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Unable to find URI (Fuel models) #280

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mcres opened this issue Aug 10, 2020 · 5 comments
Closed

Unable to find URI (Fuel models) #280

mcres opened this issue Aug 10, 2020 · 5 comments
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@nkoenig
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🔮 dome Ignition Dome

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@mcres
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mcres commented Aug 10, 2020 •
edited
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When I try to include a model from Fuel, for instance this one:

<include>
  <pose>0 0 0.7 0 0 0</pose>
  <uri>
    https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke
  </uri>
</include>

I get the following error when I ign gazebo -v 4 myWorld.sdf, after which the application ends:

[Err] [Server.cc:146] Error Code 12 Msg: Unable to find uri[
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke
      ]
[Err] [Server.cc:146] Error Code 11 Msg: Invalid uri[
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke
      ]. Should be model://
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke

It's the same error with most of the Fuel models.
However, if I specify the model with meshes, it will load with no problems:

<model name="coke_can">
  <pose>0 0 0.7 0 0 0</pose>
  <static>true</static>
  <link name="link">
    <collision name="collision">
      <geometry>
        <mesh>
          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
        </mesh>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <mesh>
          <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
        </mesh>
      </geometry>
    </visual>
  </link>
</model>

I didn't have that problem before updating Dome #262

For a more detailed information, this is the sdf file I'm trying to load:

<?xml version="1.0" ?>
<!--
  Demo of models being downloaded from http://app.ignitionrobotics.org/
-->
<sdf version="1.6">
  <world name="shapes">
    <plugin
      filename="libignition-gazebo-physics-system.so"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="libignition-gazebo-scene-broadcaster-system.so"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>
    <gui fullscreen="0">
      <!-- 3D scene -->
      <plugin filename="GzScene3D" name="3D View">
        <ignition-gui>
          <title>3D View</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
        </ignition-gui>

        <engine>ogre</engine>
        <scene>scene</scene>
        <ambient_light>0.4 0.4 0.4</ambient_light>
        <background_color>0.8 0.8 0.8</background_color>
        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
      </plugin>

      <!-- World control -->
      <plugin filename="WorldControl" name="World control">
        <ignition-gui>
          <title>World control</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="height">72</property>
          <property type="double" key="width">121</property>
          <property type="double" key="z">1</property>

          <property type="string" key="state">floating</property>
          <anchors target="3D View">
            <line own="left" target="left"/>
            <line own="bottom" target="bottom"/>
          </anchors>
        </ignition-gui>

        <play_pause>true</play_pause>
        <step>true</step>
        <start_paused>true</start_paused>
        <service>/world/shapes/control</service>
        <stats_topic>/world/shapes/stats</stats_topic>

      </plugin>

      <!-- World statistics -->
      <plugin filename="WorldStats" name="World stats">
        <ignition-gui>
          <title>World stats</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="height">110</property>
          <property type="double" key="width">290</property>
          <property type="double" key="z">1</property>

          <property type="string" key="state">floating</property>
          <anchors target="3D View">
            <line own="right" target="right"/>
            <line own="bottom" target="bottom"/>
          </anchors>
        </ignition-gui>

        <sim_time>true</sim_time>
        <real_time>true</real_time>
        <real_time_factor>true</real_time_factor>
        <iterations>true</iterations>
        <topic>/world/shapes/stats</topic>

      </plugin>

    </gui>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <include>
      <pose>0 0 0.7 0 0 0</pose>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke
      </uri>
    </include>

  </world>
</sdf>

And this is the output:

[Msg] Ignition Gazebo Server v4.0.0~pre1
[Msg] Ignition Gazebo GUI    v4.0.0~pre1
[Msg] Loading SDF world file[/home/mcres/ignition-dome/src/ign-gazebo/examples/worlds/fuel.sdf].
[Err] [Server.cc:146] Error Code 12 Msg: Unable to find uri[
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke
      ]
[Err] [Server.cc:146] Error Code 11 Msg: Invalid uri[
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke
      ]. Should be model://
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke
      
[Dbg] [ign.cc:269] Shutting down ign-gazebo-server
[Dbg] [Application.cc:87] Initializing application.
[GUI] [Dbg] [Application.cc:407] Create main window
[GUI] [Dbg] [Gui.cc:129] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [SignalHandler.cc:141] Received signal[2].
[GUI] [Dbg] [SignalHandler.cc:141] Received signal[2].
[GUI] [Dbg] [Application.cc:130] Terminating application.

Some more specific details about the issue:

  • Ignition Dome installed from source. I've tried a clean build, but the problem keeps coming up.
  • ign-fuel-tools5 and ign-gazebo4
  • Ubuntu 18.04.5 LTS
  • I've also tried to rm -rf ~/.ignition/fuel
@chapulina chapulina added the 🔮 dome Ignition Dome label Aug 10, 2020
@nkoenig
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nkoenig commented Aug 17, 2020

I did a fresh install of Dome on Ubuntu 18.04, and ran the following world file:

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="shapes">
    <plugin
      filename="libignition-gazebo-physics-system.so"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="libignition-gazebo-user-commands-system.so"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>

    <plugin
      filename="libignition-gazebo-scene-broadcaster-system.so"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>
    <gui fullscreen="0">
      <!-- 3D scene -->
      <plugin filename="GzScene3D" name="3D View">
        <ignition-gui>
          <title>3D View</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
        </ignition-gui>

        <engine>ogre2</engine>
        <scene>scene</scene>
        <ambient_light>1.0 1.0 1.0 1.0</ambient_light>
        <background_color>1 1 1 1</background_color>
        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
      </plugin>

      <!-- World control -->
      <plugin filename="WorldControl" name="World control">
        <ignition-gui>
          <title>World control</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="height">72</property>
          <property type="double" key="width">121</property>
          <property type="double" key="z">1</property>

          <property type="string" key="state">floating</property>
          <anchors target="3D View">
            <line own="left" target="left"/>
            <line own="bottom" target="bottom"/>
          </anchors>
        </ignition-gui>

        <play_pause>true</play_pause>
        <step>true</step>
        <start_paused>true</start_paused>
        <service>/world/shapes/control</service>
        <stats_topic>/world/shapes/stats</stats_topic>

      </plugin>

      <!-- World statistics -->
      <plugin filename="WorldStats" name="World stats">
        <ignition-gui>
          <title>World stats</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="height">110</property>
          <property type="double" key="width">290</property>
          <property type="double" key="z">1</property>

          <property type="string" key="state">floating</property>
          <anchors target="3D View">
            <line own="right" target="right"/>
            <line own="bottom" target="bottom"/>
          </anchors>
        </ignition-gui>

        <sim_time>true</sim_time>
        <real_time>true</real_time>
        <real_time_factor>true</real_time_factor>
        <iterations>true</iterations>
        <topic>/world/shapes/stats</topic>
      </plugin>
    </gui>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>1.0 1.0 1.0 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.1</constant>
        <linear>0.001</linear>
        <quadratic>0.0001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <include>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke</uri>
    </include>
  </world>
</sdf>

The above downloaded the model and ran successfully. Can you try the above SDF file?

@mcres
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mcres commented Aug 17, 2020 •
edited
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I can run your SDF file correctly.
Hmm, could it be the position of the <uri> tags?

@azeey
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azeey commented Aug 18, 2020

@ahcorde pointed out that this is because of the newline in

<uri>
   https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke
</uri>

as opposed to

<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke</uri>

This might be related to gazebosim/sdformat#322

@mcres
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mcres commented Aug 19, 2020

This might be related to gazebosim/sdformat#322

I didn't have this problem with sdf9 but I do with sdf10, so it does seems related.

Is there anything else I can do?

@chapulina chapulina mentioned this issue Aug 20, 2020
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@chapulina
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I didn't have this problem with sdf9 but I do with sdf10

Yeah the problem is due to a change in SDF10.

Is there anything else I can do?

To fix your problem locally, use the <uri> format suggested by @azeey above, without newlines. To make sure SDF worlds from Citadel still work with Dome, someone will need to tackle gazebosim/sdformat#322.

I'll close this issue for now, and let's follow up on the SDF issue.

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@azeey @nkoenig @chapulina @mcres