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Failing to import plugins in gazebo 7.2.0 #1871

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Rezenders opened this issue Jan 27, 2023 · 10 comments
Closed

Failing to import plugins in gazebo 7.2.0 #1871

Rezenders opened this issue Jan 27, 2023 · 10 comments
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@azeey
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bug Something isn't working

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@Rezenders
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Environment

  • OS Version: Ubuntu 22.04
  • Source: Gazebo Sim, version 7.2.0

Description

After upgrading ubuntu 22.04, gz sim got upgraded to version 7.2.0 and now it is falling to import plugins.

I get the following error:

[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [gz-sim-hydrodynamics-system] : couldn't find shared library.
[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [gz-sim-thruster-system] : couldn't find shared library.
[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [gz-sim-thruster-system] : couldn't find shared library.
[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [gz-sim-thruster-system] : couldn't find shared library.
[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [gz-sim-thruster-system] : couldn't find shared library.
[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [gz-sim-thruster-system] : couldn't find shared library.
[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [gz-sim-thruster-system] : couldn't find shared library.
[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [libArduPilotPlugin.so] : couldn't find shared library.

It seems that I need to go back to using ignition-gazebo and ignition::gazebo instead of gz-sim and gz::sim, respectively.
And to find custom plugins I need to back to IGN_GAZEBO_SYSTEM_PLUGIN_PATH instead of GZ_SIM_SYSTEM_PLUGIN_PATH. However, the custom plugin I am using doesn't work when I do this.

I get the following error:

[ruby $(which ign) gazebo-1] Library [/home/gus/ardupilot_gazebo/build/libArduPilotPlugin.so] does not export any plugins. The symbol [IgnitionPluginHook] is missing, or it is not externally visible.
[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:87] Failed to load system plugin [libArduPilotPlugin.so] : couldn't load library on path [/home/gus/ardupilot_gazebo/build/libArduPilotPlugin.so].

Is this behavior desirable? Should we go back to using ignition names? It doesn't seem like this is desirable.

Steps to reproduce

Install this repo and its deps (including ardupilot_gazebo)
And run:

ros2 launch suave simulation.launch.py
@Rezenders Rezenders added the bug Something isn't working label Jan 27, 2023
@mjcarroll
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Thanks for reporting, I think this is an upstream gz-sim issue, so I'm going to transfer it there.

@mjcarroll mjcarroll transferred this issue from gazebosim/ros_gz Jan 27, 2023
@azeey
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azeey commented Jan 27, 2023

I was able to install ardupilot_gazebo and run the examples without a problem using a ubuntu 22.04. Installing all of the suave seems quite involved. Would you be able to provide a minimal example showing the problem you're facing?

@Rezenders
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Hello, thanks for the reply.

Installing all of the suave seems quite involved. Would you be able to provide a minimal example showing the problem you're facing?

Yes, I added a launch file called simulation.launch.py to this repo. You only need to build this individual repo to test it, by running:

ros2 launch bluerov2_ignition simulation.launch.py

I tested starting the simulation directly with gz sim underwater.world -v3 and it works. So I guess the problem is actually related to ros_gz_sim.

By the way, I am using ROS humble, and I am building ros_gz from source with the humble branch commit 74dcf50.

@azeey
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azeey commented Jan 30, 2023

Okay, I tested running simulation.launch.py and everything seems to work for me. My suspicion is you have some ABI compatibility issues. So here are some follow-up questions:

  • Do you have ros-gz packages installed from debs that might be interfering?
  • Is ros_gz built with GZ_VERSION="garden" environment variable set?
  • Can you run ldd /home/gus/ardupilot_gazebo/build/libArduPilotPlugin.so and see which gz libraries it's linked against?

@azeey azeey self-assigned this Jan 31, 2023
@Rezenders
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Rezenders commented Jan 31, 2023 •
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Is ros_gz built with GZ_VERSION="garden" environment variable set?

This did the trick. Now it works. Thanks.

@Rezenders Rezenders reopened this Jan 31, 2023
@Rezenders
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Rezenders commented Jan 31, 2023 •
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Actually, now the simulation starts with all plugins loaded but it is crashing when I run ardupilot which connects to the libArduPilotPlugin, but I don't know if it is related to this issue anymore.

the output of ldd /home/gus/ardupilot_gazebo/build/libArduPilotPlugin.so

linux-vdso.so.1 (0x00007ffc7c7f6000)
	libgz-sim7.so.7 => /lib/x86_64-linux-gnu/libgz-sim7.so.7 (0x00007ff4fb91f000)
	libgz-common5.so.5 => /lib/x86_64-linux-gnu/libgz-common5.so.5 (0x00007ff4fb8c2000)
	libgz-transport12.so.12 => /lib/x86_64-linux-gnu/libgz-transport12.so.12 (0x00007ff4fb843000)
	libgz-msgs9.so.9 => /lib/x86_64-linux-gnu/libgz-msgs9.so.9 (0x00007ff4fb4bd000)
	libsdformat13.so.13 => /lib/x86_64-linux-gnu/libsdformat13.so.13 (0x00007ff4fb279000)
	libgz-math7.so.7 => /lib/x86_64-linux-gnu/libgz-math7.so.7 (0x00007ff4fb222000)
	libprotobuf.so.23 => /lib/x86_64-linux-gnu/libprotobuf.so.23 (0x00007ff4faf5f000)
	libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007ff4fad35000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007ff4fac4e000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007ff4fac2c000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007ff4faa04000)
	libgz-fuel_tools8.so.8 => /lib/x86_64-linux-gnu/libgz-fuel_tools8.so.8 (0x00007ff4fa97f000)
	libgz-plugin2-loader.so.2 => /lib/x86_64-linux-gnu/libgz-plugin2-loader.so.2 (0x00007ff4fa968000)
	libgz-plugin2.so.2 => /lib/x86_64-linux-gnu/libgz-plugin2.so.2 (0x00007ff4fa95c000)
	libgz-common5-events.so.5 => /lib/x86_64-linux-gnu/libgz-common5-events.so.5 (0x00007ff4fa955000)
	libtinyxml2.so.9 => /lib/x86_64-linux-gnu/libtinyxml2.so.9 (0x00007ff4fa93b000)
	libgz-transport12-parameters.so.12 => /lib/x86_64-linux-gnu/libgz-transport12-parameters.so.12 (0x00007ff4fa919000)
	/lib64/ld-linux-x86-64.so.2 (0x00007ff4fbba0000)
	libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007ff4fa910000)
	libzmq.so.5 => /lib/x86_64-linux-gnu/libzmq.so.5 (0x00007ff4fa874000)
	libgz-utils2.so.2 => /lib/x86_64-linux-gnu/libgz-utils2.so.2 (0x00007ff4fa86f000)
	libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007ff4fa851000)
	libjsoncpp.so.25 => /lib/x86_64-linux-gnu/libjsoncpp.so.25 (0x00007ff4fa81c000)
	libyaml-0.so.2 => /lib/x86_64-linux-gnu/libyaml-0.so.2 (0x00007ff4fa7fb000)
	libzip.so.4 => /lib/x86_64-linux-gnu/libzip.so.4 (0x00007ff4fa7dd000)
	libcurl.so.4 => /lib/x86_64-linux-gnu/libcurl.so.4 (0x00007ff4fa737000)
	libbsd.so.0 => /lib/x86_64-linux-gnu/libbsd.so.0 (0x00007ff4fa71d000)
	libsodium.so.23 => /lib/x86_64-linux-gnu/libsodium.so.23 (0x00007ff4fa6c5000)
	libpgm-5.3.so.0 => /lib/x86_64-linux-gnu/libpgm-5.3.so.0 (0x00007ff4fa674000)
	libnorm.so.1 => /lib/x86_64-linux-gnu/libnorm.so.1 (0x00007ff4fa549000)
	libgssapi_krb5.so.2 => /lib/x86_64-linux-gnu/libgssapi_krb5.so.2 (0x00007ff4fa4f5000)
	libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007ff4fa4e0000)
	libcrypto.so.3 => /lib/x86_64-linux-gnu/libcrypto.so.3 (0x00007ff4fa09e000)
	libnghttp2.so.14 => /lib/x86_64-linux-gnu/libnghttp2.so.14 (0x00007ff4fa074000)
	libidn2.so.0 => /lib/x86_64-linux-gnu/libidn2.so.0 (0x00007ff4fa053000)
	librtmp.so.1 => /lib/x86_64-linux-gnu/librtmp.so.1 (0x00007ff4fa034000)
	libssh.so.4 => /lib/x86_64-linux-gnu/libssh.so.4 (0x00007ff4f9fc7000)
	libpsl.so.5 => /lib/x86_64-linux-gnu/libpsl.so.5 (0x00007ff4f9fb1000)
	libssl.so.3 => /lib/x86_64-linux-gnu/libssl.so.3 (0x00007ff4f9f0d000)
	libldap-2.5.so.0 => /lib/x86_64-linux-gnu/libldap-2.5.so.0 (0x00007ff4f9eae000)
	liblber-2.5.so.0 => /lib/x86_64-linux-gnu/liblber-2.5.so.0 (0x00007ff4f9e9d000)
	libzstd.so.1 => /opt/ros/humble/lib/libzstd.so.1 (0x00007ff4f9e0e000)
	libbrotlidec.so.1 => /lib/x86_64-linux-gnu/libbrotlidec.so.1 (0x00007ff4f9e00000)
	libmd.so.0 => /lib/x86_64-linux-gnu/libmd.so.0 (0x00007ff4f9df1000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007ff4f9dec000)
	libkrb5.so.3 => /lib/x86_64-linux-gnu/libkrb5.so.3 (0x00007ff4f9d21000)
	libk5crypto.so.3 => /lib/x86_64-linux-gnu/libk5crypto.so.3 (0x00007ff4f9cf2000)
	libcom_err.so.2 => /lib/x86_64-linux-gnu/libcom_err.so.2 (0x00007ff4f9cec000)
	libkrb5support.so.0 => /lib/x86_64-linux-gnu/libkrb5support.so.0 (0x00007ff4f9cde000)
	libunistring.so.2 => /lib/x86_64-linux-gnu/libunistring.so.2 (0x00007ff4f9b32000)
	libgnutls.so.30 => /lib/x86_64-linux-gnu/libgnutls.so.30 (0x00007ff4f9947000)
	libhogweed.so.6 => /lib/x86_64-linux-gnu/libhogweed.so.6 (0x00007ff4f98ff000)
	libnettle.so.8 => /lib/x86_64-linux-gnu/libnettle.so.8 (0x00007ff4f98b9000)
	libgmp.so.10 => /lib/x86_64-linux-gnu/libgmp.so.10 (0x00007ff4f9837000)
	libsasl2.so.2 => /lib/x86_64-linux-gnu/libsasl2.so.2 (0x00007ff4f981a000)
	libbrotlicommon.so.1 => /lib/x86_64-linux-gnu/libbrotlicommon.so.1 (0x00007ff4f97f7000)
	libkeyutils.so.1 => /lib/x86_64-linux-gnu/libkeyutils.so.1 (0x00007ff4f97f0000)
	libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007ff4f97dc000)
	libp11-kit.so.0 => /lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007ff4f96a1000)
	libtasn1.so.6 => /lib/x86_64-linux-gnu/libtasn1.so.6 (0x00007ff4f9687000)
	libffi.so.8 => /lib/x86_64-linux-gnu/libffi.so.8 (0x00007ff4f967a000)

gazebo output:

ros2 launch bluerov2_ignition simulation.launch.py 
[INFO] [launch]: All log files can be found below /home/gus/.ros/log/2023-01-31-13-37-20-944372-alien-362949
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [362952]
[INFO] [create-2]: process started with pid [362954]
[INFO] [create-3]: process started with pid [362957]
[INFO] [create-4]: process started with pid [362959]
[INFO] [parameter_bridge-5]: process started with pid [362962]
[parameter_bridge-5] [INFO] [1675168641.110988456] [gz_bluerov_pose_bridge]: Creating GZ->ROS Bridge: [/model/bluerov2/pose (gz.msgs.Pose) -> /model/bluerov2/pose (geometry_msgs/msg/Pose)] (Lazy 0)
[parameter_bridge-5] [INFO] [1675168641.113575214] [gz_bluerov_pose_bridge]: Creating ROS->GZ Bridge: [/model/bluerov2/pose (geometry_msgs/msg/Pose) -> /model/bluerov2/pose (gz.msgs.Pose)] (Lazy 0)
[create-2] [INFO] [1675168641.586280364] [ros_gz_sim]: Requested creation of entity.
[create-2] [INFO] [1675168641.586449620] [ros_gz_sim]: OK creation of entity.
[create-3] [INFO] [1675168641.686370576] [ros_gz_sim]: Requested creation of entity.
[create-3] [INFO] [1675168641.686529413] [ros_gz_sim]: OK creation of entity.
[INFO] [create-2]: process has finished cleanly [pid 362954]
[create-4] [INFO] [1675168641.786736353] [ros_gz_sim]: Requested creation of entity.
[create-4] [INFO] [1675168641.787018690] [ros_gz_sim]: OK creation of entity.
[INFO] [create-3]: process has finished cleanly [pid 362957]
[INFO] [create-4]: process has finished cleanly [pid 362959]
[ruby $(which gz) sim-1] [Err] [SDFFeatures.cc:819] The geometry element of collision [ground] couldn't be created
[ruby $(which gz) sim-1] 
[ruby $(which gz) sim-1] ODE INTERNAL ERROR 1: assertion "aabbBound >= dMinIntExact && aabbBound < dMaxIntExact" failed in collide() [collision_space.cpp:460]
[ruby $(which gz) sim-1] Stack trace (most recent call last):
[ruby $(which gz) sim-1] #31   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4935642c96, in 
[ruby $(which gz) sim-1] #30   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f493563ffc5, in 
[ruby $(which gz) sim-1] #29   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f493563dc34, in 
[ruby $(which gz) sim-1] #28   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4935589a1e, in 
[ruby $(which gz) sim-1] #27   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f49354b49ac, in rb_protect
[ruby $(which gz) sim-1] #26   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f493564cc61, in rb_yield
[ruby $(which gz) sim-1] #25   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f493564830c, in rb_vm_exec
[ruby $(which gz) sim-1] #24   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f4935642c96, in 
[ruby $(which gz) sim-1] #23   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f493563ffc5, in 
[ruby $(which gz) sim-1] #22   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f493563dc34, in 
[ruby $(which gz) sim-1] #21   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f49314fb44b, in 
[ruby $(which gz) sim-1] #20   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f493560b088, in rb_nogvl
[ruby $(which gz) sim-1] #19   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f49314fad6b, in 
[ruby $(which gz) sim-1] #18   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f49314ec492, in 
[ruby $(which gz) sim-1] #17   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f49314efe2d, in 
[ruby $(which gz) sim-1] #16   Object "/usr/lib/x86_64-linux-gnu/libgz-sim7-gz.so.7.2.0", at 0x7f4930a09e35, in runServer
[ruby $(which gz) sim-1] #15   Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f49306e3f55, in 
[ruby $(which gz) sim-1] #14   Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f49306f13aa, in gz::sim::v7::SimulationRunner::Run(unsigned long)
[ruby $(which gz) sim-1] #13   Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f49306f0a80, in gz::sim::v7::SimulationRunner::Step(gz::sim::v7::UpdateInfo const&)
[ruby $(which gz) sim-1] #12   Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f49306eefb2, in gz::sim::v7::SimulationRunner::UpdateSystems()
[ruby $(which gz) sim-1] #11   Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f49207262e6, in gz::sim::v7::systems::Physics::Update(gz::sim::v7::UpdateInfo const&, gz::sim::v7::EntityComponentManager&)
[ruby $(which gz) sim-1] #10   Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f4920726961, in gz::sim::v7::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
[ruby $(which gz) sim-1] #9    Object "/usr/lib/x86_64-linux-gnu/gz-physics-6/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7f48fee6e28c, 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&)
[ruby $(which gz) sim-1] #8    Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x7f48feab6e73, in dart::simulation::World::step(bool)
[ruby $(which gz) sim-1] #7    Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x7f48fea9c705, in dart::constraint::ConstraintSolver::solve()
[ruby $(which gz) sim-1] #6    Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x7f48fea9afe1, in dart::constraint::ConstraintSolver::updateConstraints()
[ruby $(which gz) sim-1] #5    Object "/lib/x86_64-linux-gnu/libdart-collision-ode.so.6.12", at 0x7f48fec9e1cb, in dart::collision::OdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
[ruby $(which gz) sim-1] #4    Object "/lib/x86_64-linux-gnu/libode.so.8", at 0x7f48fe599266, in dxHashSpace::collide(void*, void (*)(void*, dxGeom*, dxGeom*))
[ruby $(which gz) sim-1] #3    Object "/lib/x86_64-linux-gnu/libode.so.8", at 0x7f48fe5a17b7, in dDebug
[ruby $(which gz) sim-1] #2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f493520e7f2, in abort
[ruby $(which gz) sim-1] #1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4935228475, in raise
[ruby $(which gz) sim-1] #0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f493527ca7c, in pthread_kill
[ruby $(which gz) sim-1] Aborted (Signal sent by tkill() 363028 1000)
[ruby $(which gz) sim-1] libEGL warning: DRI2: failed to create dri screen
[ruby $(which gz) sim-1] libEGL warning: DRI2: failed to create dri screen
[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 362952]

@azeey
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azeey commented Feb 3, 2023

That looks like a separate issue. Usually the error [ruby $(which gz) sim-1] ODE INTERNAL ERROR 1: assertion "aabbBound >= dMinIntExact && aabbBound < dMaxIntExact" failed in collide() [collision_space.cpp:460] happens when an object has a translation that's too big. Is something accelerating too fast?

I'll go ahead and close this issue. If you think the ODE ERROR is a bug different from #15 or other similar issues already captured in a ticket, feel free to open a new ticket.

@azeey azeey closed this as not planned Won't fix, can't repro, duplicate, stale Feb 3, 2023
@Rezenders
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Ok, thanks for the reply.

Is something accelerating too fast?

I don't really know, it is crashing immediately when ArduPilot is connected, I don't know if the plugin I am using might be generating accelerations too fast. My code doesn't even start running before it crashes. Funny thing is that it was working before. I will open an issue in the plugin repo.

@Rezenders Rezenders mentioned this issue Feb 6, 2023
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@srmainwaring
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@azeey and @ahcorde - not sure whether this should be reopened or it's for a separate issue. I carried out an investigation in the linked ardupilot_gazebo issue raised above. The quadratic damping calculation changed in the hydrodynamics plugin in fde6ec6. The change (removing an abs() from the state multiplying the coefficients) results in a positive feedback which causes the magnitude of the calculated force-torque to increase without bound given an initial perturbation.

@srmainwaring srmainwaring mentioned this issue Feb 7, 2023
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@azeey azeey mentioned this issue Feb 8, 2023
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@azeey
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azeey commented Feb 16, 2023

@srmainwaring probably best if it's a separate issue, but it might not be needed since #1888 is open.

@azeey azeey moved this to Done in Core development Jul 24, 2023
@MoffKalast MoffKalast mentioned this issue Dec 16, 2023
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