bNormalizationResult failed in _dNormalize4()

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bNormalizationResult failed in _dNormalize4()

Christoph Kunze-2
Hi,

This is my first post on this list and unfortunately I have to start
with a problem:

When I try to run gazebo with the bandit world (same problem with some
others too), the GUI flashes up for a moment before it crashes with the
following messages:

ODE Message 2: inertia must be positive definite in dMassCheck() File
mass.cpp Line 53

ODE INTERNAL ERROR 1: assertion "bNormalizationResult" failed in
_dNormalize4() [../../include/ode/odemath.h]
Cancelled

gdb gives:

#0  0x00007f35374d8065 in raise () from /lib/libc.so.6
#1  0x00007f35374db153 in abort () from /lib/libc.so.6
#2  0x00007f3539cad5b7 in dDebug () from /usr/local/lib/libgazebo_server.so
#3  0x00007f3539cbdc8b in _dNormalize4 () from
/usr/local/lib/libgazebo_server.so
#4  0x00007f3539cbdd2c in dBodySetQuaternion () from
/usr/local/lib/libgazebo_server.so
#5  0x00007f3539bee281 in gazebo::Body::SetRotation (this=0x1510980,
rot=@0x7fff4391e6c8) at
/home/user/src/gazebo/server/physics/Body.cc:591
#6  0x00007f3539bee9f0 in gazebo::Body::SetPose (this=0x1510980,
_pose=@0x7fff4391ea50) at
/home/user/src/gazebo/server/physics/Body.cc:543
#7  0x00007f3539bf1399 in gazebo::Body::Load (this=0x1510980,
node=0x10ff690) at
/home/user/src/gazebo/server/physics/Body.cc:256
#8  0x00007f3539c7fb34 in gazebo::Model::LoadBody (this=0x149f880,
node=0x10ff690) at /home/user/src/gazebo/server/Model.cc:726
#9  0x00007f3539c80062 in gazebo::Model::LoadPhysical (this=0x149f880,
node=0x10d7e60) at /home/user/src/gazebo/server/Model.cc:1014
#10 0x00007f3539c82a82 in gazebo::Model::Load (this=0x149f880,
node=0x10d7e60, removeDuplicate=false) at
/home/user/src/gazebo/server/Model.cc:192
#11 0x00007f3539c6e8c7 in gazebo::World::LoadModel (this=0x1474f30,
node=0x10d7e60, parent=0x0, removeDuplicate=false) at
/home/user/src/gazebo/server/World.cc:428
#12 0x00007f3539c6edb8 in gazebo::World::LoadEntities (this=0x1474f30,
node=0x10d7e60, parent=0x0, removeDuplicate=false) at
/home/user/src/gazebo/server/World.cc:350
#13 0x00007f3539c6ede0 in gazebo::World::LoadEntities (this=0x1474f30,
node=0x10d9100, parent=0x0, removeDuplicate=false) at
/home/user/src/gazebo/server/World.cc:357
#14 0x00007f3539c70ed6 in gazebo::World::Load (this=0x1474f30,
rootNode=0x10d9100, serverId=0) at
/home/user/src/gazebo/server/World.cc:158
#15 0x00007f3539c93770 in gazebo::Simulator::Load (this=0x10ceb60,
worldFileName=@0x7fff4391fc10, serverId=0) at
/home/user/src/gazebo/server/Simulator.cc:237
#16 0x0000000000402ef8 in main (argc=2, argv=0x7fff4391fd08) at
/home/user/src/gazebo/server/main.cc:291

It seems that Body::SetRotation gets called with a quaternion that has
u=x=y=z=0 - I'm not sure if that relates to the problem.

I am using

System: Linux 2.6.29-2amd64 (Debian sid)
ODE:    0.11.1 (with -DdDOUBLE)
OGRE: 1.6.1
Gazebo: svn rev.7830

I've also tried this on my i386 Notebook which otherwise contains the
same software versions and there gazebo crashes with a segfault at:

#0  0xb73c22b5 in std::string::assign () from /usr/lib/libstdc++.so.6
#1  0xb763dd29 in gazebo::Geom::Load () from
/usr/local/lib/libgazebo_server.so
#2  0xb7632ec8 in gazebo::Body::LoadGeom ()
    from /usr/local/lib/libgazebo_server.so
#3  0xb7638dcf in gazebo::Body::Load () from
/usr/local/lib/libgazebo_server.so
#4  0xb76a9341 in gazebo::Model::LoadBody ()
    from /usr/local/lib/libgazebo_server.so
#5  0xb76aa611 in gazebo::Model::LoadPhysical ()
    from /usr/local/lib/libgazebo_server.so
#6  0xb76ae238 in gazebo::Model::Load ()
    from /usr/local/lib/libgazebo_server.so
#7  0xb76976f4 in gazebo::World::LoadModel ()
    from /usr/local/lib/libgazebo_server.so
#8  0xb7697a9e in gazebo::World::LoadEntities ()
    from /usr/local/lib/libgazebo_server.so
#9  0xb7697a6a in gazebo::World::LoadEntities ()
    from /usr/local/lib/libgazebo_server.so
#10 0xb7697da5 in gazebo::World::Load ()
    from /usr/local/lib/libgazebo_server.so
#11 0xb76b6f27 in gazebo::Simulator::Load ()
    from /usr/local/lib/libgazebo_server.so
#12 0x0804a38c in main ()

Do you have any ideas on this?

- Christoph



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Re: bNormalizationResult failed in _dNormalize4()

John Hsu-2
it was tipping over and going unstable, try this patch,
 - shift bandit attachment to pioneer backwards
 - reduce time step size from .03 to .01


On Thu, Jun 11, 2009 at 5:02 AM, Christoph Kunze <[hidden email]> wrote:

> Hi,
>
> This is my first post on this list and unfortunately I have to start
> with a problem:
>
> When I try to run gazebo with the bandit world (same problem with some
> others too), the GUI flashes up for a moment before it crashes with the
> following messages:
>
> ODE Message 2: inertia must be positive definite in dMassCheck() File
> mass.cpp Line 53
>
> ODE INTERNAL ERROR 1: assertion "bNormalizationResult" failed in
> _dNormalize4() [../../include/ode/odemath.h]
> Cancelled
>
> gdb gives:
>
> #0  0x00007f35374d8065 in raise () from /lib/libc.so.6
> #1  0x00007f35374db153 in abort () from /lib/libc.so.6
> #2  0x00007f3539cad5b7 in dDebug () from /usr/local/lib/libgazebo_server.so
> #3  0x00007f3539cbdc8b in _dNormalize4 () from
> /usr/local/lib/libgazebo_server.so
> #4  0x00007f3539cbdd2c in dBodySetQuaternion () from
> /usr/local/lib/libgazebo_server.so
> #5  0x00007f3539bee281 in gazebo::Body::SetRotation (this=0x1510980,
> rot=@0x7fff4391e6c8) at
> /home/user/src/gazebo/server/physics/Body.cc:591
> #6  0x00007f3539bee9f0 in gazebo::Body::SetPose (this=0x1510980,
> _pose=@0x7fff4391ea50) at
> /home/user/src/gazebo/server/physics/Body.cc:543
> #7  0x00007f3539bf1399 in gazebo::Body::Load (this=0x1510980,
> node=0x10ff690) at
> /home/user/src/gazebo/server/physics/Body.cc:256
> #8  0x00007f3539c7fb34 in gazebo::Model::LoadBody (this=0x149f880,
> node=0x10ff690) at /home/user/src/gazebo/server/Model.cc:726
> #9  0x00007f3539c80062 in gazebo::Model::LoadPhysical (this=0x149f880,
> node=0x10d7e60) at /home/user/src/gazebo/server/Model.cc:1014
> #10 0x00007f3539c82a82 in gazebo::Model::Load (this=0x149f880,
> node=0x10d7e60, removeDuplicate=false) at
> /home/user/src/gazebo/server/Model.cc:192
> #11 0x00007f3539c6e8c7 in gazebo::World::LoadModel (this=0x1474f30,
> node=0x10d7e60, parent=0x0, removeDuplicate=false) at
> /home/user/src/gazebo/server/World.cc:428
> #12 0x00007f3539c6edb8 in gazebo::World::LoadEntities (this=0x1474f30,
> node=0x10d7e60, parent=0x0, removeDuplicate=false) at
> /home/user/src/gazebo/server/World.cc:350
> #13 0x00007f3539c6ede0 in gazebo::World::LoadEntities (this=0x1474f30,
> node=0x10d9100, parent=0x0, removeDuplicate=false) at
> /home/user/src/gazebo/server/World.cc:357
> #14 0x00007f3539c70ed6 in gazebo::World::Load (this=0x1474f30,
> rootNode=0x10d9100, serverId=0) at
> /home/user/src/gazebo/server/World.cc:158
> #15 0x00007f3539c93770 in gazebo::Simulator::Load (this=0x10ceb60,
> worldFileName=@0x7fff4391fc10, serverId=0) at
> /home/user/src/gazebo/server/Simulator.cc:237
> #16 0x0000000000402ef8 in main (argc=2, argv=0x7fff4391fd08) at
> /home/user/src/gazebo/server/main.cc:291
>
> It seems that Body::SetRotation gets called with a quaternion that has
> u=x=y=z=0 - I'm not sure if that relates to the problem.
>
> I am using
>
> System: Linux 2.6.29-2amd64 (Debian sid)
> ODE:    0.11.1 (with -DdDOUBLE)
> OGRE:   1.6.1
> Gazebo: svn rev.7830
>
> I've also tried this on my i386 Notebook which otherwise contains the
> same software versions and there gazebo crashes with a segfault at:
>
> #0  0xb73c22b5 in std::string::assign () from /usr/lib/libstdc++.so.6
> #1  0xb763dd29 in gazebo::Geom::Load () from
> /usr/local/lib/libgazebo_server.so
> #2  0xb7632ec8 in gazebo::Body::LoadGeom ()
>    from /usr/local/lib/libgazebo_server.so
> #3  0xb7638dcf in gazebo::Body::Load () from
> /usr/local/lib/libgazebo_server.so
> #4  0xb76a9341 in gazebo::Model::LoadBody ()
>    from /usr/local/lib/libgazebo_server.so
> #5  0xb76aa611 in gazebo::Model::LoadPhysical ()
>    from /usr/local/lib/libgazebo_server.so
> #6  0xb76ae238 in gazebo::Model::Load ()
>    from /usr/local/lib/libgazebo_server.so
> #7  0xb76976f4 in gazebo::World::LoadModel ()
>    from /usr/local/lib/libgazebo_server.so
> #8  0xb7697a9e in gazebo::World::LoadEntities ()
>    from /usr/local/lib/libgazebo_server.so
> #9  0xb7697a6a in gazebo::World::LoadEntities ()
>    from /usr/local/lib/libgazebo_server.so
> #10 0xb7697da5 in gazebo::World::Load ()
>    from /usr/local/lib/libgazebo_server.so
> #11 0xb76b6f27 in gazebo::Simulator::Load ()
>    from /usr/local/lib/libgazebo_server.so
> #12 0x0804a38c in main ()
>
> Do you have any ideas on this?
>
> - Christoph
>
>
>
>
> ------------------------------------------------------------------------------
> Crystal Reports - New Free Runtime and 30 Day Trial
> Check out the new simplified licensing option that enables unlimited
> royalty-free distribution of the report engine for externally facing
> server and web deployment.
> http://p.sf.net/sfu/businessobjects
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: bNormalizationResult failed in _dNormalize4()

Jordi Polo Carrés
It is in fact unrelated to that.

That problem is caused by -DdDOUBLE in the compiling options of ODE.
If I compile ODE with this:
./configure --with-pic --enable-shared --with-trimesh=opcode
--with-drawstuff=X11 --enable-double-precision --enable-release

Gazebo will crash even with the simpleshapes world
Using
./configure --with-pic --enable-shared --with-trimesh=opcode
--with-drawstuff=X11
works OK


At least this is true with Gazebo SVN, Ode 0.11.1, gcc 4.3 , ubuntu jaunty


On Fri, Jun 12, 2009 at 5:12 AM, John Hsu <[hidden email]> wrote:

> it was tipping over and going unstable, try this patch,
>  - shift bandit attachment to pioneer backwards
>  - reduce time step size from .03 to .01
>
>
> On Thu, Jun 11, 2009 at 5:02 AM, Christoph Kunze <[hidden email]>
> wrote:
>
> > Hi,
> >
> > This is my first post on this list and unfortunately I have to start
> > with a problem:
> >
> > When I try to run gazebo with the bandit world (same problem with some
> > others too), the GUI flashes up for a moment before it crashes with the
> > following messages:
> >
> > ODE Message 2: inertia must be positive definite in dMassCheck() File
> > mass.cpp Line 53
> >
> > ODE INTERNAL ERROR 1: assertion "bNormalizationResult" failed in
> > _dNormalize4() [../../include/ode/odemath.h]
> > Cancelled
> >
> > gdb gives:
> >
> > #0  0x00007f35374d8065 in raise () from /lib/libc.so.6
> > #1  0x00007f35374db153 in abort () from /lib/libc.so.6
> > #2  0x00007f3539cad5b7 in dDebug () from
> /usr/local/lib/libgazebo_server.so
> > #3  0x00007f3539cbdc8b in _dNormalize4 () from
> > /usr/local/lib/libgazebo_server.so
> > #4  0x00007f3539cbdd2c in dBodySetQuaternion () from
> > /usr/local/lib/libgazebo_server.so
> > #5  0x00007f3539bee281 in gazebo::Body::SetRotation (this=0x1510980,
> > rot=@0x7fff4391e6c8) at
> > /home/user/src/gazebo/server/physics/Body.cc:591
> > #6  0x00007f3539bee9f0 in gazebo::Body::SetPose (this=0x1510980,
> > _pose=@0x7fff4391ea50) at
> > /home/user/src/gazebo/server/physics/Body.cc:543
> > #7  0x00007f3539bf1399 in gazebo::Body::Load (this=0x1510980,
> > node=0x10ff690) at
> > /home/user/src/gazebo/server/physics/Body.cc:256
> > #8  0x00007f3539c7fb34 in gazebo::Model::LoadBody (this=0x149f880,
> > node=0x10ff690) at /home/user/src/gazebo/server/Model.cc:726
> > #9  0x00007f3539c80062 in gazebo::Model::LoadPhysical (this=0x149f880,
> > node=0x10d7e60) at /home/user/src/gazebo/server/Model.cc:1014
> > #10 0x00007f3539c82a82 in gazebo::Model::Load (this=0x149f880,
> > node=0x10d7e60, removeDuplicate=false) at
> > /home/user/src/gazebo/server/Model.cc:192
> > #11 0x00007f3539c6e8c7 in gazebo::World::LoadModel (this=0x1474f30,
> > node=0x10d7e60, parent=0x0, removeDuplicate=false) at
> > /home/user/src/gazebo/server/World.cc:428
> > #12 0x00007f3539c6edb8 in gazebo::World::LoadEntities (this=0x1474f30,
> > node=0x10d7e60, parent=0x0, removeDuplicate=false) at
> > /home/user/src/gazebo/server/World.cc:350
> > #13 0x00007f3539c6ede0 in gazebo::World::LoadEntities (this=0x1474f30,
> > node=0x10d9100, parent=0x0, removeDuplicate=false) at
> > /home/user/src/gazebo/server/World.cc:357
> > #14 0x00007f3539c70ed6 in gazebo::World::Load (this=0x1474f30,
> > rootNode=0x10d9100, serverId=0) at
> > /home/user/src/gazebo/server/World.cc:158
> > #15 0x00007f3539c93770 in gazebo::Simulator::Load (this=0x10ceb60,
> > worldFileName=@0x7fff4391fc10, serverId=0) at
> > /home/user/src/gazebo/server/Simulator.cc:237
> > #16 0x0000000000402ef8 in main (argc=2, argv=0x7fff4391fd08) at
> > /home/user/src/gazebo/server/main.cc:291
> >
> > It seems that Body::SetRotation gets called with a quaternion that has
> > u=x=y=z=0 - I'm not sure if that relates to the problem.
> >
> > I am using
> >
> > System: Linux 2.6.29-2amd64 (Debian sid)
> > ODE:    0.11.1 (with -DdDOUBLE)
> > OGRE:   1.6.1
> > Gazebo: svn rev.7830
> >
> > I've also tried this on my i386 Notebook which otherwise contains the
> > same software versions and there gazebo crashes with a segfault at:
> >
> > #0  0xb73c22b5 in std::string::assign () from /usr/lib/libstdc++.so.6
> > #1  0xb763dd29 in gazebo::Geom::Load () from
> > /usr/local/lib/libgazebo_server.so
> > #2  0xb7632ec8 in gazebo::Body::LoadGeom ()
> >    from /usr/local/lib/libgazebo_server.so
> > #3  0xb7638dcf in gazebo::Body::Load () from
> > /usr/local/lib/libgazebo_server.so
> > #4  0xb76a9341 in gazebo::Model::LoadBody ()
> >    from /usr/local/lib/libgazebo_server.so
> > #5  0xb76aa611 in gazebo::Model::LoadPhysical ()
> >    from /usr/local/lib/libgazebo_server.so
> > #6  0xb76ae238 in gazebo::Model::Load ()
> >    from /usr/local/lib/libgazebo_server.so
> > #7  0xb76976f4 in gazebo::World::LoadModel ()
> >    from /usr/local/lib/libgazebo_server.so
> > #8  0xb7697a9e in gazebo::World::LoadEntities ()
> >    from /usr/local/lib/libgazebo_server.so
> > #9  0xb7697a6a in gazebo::World::LoadEntities ()
> >    from /usr/local/lib/libgazebo_server.so
> > #10 0xb7697da5 in gazebo::World::Load ()
> >    from /usr/local/lib/libgazebo_server.so
> > #11 0xb76b6f27 in gazebo::Simulator::Load ()
> >    from /usr/local/lib/libgazebo_server.so
> > #12 0x0804a38c in main ()
> >
> > Do you have any ideas on this?
> >
> > - Christoph
> >
> >
> >
> >
> >
> ------------------------------------------------------------------------------
> > Crystal Reports - New Free Runtime and 30 Day Trial
> > Check out the new simplified licensing option that enables unlimited
> > royalty-free distribution of the report engine for externally facing
> > server and web deployment.
> > http://p.sf.net/sfu/businessobjects
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
>
> ------------------------------------------------------------------------------
> Are you an open source citizen? Join us for the Open Source Bridge
> conference!
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> $250.
> Need another reason to go? 24-hour hacker lounge. Register today!
>
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--
Jordi Polo Carres
NLP laboratory - NAIST
http://www.bahasara.org
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