nasa_r2_simulator deprecated SDF file [closed]
hi, i installed the ros-groovy-nasa-r2-simulator then started on one terminal roscore and in the other terminal i typed "roslaunch r2_gazebo r2_taskboard.launch" like the site ros.org/wiki/nasa_r2_simulator recommends. Then i get the following output:
Warning [parser.cc:361] Converting a deprecated SDF source[/opt/ros/groovy/stacks/nasa_r2_simulator/r2_gazebo/gazebo/r2_empty.world].
Set SDF value
Version[1.0] to Version[1.3]
Please use the gzsdf tool to update your SDF files.
$ gzsdf convert [sdf_file]
Error [Converter.cc:73] Unable to load file[]
Warning [parser.cc:499] XML Attribute[rgba] in element[ambient] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[enabled] in element[shadows] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[enabled] in element[grid] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[xyz] in element[gravity] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[type] in element[solver] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[dt] in element[solver] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[iters] in element[solver] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[sor] in element[solver] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[cfm] in element[constraints] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[erp] in element[constraints] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[contact_max_correcting_vel] in element[constraints] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[contact_surface_layer] in element[constraints] not defined in SDF, ignoring.
Warning [parser.cc:499] XML Attribute[static] in element[model] not defined in SDF, ignoring.
Error [parser.cc:695] XML Element[origin], child of element[model] not defined in SDF. Ignoring.[model]
Error [parser.cc:686] Error reading element <model>
Error [parser.cc:686] Error reading element <world>
Error [parser.cc:369] Unable to read element <sdf>
Error: Could not find the 'robot' element in the xml file
at line 59 in /tmp/buildd/ros-groovy-urdfdom-0.2.7-0precise-20130125-0406/urdf_parser/src/model.cpp
Error [parser_urdf.cc:1873] Unable to call parseURDF on robot model
Warning [parser.cc:377] SDF has no <sdf> element in file[urdf file]
Error [parser.cc:291] parse as old urdf model file failed.
Error [Server.cc:243] Unable to read sdf file[/opt/ros/groovy/stacks/nasa_r2_simulator/r2_gazebo/gazebo/r2_empty.world]
gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr<T>::operator->() const [with T = gazebo::event::Connection]: Assertion `px != 0' failed.
loading model xml from ros parameter
[INFO] [WallTime: 1360958317.218844] [0.000000] waiting for service /gazebo/spawn_urdf_model
Aborted (core dumped)
[gazebo_world-1] process has died [pid 9283, exit code 134, cmd /opt/ros/groovy/stacks/simulator_gazebo/gazebo/scripts/gazebo /opt/ros/groovy/stacks/nasa_r2_simulator/r2_gazebo/gazebo/r2_empty.world __name:=gazebo_world __log:=/home/ros/.ros/log/49d553f6-77a9-11e2-b704-1cc1de9847ba/gazebo_world-1.log].
log file: /home/ros/.ros/log/49d553f6-77a9-11e2-b704-1cc1de9847ba/gazebo_world-1*.log
Msg Waiting for master.loading model xml from ros parameter
[INFO] [WallTime ...
I'd suggest asking this question on http://answers.gazebosim.org/questions/ (to track down the nature of the problem) this seems specific to Gazebo/SDF... updating/correcting the ROS stack can come later once the problem is properly identified.