gazebo_state_logging prevents the competition from starting
If the osrf_gear config yaml file has
gazebo_state_logging: true
then the competition never starts for me. It hangs at
rospy.wait_for_service('/ariac/start_competition')
Everything else seems normal and it starts fine if I turn off logging.
Here is the start_competition code I am using:
def start_competition():
rospy.loginfo("Waiting for competition to be ready...")
rospy.wait_for_service('/ariac/start_competition')
rospy.loginfo("Competition is now ready.")
rospy.loginfo("Requesting competition start...")
try:
start = rospy.ServiceProxy('/ariac/start_competition', Trigger)
response = start()
except rospy.ServiceException as exc:
rospy.logerr("Failed to start the competition: %s" % exc)
return False
if not response.success:
rospy.logerr("Failed to start the competition: %s" % response)
else:
rospy.loginfo("Competition started!")
return response.success
What am I doing wrong?
Comments (5)
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reporter Indeed, it is 8.3 Is there a safe way to upgrade it and not break the ROS Kinetic ros_gazebo, ariac builds?
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you should be able to swap between 8.3 and 8.4 without issues (minor versions are ABI compatible, it's major versions that can change ABI/API e.g. 8.x to 9.x). You can upgrade only gazebo with
sudo apt-get install gazebo8
(as opposed toupgrade
which will update dependencies too).alternatively you can keep developing with 8.3 using
--state-logging=no
, and the automated evaluation setup will use gazebo8.4 in the isolated docker environment (with state logging enabled). -
reporter - changed status to resolved
That did it-- working fine now with Gazebo 8.4. Thanks for the late night help!
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no worries, you're not the first to run into this -- we'll try to highlight these gazebo version requirements better to teams so you don't run into something similar again in the future.
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what's your gazebo version? If it's less than 8.4 upgrading should fix it (8.3 causes very slow simulations with state logging enabled)