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Troubleshooting

MacOS

Unable to find urdf_model.h error

After installing all the dependencies and starting the build process, you may encounter an error that looks like this:

/Users/user/citadel_ws/src/sdformat/src/parser_urdf.cc:30:10: fatal error: 'urdf_model/model.h' file not found
#include <urdf_model/model.h>
         ^~~~~~~~~~~~~~~~~~~~
1 error generated.
make[2]: *** [src/CMakeFiles/sdformat9.dir/parser_urdf.cc.o] Error 1
make[1]: *** [src/CMakeFiles/sdformat9.dir/all] Error 2
make: *** [all] Error 2
Failed   <<< sdformat9	[ Exited with code 2 ]

First check if urdfdom and urdfdom_headers are installed by running:

brew install urdfdom urdfdom_headers

Then if the error persists, compile with the internal version of urdfdom by running:

colcon build --cmake-args -DUSE_INTERNAL_URDF=ON --merge-install

This command will ignore the system installation of urdfdom and use the internal version instead.

Unable to load .dylib file

When running the ign gazebo -s command, an error like the one below may show up:

Error while loading the library [/Users/citadel/citadel_ws/install/lib//libignition-physics2-dartsim-plugin.2.dylib]: dlopen(/Users/citadel/citadel_ws/install/lib//libignition-physics2-dartsim-plugin.2.dylib, 5): Library not loaded: @rpath/libIrrXML.dylib
  Referenced from: /usr/local/opt/assimp/lib/libassimp.5.dylib
  Reason: image not found
[Err] [Physics.cc:275] Unable to load the /Users/citadel/citadel_ws/install/lib//libignition-physics2-dartsim-plugin.2.dylib library.
Escalating to SIGKILL on [Gazebo Sim Server]

The issue is related to OSX System Integrity Protection(SIP). The workaround is to run ign with a different ruby then make sure that ruby is loaded.

brew install ruby

# Add the following to ~/.bashrc
export PATH=/usr/local/Cellar/ruby/2.6.5/bin:$PATH

# Source ~/.bashrc in terminal
. ~/.bashrc

Ubuntu

Out of memory issues

There can be out of memory issue during the compilation of Gazebo, especially during compilation of gz-physics. To prevent out of memory issues you can restrict the number of jobs:

MAKEFLAGS="-j<Number of jobs> " colcon build --executor sequential

Unable to create the rendering window

If you're getting errors like "Unable to create the rendering window", it could mean you're using an old OpenGL version. Gazebo Sim uses the Ogre 2 rendering engine by default, which requires an OpenGL version higher than 3.3.

This can be confirmed by checking the Ogre 2 logs at ~/.ignition/rendering/ogre2.log, which should have an error like:

"OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers."

You can also check your OpenGL version running:

glxinfo | grep "OpenGL version"

You should be able to use Ogre 1 without any issues however. You can check if that's working by running with Ogre 1 instead of Ogre 2, such as:

ign gazebo -v 3 shapes.sdf --render-engine ogre

If that loads, you can continue to use Ignition with Ogre 1, just use the --render-engine ogre option.

To enable Ogre 2 support, you'll need to update your computer's OpenGL version. As suggested on the Ogre logs, this may require updating your graphics card drivers.

The Ogre 2 debs from the osrfoundation repository are built from a fork of Ogre's v2-1 branch with changes needed for deb packaging and allowing it to be co-installable with Ogre 1.x. The code can be found here:

https://github.com/osrf/ogre-2.1-release

Ignition crashes when an actor is added to the world

If you are trying to spawn an actor in your environment and you get an error like Assertion !pos.isNan() && "Invalid vector supplied as parameter" means you are passing nan values to ogre. To fix this you need to do export LC_NUMERIC="C" before running ign gazebo.