tags in the world definition set to positive values. This meant the timeout variable was getting set when ros::Time::now() was returning 0 but as soon as the world actually started, the clock would skip forward to the defined sim_time and the spawn would immediately time out.

It's not a solution to this issue as the spawn model service should handle this case, but if you're reading this, check the sim_time of your world.

This worked for me

kvnptl · 2021-03-20T14:33:30Z

I encountered this problem while spawning models as gazebo starts using worlds that had the sim_time, real_time and wall_time tags in the world definition set to positive values. This meant the timeout variable was getting set when ros::Time::now() was returning 0 but as soon as the world actually started, the clock would skip forward to the defined sim_time and the spawn would immediately time out.

It's not a solution to this issue as the spawn model service should handle this case, but if you're reading this, check the sim_time of your world.

Setting sim_time to 0, fixed my problem

roboticlemon · 2021-06-09T10:12:04Z

Changing sim_time in my .world file also fixed this issue for me.

rk800506 · 2021-07-23T11:34:45Z

Changing sim_time in my .world file also fixed this issue for me.

can u just show where did you set the 'sim_time' .. image of part of the world file

kvnptl · 2021-07-24T04:49:53Z

Changing sim_time in my .world file also fixed this issue for me.

can u just show where did you set the 'sim_time' .. image of part of the world file

check your world file,

rk800506 · 2021-07-24T04:54:55Z

Changing sim_time in my .world file also fixed this issue for me.

can u just show where did you set the 'sim_time' .. image of part of the world file

check your world file,

thanks a lot.

SwastikNandan · 2022-03-09T08:25:01Z

This was both helpful and inciteful.

SwastikNandan · 2022-03-09T08:26:07Z

I encountered this problem while spawning models as gazebo starts using worlds that had the sim_time, real_time and wall_time tags in the world definition set to positive values. This meant the timeout variable was getting set when ros::Time::now() was returning 0 but as soon as the world actually started, the clock would skip forward to the defined sim_time and the spawn would immediately time out.

It's not a solution to this issue as the spawn model service should handle this case, but if you're reading this, check the sim_time of your world.

This was helpful. It worked like magic!

gazebo_ros: Wait spawning Gazebo Model until ros::Time::now() is not 0.

1b7c159

Why: * Plugin incorrectly sends failure status message. This change addresses the need by: * Looping over ros::Time::now() until non-zero is returned.

chapulina reviewed Dec 23, 2019

View reviewed changes

mdepp added a commit to UofA-SPEAR/software that referenced this pull request May 1, 2020

Possibly fix robot spawn timeout issues

b5de153

See ros-simulation/gazebo_ros_pkgs#1024 (comment)

lilustga mentioned this pull request Aug 21, 2020

Added a wait until ros::Time is not zero to fix timeout issue. ms-iot/gazebo_ros_pkgs#2

Merged

kjyothiswaroop mentioned this pull request Aug 19, 2021

Problem while trying to spawn a Turtlebot3 LTU-RAI/gazebo_cave_world#3

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gazebo_ros: Wait spawning Gazebo Model until ros::Time::now() is not 0. #1024

gazebo_ros: Wait spawning Gazebo Model until ros::Time::now() is not 0. #1024

marcin-sielski commented Dec 17, 2019

chapulina Dec 23, 2019

tfoote Jan 9, 2020

marcin-sielski Feb 28, 2021

hichamhendy Jun 11, 2021

marcin-sielski Jun 12, 2021

hichamhendy Jun 13, 2021 •

edited

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kjyothiswaroop Aug 19, 2021

hichamhendy Aug 20, 2021

rainer-d Nov 25, 2021

spark4160 commented Apr 23, 2020

grassjelly commented May 7, 2020

kvnptl commented Mar 20, 2021

roboticlemon commented Jun 9, 2021

rk800506 commented Jul 23, 2021

kvnptl commented Jul 24, 2021

rk800506 commented Jul 24, 2021

SwastikNandan commented Mar 9, 2022

SwastikNandan commented Mar 9, 2022

gazebo_ros: Wait spawning Gazebo Model until ros::Time::now() is not 0. #1024

Are you sure you want to change the base?

gazebo_ros: Wait spawning Gazebo Model until ros::Time::now() is not 0. #1024

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marcin-sielski commented Dec 17, 2019

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hichamhendy Jun 13, 2021 • edited Loading

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spark4160 commented Apr 23, 2020

grassjelly commented May 7, 2020

kvnptl commented Mar 20, 2021

roboticlemon commented Jun 9, 2021

rk800506 commented Jul 23, 2021

kvnptl commented Jul 24, 2021

rk800506 commented Jul 24, 2021

SwastikNandan commented Mar 9, 2022

SwastikNandan commented Mar 9, 2022

hichamhendy Jun 13, 2021 •

edited

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