Autnomous Underwater Vehicles Error

Hi everyone,
I currently have a problem with autnomous underwater vehicles simulation。
world: multi_lrauv_race.sdf
description: publish a thrust like “gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust -m gz.msgs.Double -p ‘data:0.5’”,At first, everything was normal,Suddenly the speed becomes very fast, and then the system crashes
Hera is the error:

ODE INTERNAL ERROR 1: assertion "aabbBound >= dMinIntExact && aabbBound < dMaxIntExact" failed in collide() [collision_space.cpp:460]
Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/", at 0x7f5439234c96, in 
#30   Object "/lib/x86_64-linux-gnu/", at 0x7f5439231fc5, in 
#29   Object "/lib/x86_64-linux-gnu/", at 0x7f543922fc34, in 
#28   Object "/lib/x86_64-linux-gnu/", at 0x7f543917ba1e, in 
#27   Object "/lib/x86_64-linux-gnu/", at 0x7f54390a69ac, in rb_protect
#26   Object "/lib/x86_64-linux-gnu/", at 0x7f543923ec61, in rb_yield
#25   Object "/lib/x86_64-linux-gnu/", at 0x7f543923a30c, in rb_vm_exec
#24   Object "/lib/x86_64-linux-gnu/", at 0x7f5439234c96, in 
#23   Object "/lib/x86_64-linux-gnu/", at 0x7f5439231fc5, in 
#22   Object "/lib/x86_64-linux-gnu/", at 0x7f543922fc34, in 
#21   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/", at 0x7f54393a344b, in 
#20   Object "/lib/x86_64-linux-gnu/", at 0x7f54391fd088, in rb_nogvl
#19   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/", at 0x7f54393a2d6b, in 
#18   Object "/lib/x86_64-linux-gnu/", at 0x7f5439394492, in 
#17   Object "/lib/x86_64-linux-gnu/", at 0x7f5439397e2d, in 
#16   Object "/usr/lib/x86_64-linux-gnu/", at 0x7f5438e7b80d, in runServer
#15   Object "/lib/x86_64-linux-gnu/", at 0x7f54339397e5, in 
#14   Object "/lib/x86_64-linux-gnu/", at 0x7f543394647a, in gz::sim::v7::SimulationRunner::Run(unsigned long)
#13   Object "/lib/x86_64-linux-gnu/", at 0x7f5433945b40, in gz::sim::v7::SimulationRunner::Step(gz::sim::v7::UpdateInfo const&)
#12   Object "/lib/x86_64-linux-gnu/", at 0x7f54339423e2, in gz::sim::v7::SimulationRunner::UpdateSystems()
#11   Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/", at 0x7f542c4bfa86, in gz::sim::v7::systems::Physics::Update(gz::sim::v7::UpdateInfo const&, gz::sim::v7::EntityComponentManager&)
#10   Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/", at 0x7f542c4c0101, in gz::sim::v7::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
#9    Object "/usr/lib/x86_64-linux-gnu/gz-physics-6/engine-plugins/", at 0x7f53fdb96e2b, in gz::physics::dartsim::SimulationFeatures::WorldForwardStep(gz::physics::Identity const&, gz::physics::SpecifyData<gz::physics::RequireData<gz::physics::WorldPoses>, gz::physics::ExpectData<gz::physics::ChangedWorldPoses, gz::physics::Contacts, gz::physics::JointPositions> >&, gz::physics::CompositeData&, gz::physics::ExpectData<gz::physics::ApplyExternalForceTorques, gz::physics::ApplyGeneralizedForces, gz::physics::VelocityControlCommands, gz::physics::ServoControlCommands, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)
#8    Object "/lib/x86_64-linux-gnu/", at 0x7f53fd766e73, in dart::simulation::World::step(bool)
#7    Object "/lib/x86_64-linux-gnu/", at 0x7f53fd74c705, in dart::constraint::ConstraintSolver::solve()
#6    Object "/lib/x86_64-linux-gnu/", at 0x7f53fd74afe1, in dart::constraint::ConstraintSolver::updateConstraints()
#5    Object "/lib/x86_64-linux-gnu/", at 0x7f54027151cb, in dart::collision::OdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
#4    Object "/lib/x86_64-linux-gnu/", at 0x7f540071e266, in dxHashSpace::collide(void*, void (*)(void*, dxGeom*, dxGeom*))
#3    Object "/lib/x86_64-linux-gnu/", at 0x7f54007267b7, in dDebug
#2    Object "/lib/x86_64-linux-gnu/", at 0x7f5438c287f2, in abort
#1    Object "/lib/x86_64-linux-gnu/", at 0x7f5438c42475, in raise
#0    Object "/lib/x86_64-linux-gnu/", at 0x7f5438c96a7c, in pthread_kill
Aborted (Signal sent by tkill() 1504067 1000)

Appreciate any help!

1 Like

Hi @Nanke2012!

Welcome to Gazebo Community!

I had the same issue as yours. The damping for AUV was updated to fix this bug, although not all .sdf files have updated the damping parameters of AUVs. You can check the issue here:

I hope that you can now setup the damping correctly to run this sim. Just one thing though, this space is made more to have discussion about gazebo topics, annoucements of packages, events… There is a specific place to ask questions, which is the Robotics Stack Exchange. Next you time you have an similar issue, you can go there or open an issue on github, in the repository you had problems.

1 Like

This solved my problem perfectly, thank you very much

1 Like