Hello my name is Bukmop and this is my first post here.
I am trying to work with a robot in gazebo and ROS and changing a existing gazebo_ros plugin (gazebo_ros_diff_drive). Now I am facing some problems which don`t really understand.
**Preamble:**
I am using the code frame from moorerobots and the gazebo_ros plugins (links bellow). My actual code is in GitHub for everyone to access. Furthermore I made a video of the problem I want to solve.
mybot frame: http://moorerobots.com/blog/post/1
original gazebo_ros packages: https://github.com/ros-simulation/gazebo_ros_pkgs
The GitHub code: https://github.com/Bukmop123/mybot.git
Youtube video: https://youtu.be/3iKQuljNhA8
**Goal of this work**
Basically I have a robot with two Joints and I want set force on these joints and read the actual force and velocity on these Joints. The raw coding is done and it seems to work the way I want it to.
**Problem description**
When I am starting the code there is different behavior of the launch process as you can see in the video. Here are the relevant parts:
1. 0.20 min : ok
2. 0.56 min : Aborted
3. 1.14 min : Segmentation
4. 2.03 min : ok
5. 2.19 min : Segmentation
6. 2.49 min : ok
7. 3.08 min : Segmentation
8. 3.08 min : Segmentation
9. 3.24 min : Segmentation
10. 4.01 min : Segmentation **and no Gui**
11. 4.18 min : Segmentation
12. 4.39 min : ok
13. 5.08 min : Segmentation
14. 5.25 min : ok
15. 6.02 min : ok
16. 6.34 min : ok
17. 6.55 min : Segmentation
18. 7.07 min : Aborted
19. 7.28 min : ok
**error notes**
*17. 6.55 min : Segmentation*:
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 26423, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/robot/mybot_ws/src/mybot_gazebo/worlds/mybot.world __name:=gazebo __log:=/home/robot/.ros/log/3c2d321c-6888-11e7-9455-c038966d7861/gazebo-2.log].
log file: /home/robot/.ros/log/3c2d321c-6888-11e7-9455-c038966d7861/gazebo-2*.log
*18. 7.07 min : Aborted*:
Aborted (core dumped)
[gazebo-2] process has died [pid 26910, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/robot/mybot_ws/src/mybot_gazebo/worlds/mybot.world __name:=gazebo __log:=/home/robot/.ros/log/46fbdc8e-6888-11e7-9455-c038966d7861/gazebo-2.log].
log file: /home/robot/.ros/log/46fbdc8e-6888-11e7-9455-c038966d7861/gazebo-2*.log
[gazebo_gui-3] process has died [pid 26921, exit code 255, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/robot/.ros/log/46fbdc8e-6888-11e7-9455-c038966d7861/gazebo_gui-3.log].
log file: /home/robot/.ros/log/46fbdc8e-6888-11e7-9455-c038966d7861/gazebo_gui-3*.log
**Observations**
The Segmentation errors seems to be less when I use the **modified** differential_drive_controller but they still appear (2 of 10 maybe ). There seems to be no errors when I use the original differential_drive_controller so the mistake should be somewhere in the code.
*Note:* You can switch the controller of the joints in mybot.xacro line 9 to 10.
> mybot/mybot_ws/src/mybot_description/urdf/mybot.xacro("oDiff_jointForce",1000);
**Question**
So my questions would be where is the mistake in my code and why is the gazebo launching process so "dynamic"?
Greetings Bukmop
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