Comments (6)
chapulina
commented on July 21, 2024
I suspect this may be related to changes from libSDFormat 9 (Citadel) to libSDFormat 10 (Dome), because that's where the URDF gets parsed into SDF. In fact, a quicker way of reproducing this can be achieved with the ign sdf tool:
Citadel has the sensor pose:
ign sdf --force-version 9.5.0 -p /tmp/urdf
<sdf version='1.7'>
<model name='will_be_ignored'>
<link name='base_footprint'>
<inertial>
<pose>0 0 1.5 0 -0 0</pose>
<mass>2</mass>
<inertia>
<ixx>6.5</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>6.5</iyy>
<iyz>0</iyz>
<izz>2</izz>
</inertia>
</inertial>
<collision name='base_footprint_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<collision name='base_footprint_fixed_joint_lump__link_collision_1'>
<pose>0 0 3 0 -0 0</pose>
<geometry>
<sphere>
<radius>1</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_footprint_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</visual>
<visual name='base_footprint_fixed_joint_lump__link_visual_1'>
<pose>0 0 3 0 -0 0</pose>
<geometry>
<sphere>
<radius>1</radius>
</sphere>
</geometry>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<sensor name='link' type='gpu_lidar'>
<topic>scan</topic>
<update_rate>30</update_rate>
<lidar>
<scan>
<horizontal>
<samples>2800</samples>
<resolution>1</resolution>
<min_angle>-2.09</min_angle>
<max_angle>2.09</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<resolution>0.1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.05</min>
<max>30</max>
<resolution>0.01</resolution>
</range>
</lidar>
<visualize>1</visualize>
<pose>0 0 3 0 -0 0</pose>
<alwaysOn>1</alwaysOn>
</sensor>
</link>
<static>0</static>
<plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
<render_engine>ogre2</render_engine>
</plugin>
</model>
</sdf>
Dome doesn't:
ign sdf --force-version 10.3.0 -p /tmp/urdf
<sdf version='1.7'>
<model name='will_be_ignored'>
<link name='base_footprint'>
<inertial>
<pose>0 0 1.5 0 -0 0</pose>
<mass>2</mass>
<inertia>
<ixx>6.5</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>6.5</iyy>
<iyz>0</iyz>
<izz>2</izz>
</inertia>
</inertial>
<collision name='base_footprint_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<collision name='base_footprint_fixed_joint_lump__link_collision_1'>
<pose>0 0 3 0 -0 0</pose>
<geometry>
<sphere>
<radius>1</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_footprint_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</visual>
<visual name='base_footprint_fixed_joint_lump__link_visual_1'>
<pose>0 0 3 0 -0 0</pose>
<geometry>
<sphere>
<radius>1</radius>
</sphere>
</geometry>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<sensor name='link' type='gpu_lidar'>
<topic>scan</topic>
<update_rate>30</update_rate>
<lidar>
<scan>
<horizontal>
<samples>2800</samples>
<resolution>1</resolution>
<min_angle>-2.09</min_angle>
<max_angle>2.09</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<resolution>0.1</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>0.05</min>
<max>30</max>
<resolution>0.01</resolution>
</range>
</lidar>
<visualize>1</visualize>
<alwaysOn>1</alwaysOn>
</sensor>
</link>
<static>0</static>
<plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
<render_engine>ogre2</render_engine>
</plugin>
</model>
</sdf>
Looking through SDFormat's changelog, nothing stood out as being the culprit though.
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scpeters
commented on July 21, 2024
I believe this is connected to fixed-joint reduction with the libsdformat parser_urdf.cc file
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chapulina
commented on July 21, 2024
I think this was fixed by gazebosim/sdformat#525
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doisyg
commented on July 21, 2024
Hopefully. It looks like it is related. Will test once merged or released in sdf11
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doisyg
commented on July 21, 2024
Confirmed fixed in dome/sdf10, still need a merge in edifice/sdf11
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chapulina
commented on July 21, 2024
The SDFormat fix has been forward-ported to Edifice. I'm closing this. ROS users will get the updated versions as the fix is released and ported to packages.ros.org.
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