Examples fail

[gitglob]

When I try to run any of the examples shown here: https://ntnu-arl.github.io/unified_autonomy_stack/examples/
I get a black RVIZ screen and nothing happens.

This behavior is identical for all provided examples.

The output is huge in the terminal, so I have attached a log.txt file with my redirected output.

log.txt

[mihirk284]

Thank you for opening an issue @gitglob ,

Just for clarification, do you see an functional RViz window without any visualized data inside it or do you just see a black window that should be RViz without an interface (non-responsive)? Do you also see the Gazebo simulator window with the world as well?

[gitglob]

RVIZ

I see a normal RVIZ window that doesn't visualize any data.

The "initialization" button doesn't change anything.

Gazebo

No Gazebo window is shown.
In fact, a Gazebo window attempts to launch when I launch the command, but almost immediately closes.

Error logs from the GZ container:

ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [Err] [ColladaLoader.cc:399] Unable to load collada file[/workspace/install/subt_cave_sim/share/subt_cave_sim/models/Cave Starting Area/meshes/cavestartingarea.dae]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [Err] [ColladaLoader.cc:403] Missing COLLADA tag
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] Stack trace (most recent call last):
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #31   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f24114f6317, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #30   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f241168b30c, in rb_vm_exec
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #29   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f2411685c96, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #28   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f2411682fc5, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #27   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f2411680c34, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #26   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f24115cca4e, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #25   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f24114f79ac, in rb_protect
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #24   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f241168fc61, in rb_yield
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #23   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f241168b30c, in rb_vm_exec
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #22   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f2411685c96, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #21   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f2411682fc5, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #20   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f2411680c34, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #19   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f240da4444b, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #18   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f241164e088, in rb_nogvl
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #17   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f240da43d6b, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #16   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f240d9ea492, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #15   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f240d9ede2d, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #14   Object "/usr/lib/x86_64-linux-gnu/libgz-sim8-gz.so.8.9.0", at 0x7f240cf48c53, in runServer
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #13   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f240cbf755f, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #12   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f240cc0a97a, in gz::sim::v8::SimulationRunner::Run(unsigned long)
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #11   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f240cc09f7d, in gz::sim::v8::SimulationRunner::Step(gz::sim::v8::UpdateInfo const&)
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #10   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f240cc066ea, in gz::sim::v8::SimulationRunner::UpdateSystems()
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #9    Object "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7f240154bc5f, in gz::sim::v8::systems::Physics::Update(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager&)
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #8    Object "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7f240153770e, in gz::sim::v8::systems::PhysicsPrivate::CreatePhysicsEntities(gz::sim::v8::EntityComponentManager const&, bool)
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #7    Object "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7f24015368be, in gz::sim::v8::systems::PhysicsPrivate::CreateCollisionEntities(gz::sim::v8::EntityComponentManager const&, bool)
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #6    Object "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7f24015cb7d9, in void gz::sim::v8::EntityComponentManager::EachNew<gz::sim::v8::components::Component<std::add_lvalue_reference<void>, gz::sim::v8::components::CollisionTag, gz::sim::v8::serializers::DefaultSerializer<std::add_lvalue_reference<void> > >, gz::sim::v8::components::Component<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, gz::sim::v8::components::NameTag, gz::sim::v8::serializers::StringSerializer>, gz::sim::v8::components::Component<gz::math::v7::Pose3<double>, gz::sim::v8::components::PoseTag, gz::sim::v8::serializers::DefaultSerializer<gz::math::v7::Pose3<double> > >, gz::sim::v8::components::Component<sdf::v14::Geometry, gz::sim::v8::components::GeometryTag, gz::sim::v8::serializers::ComponentToMsgSerializer<sdf::v14::Geometry, gz::msgs::Geometry> >, gz::sim::v8::components::Component<sdf::v14::Collision, gz::sim::v8::components::CollisionElementTag, gz::sim::v8::serializers::ComponentToMsgSerializer<sdf::v14::Collision, gz::msgs::Collision> >, gz::sim::v8::components::Component<unsigned long, gz::sim::v8::components::ParentEntityTag, gz::sim::v8::serializers::DefaultSerializer<unsigned long> > >(gz::sim::v8::EntityComponentManager::identity<std::function<bool (unsigned long const&, gz::sim::v8::components::Component<std::add_lvalue_reference<void>, gz::sim::v8::components::CollisionTag, gz::sim::v8::serializers::DefaultSerializer<std::add_lvalue_reference<void> > > const*, gz::sim::v8::components::Component<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, gz::sim::v8::components::NameTag, gz::sim::v8::serializers::StringSerializer> const*, gz::sim::v8::components::Component<gz::math::v7::Pose3<double>, gz::sim::v8::components::PoseTag, gz::sim::v8::serializers::DefaultSerializer<gz::math::v7::Pose3<double> > > const*, gz::sim::v8::components::Component<sdf::v14::Geometry, gz::sim::v8::components::GeometryTag, gz::sim::v8::serializers::ComponentToMsgSerializer<sdf::v14::Geometry, gz::msgs::Geometry> > const*, gz::sim::v8::components::Component<sdf::v14::Collision, gz::sim::v8::components::CollisionElementTag, gz::sim::v8::serializers::ComponentToMsgSerializer<sdf::v14::Collision, gz::msgs::Collision> > const*, gz::sim::v8::components::Component<unsigned long, gz::sim::v8::components::ParentEntityTag, gz::sim::v8::serializers::DefaultSerializer<unsigned long> > const*)> >::type) const
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #5    Object "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7f2401544a2c, in 
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #4    Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f240cc2c123, in gz::sim::v8::loadMesh(sdf::v14::Mesh const&)
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #3    Object "/lib/x86_64-linux-gnu/libgz-common5-graphics.so.5", at 0x7f240a1c9eb2, in gz::common::MeshManager::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #2    Object "/lib/x86_64-linux-gnu/libgz-common5-graphics.so.5", at 0x7f240a19be5b, in gz::common::ColladaLoader::Load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #1    Object "/lib/x86_64-linux-gnu/libtinyxml2.so.9", at 0x7f240a25c962, in tinyxml2::XMLElement::Attribute(char const*, char const*) const
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] #0    Object "/lib/x86_64-linux-gnu/libtinyxml2.so.9", at 0x7f240a25c90b, in tinyxml2::XMLElement::FindAttribute(char const*) const
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] Segmentation fault (Address not mapped to object [0x70])
ros2_launch_uav_sim-1        | [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"
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [Dbg] [SDFFeatures.cc:864] The geometry element of collision [collision] couldn't be createdugin [Spawn] to main window
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libSpawn.so]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:528] Loading plugin [VisualizationCapabilities]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] View center of mass service on [/gui/view/com]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] View inertia service on [/gui/view/inertia]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] View joints service on [/gui/view/joints]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] View frames service on [/gui/view/frames]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] Added plugin [Visualization capabilities] to main window
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/gui/libVisualizationCapabilities.so]
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Dbg] [SignalHandler.cc:142] Received signal[2].
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Dbg] [Gui.cc:535] Shutting down gz-sim-gui
ros2_launch_uav_sim-1        | [ruby $(which gz) sim-1] [GUI] [Dbg] [Application.cc:237] Terminating application.
ros2_launch_uav_sim-1        | [INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 72]
ros2_launch_uav_sim-1        | [INFO] [launch]: process[ruby $(which gz) sim-1] was required: shutting down launched system
ros2_launch_uav_sim-1        | [INFO] [static_transform_publisher-19]: sending signal 'SIGINT' to process[static_transform_publisher-19]
ros2_launch_uav_sim-1        | [INFO] [static_transform_publisher-18]: sending signal 'SIGINT' to process[static_transform_publisher-18]
ros2_launch_uav_sim-1        | [INFO] [static_transform_publisher-17]: sending signal 'SIGINT' to process[static_transform_publisher-17]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-16]: sending signal 'SIGINT' to process[parameter_bridge-16]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-15]: sending signal 'SIGINT' to process[parameter_bridge-15]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-14]: sending signal 'SIGINT' to process[parameter_bridge-14]
ros2_launch_uav_sim-1        | [INFO] [image_bridge-13]: sending signal 'SIGINT' to process[image_bridge-13]
ros2_launch_uav_sim-1        | [INFO] [image_bridge-12]: sending signal 'SIGINT' to process[image_bridge-12]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-11]: sending signal 'SIGINT' to process[parameter_bridge-11]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-10]: sending signal 'SIGINT' to process[parameter_bridge-10]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-9]: sending signal 'SIGINT' to process[parameter_bridge-9]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-8]: sending signal 'SIGINT' to process[parameter_bridge-8]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-7]: sending signal 'SIGINT' to process[parameter_bridge-7]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-6]: sending signal 'SIGINT' to process[parameter_bridge-6]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-5]: sending signal 'SIGINT' to process[parameter_bridge-5]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-4]: sending signal 'SIGINT' to process[parameter_bridge-4]
ros2_launch_uav_sim-1        | [INFO] [pc_sparsify.py-3]: sending signal 'SIGINT' to process[pc_sparsify.py-3]
ros2_launch_uav_sim-1        | [INFO] [bash-2]: sending signal 'SIGINT' to process[bash-2]
ros2_launch_uav_sim-1        | [static_transform_publisher-19] [INFO] [1766475565.272177103] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [static_transform_publisher-18] [INFO] [1766475565.273999418] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [static_transform_publisher-17] [INFO] [1766475565.276269655] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-16] [INFO] [1766475565.278436240] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-15] [INFO] [1766475565.280501025] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-14] [INFO] [1766475565.282701873] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [image_bridge-13] [INFO] [1766475565.284414838] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [image_bridge-12] [INFO] [1766475565.286075033] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-11] [INFO] [1766475565.288360173] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-10] [INFO] [1766475565.290309805] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-9] [INFO] [1766475565.292239445] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-8] [INFO] [1766475565.293987071] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-7] [INFO] [1766475565.296474601] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-6] [INFO] [1766475565.298610250] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-5] [INFO] [1766475565.300547750] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [parameter_bridge-4] [INFO] [1766475565.302063454] [rclcpp]: signal_handler(signum=2)
ros2_launch_uav_sim-1        | [pc_sparsify.py-3] Traceback (most recent call last):
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]   File "/workspace/install/robot_bringup/lib/robot_bringup/pc_sparsify.py", line 112, in <module>
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]     main()
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]   File "/workspace/install/robot_bringup/lib/robot_bringup/pc_sparsify.py", line 108, in main
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]     rclpy.shutdown()
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 130, in shutdown
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]     _shutdown(context=context)
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]     return context.shutdown()
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
ros2_launch_uav_sim-1        | [pc_sparsify.py-3]     self.__context.shutdown()
ros2_launch_uav_sim-1        | [pc_sparsify.py-3] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241
ros2_launch_uav_sim-1        | [INFO] [static_transform_publisher-19]: process has finished cleanly [pid 111]
ros2_launch_uav_sim-1        | [INFO] [static_transform_publisher-18]: process has finished cleanly [pid 109]
ros2_launch_uav_sim-1        | [INFO] [static_transform_publisher-17]: process has finished cleanly [pid 107]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-16]: process has finished cleanly [pid 105]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-15]: process has finished cleanly [pid 103]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-14]: process has finished cleanly [pid 101]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-11]: process has finished cleanly [pid 95]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-10]: process has finished cleanly [pid 93]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-9]: process has finished cleanly [pid 91]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-8]: process has finished cleanly [pid 89]
ros2_launch_uav_sim-1        | [INFO] [image_bridge-13]: process has finished cleanly [pid 99]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-7]: process has finished cleanly [pid 87]
ros2_launch_uav_sim-1        | [INFO] [image_bridge-12]: process has finished cleanly [pid 97]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-6]: process has finished cleanly [pid 85]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-5]: process has finished cleanly [pid 83]
ros2_launch_uav_sim-1        | [INFO] [parameter_bridge-4]: process has finished cleanly [pid 80]
ros2_launch_uav_sim-1        | [ERROR] [pc_sparsify.py-3]: process has died [pid 77, exit code 1, cmd '/workspace/install/robot_bringup/lib/robot_bringup/pc_sparsify.py --ros-args -r __node:=pc_sparsify -p use_sim_time:=True --params-file /tmp/launch_params_8es4x9fo --params-file /tmp/launch_params_ccauiheu'].

[MihirDharmadhikari]

Hi @gitglob,

Thanks for sharing the terminal log. It seems like gazebo is unable to find one of the mesh files.
This can happen if you don't have git-lfs installed. Can you install git-lfs and then run the following commands to pull the mesh files:

cd unified_autonomy_stack/workspaces/ws_sim/src/subt_cave_sim
git lfs pull

This will pull the mesh files.

Let me know if this works.

Best regards,
Mihir