roslaunch error [InsertModelWidget.cc:302] Missing model.config for model

[tomcattiger1230]

Thanks to your great work, but when I tried to test the launch file. There is a problem.
After successfully catkin_make, I've tried to launch the world using roslaunch gazebo.launch world:=levine. Then the error
[InsertModelWidget.cc:302] Missing model.config for model
for every model comes.
I'm not sure if I've set up something wrong. Could you give me some suggestion?

---

Also maybe a small issue. The package may require 'quadrotor_msgs' package and in the package the code for 'QuadrotorSO3AttitudeControl.cpp' line 67-69 'cmd' doesn't have 'angular_velocity' unless one adds a message in 'SO3COmmand.msg' with 'geometry_msgs/Vector3 angular_velocity'. Is that true?

Thanks.

[sikang]

Are you using ROS 18.04 or Gazebo 9+? The current master branch won't be able to work with gazebo 9. The quadrotor_msgs is not an open sourced repo yet, you can use your own for control which will be much easier I think.

[kartikmohta]

@tomcattigerkkk That error can just be considered a warning, so you can ignore it for now. Gazebo recommends having a model.config for each model with some metadata such as the author name and description of the model but it's not required. There should not be any problems running the master branch on Gazebo 9, I use it regularly with Gazebo 9.

The quadrotor_msgs package is a part of an internal repository, anything you find online may not be compatible. These are the two messages you need from it:

[quadrotor_msgs/SO3Command]:
Header header
geometry_msgs/Vector3 force
geometry_msgs/Quaternion orientation
geometry_msgs/Vector3 angular_velocity
quadrotor_msgs/AuxCommand aux
float64[3] kR
float64[3] kOm

[quadrotor_msgs/AuxCommand]:
float64 current_yaw
float64 kf_correction
float64[2] angle_corrections # Trims for roll, pitch
bool enable_motors
bool use_external_yaw

[tomcattiger1230]

@sikang Thank you for your replay. I'm using ROS (Kinetic) Ubuntu 16.04 with Gazebo 7.14.

@kartikmohta
thank you for your suggestion of quadrotor_msgs.
It seems the error comes from
'gzclient: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252：void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assume ‘(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"’ failed.'
And then the core was dumped. Is it because of the version my orge?

[sikang]

This problem has been noticed as some internal bugs of Gazebo 7.xx with gazebo_ros. You may downgrade your Gazebo to 7.0, that's how we use it with 16.04 and I'm almost sure that will fix this bug.

To do so, first remove your current Gazebo 7.14 in your system; then you need to check out the following item in your Ubuntu software update:

The Gazebo default version for Kinetic is 7.0, thus if you do sudo apt update & sudo apt install ros-kinetic-gazebo-ros* after removing previous Gazebo and the source of http://packages.osrfoundation.org/gazebo/ubuntu, you should be able to install the 7.0 version.

[tomcattiger1230]

@sikang
It works. Thanks a lot!

[SystemDiagnosticss]

@tomcattigerkkk @sikang Hello. Can you help me?:) How you downgrade Gazebo?) I am remove my Gazebo 7.14 and install it again use this instruction http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=7.0 . But was installed 7.14 again:) How I can install 7.0 version?

[sikang]

This is how I downgrade: #4 (comment)
Remove that osrf ppa dependancy is critical, otherwise it will download the latest gazebo.