Unable to load the robot model (COLLADA error)

[AIS Lab]

Hi,
I'm trying to setup moveit in a machine with Ubuntu 14.04 working with ROS
Indigo, and I'm getting an error message when loading the robot model (we
use HIRO).
This is the message we get:

core service [/rosout] found
> process[move_group-1]: started with pid [9637]
> process[rviz_ais_desktop2_9619_4814968598707188644-2]: started with pid
> [9638]
> [ERROR] [1437984316.603844452]: COLLADA error: Trying to load an invalid
> COLLADA version for this DOM build!
>
> [ INFO] [1437984316.605949639]: rviz version 1.11.7
> [ INFO] [1437984316.606024898]: compiled against OGRE version 1.8.1
> (Byatis)
> [ERROR] [1437984316.613070516]: COLLADA error: Failed to load XML document
> from memory
>
>
> [ERROR] [1437984316.613635759]: Unable to parse URDF
> [ERROR] [1437984316.613818696]: Robot model not loaded
> [ERROR] [1437984316.627409641]: Planning scene not configured
> [ INFO] [1437984317.007314334, 13.770000000]: Stereo is NOT SUPPORTED
> [ INFO] [1437984317.007424624, 13.770000000]: OpenGl version: 3 (GLSL 1.3).
> [move_group-1] process has died [pid 9637, exit code -11, cmd
> /opt/ros/indigo/lib/moveit_ros_move_group/move_group __name:=move_group
> __log:=/home/nahum/.ros/log/2b635598-3436-11e5-92a3-d850e6c36cb0/move_group-1.log].
> log file:
> /home/nahum/.ros/log/2b635598-3436-11e5-92a3-d850e6c36cb0/move_group-1*.log
> [ERROR] [1437984322.524223933, 19.305000000]: COLLADA error: Trying to
> load an invalid COLLADA version for this DOM build!
>
> [ERROR] [1437984322.533112906, 19.320000000]: COLLADA error: Failed to
> load XML document from memory
>
>
> [ERROR] [1437984322.533844551, 19.320000000]: Unable to parse URDF
> [ERROR] [1437984322.534113046, 19.320000000]: Robot model not loaded
>

Next you can find also a screen capture of the situation:

The same model works in other machines (the only difference is the ubuntu
version).
Also I tried to run the examples in the tutorial files for PR2 robot and
those are working
Could it be some problem in collada, or is that the model files are not
compatible with 14.04?

[Isaac I.Y. Saito]

Hi,

for Hiro on ROS Indigo, there's a workaround found recently for this issue.
https://github.com/start-jsk/rtmros_hironx/issues/366#issuecomment-123925658
Give it a try, and in case this doesn't work for you yet, then please
give us a feedback in the linked ticket.

# For NEXTAGE OPEN, this issue shouldn't exist so the workaround above
should not be required either.

--Isaac

--
!Happy opensource robotics!

Isaac I.Y. Saito (齋藤功)
Co-founder, Software Engineer (代表理事)
TORK (Tokyo Opensource Robotics Kyokai Association, (社) 東京オープンソースロボティクス協会)
http://opensource-robotics.tokyo.jp / 113-0034 東京都文京区湯島3-20-12 ツナシマ第2ビル4F
+81-50-3748-1069

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[AIS Lab]

Hi,
That was fast :D applying that patch and restarting the machine fixed the problem.
Thank you very much for the swift response!

[Isaac I.Y. Saito]

AIS Lab,

glad that the patch works for you.

> That was fast :D applying that patch and restarting the machine fixed the problem.

Restarting the OS shouldn't be necessary as the patch only replaces a library that's not the part of lower level system (but you're not discouraged to to so either).

--
!Happy opensource robotics!

Isaac I.Y. Saito (齋藤功)
Co-founder, Software Engineer (代表理事)
TORK (Tokyo Opensource Robotics Kyokai Association, (社) 東京オープンソースロボティクス協会)
http://opensource-robotics.tokyo.jp / 113-0034 東京都文京区湯島3-20-12 ツナシマ第2ビル4F
+81-50-3748-1069

[farhad.a...@gmail.com]