Crash when using multiple buoyancy grades

[evan-palmer]

Environment

• OS Version: Ubuntu 24.04 run inside a Docker container
• Binary build: v8.6.0

[ruby $(which gz) sim-7] [Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
[ruby $(which gz) sim-7] [Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
[ruby $(which gz) sim-7] [Msg] Received world [/home/ubuntu/ws_ros/src/online-dynamics-learning/install/odl_description/share/odl_description/gazebo/worlds/underwater_data_collection.world] from the GUI.
[ruby $(which gz) sim-7] [Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
[ruby $(which gz) sim-7] [Msg] Gazebo Sim Server v8.6.0
[ruby $(which gz) sim-7] [Msg] Loading SDF world file[/home/ubuntu/ws_ros/src/online-dynamics-learning/install/odl_description/share/odl_description/gazebo/worlds/underwater_data_collection.world].
[ruby $(which gz) sim-7] [Msg] Serving entity system service on [/entity/system/add]
[ruby $(which gz) sim-7] [Dbg] [Physics.cc:870] Loaded [gz::physics::dartsim::Plugin] from library [/opt/ros/jazzy/opt/gz_physics_vendor/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Physics] for entity [1]
[ruby $(which gz) sim-7] [Msg] Create service on [/world/underwater_data_collection/create]
[ruby $(which gz) sim-7] [Msg] Remove service on [/world/underwater_data_collection/remove]
[ruby $(which gz) sim-7] [Msg] Pose service on [/world/underwater_data_collection/set_pose]
[ruby $(which gz) sim-7] [Msg] Pose service on [/world/underwater_data_collection/set_pose_vector]
[ruby $(which gz) sim-7] [Msg] Light configuration service on [/world/underwater_data_collection/light_config]
[ruby $(which gz) sim-7] [Msg] Physics service on [/world/underwater_data_collection/set_physics]
[ruby $(which gz) sim-7] [Msg] SphericalCoordinates service on [/world/underwater_data_collection/set_spherical_coordinates]
[ruby $(which gz) sim-7] [Msg] Enable collision service on [/world/underwater_data_collection/enable_collision]
[ruby $(which gz) sim-7] [Msg] Disable collision service on [/world/underwater_data_collection/disable_collision]
[ruby $(which gz) sim-7] [Msg] Material service on [/world/underwater_data_collection/visual_config]
[ruby $(which gz) sim-7] [Msg] Material service on [/world/underwater_data_collection/wheel_slip]
[ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[ruby $(which gz) sim-7] [Dbg] [Buoyancy.cc:478] Default density set to 1025
[ruby $(which gz) sim-7] [Dbg] [Buoyancy.cc:496] Added layer at 0, 1
[ruby $(which gz) sim-7] [Dbg] [Buoyancy.cc:496] Added layer at -5, 1000
[ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Buoyancy] for entity [1]
[ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::ShaderParam] for entity [10]
[ruby $(which gz) sim-7] [Msg] Loaded level [3]
[ruby $(which gz) sim-7] [Msg] Serving world controls on [/world/underwater_data_collection/control], [/world/underwater_data_collection[Msg] Gazebo Sim GUI    v8.6.0
[ruby $(which gz) sim-7] [Dbg] [Gui.cc:263] Waiting for subscribers to [/gazebo/starting_world]...
[ruby $(which gz) sim-7] [Dbg] [Application.cc:96] Initializing application.
[ruby $(which gz) sim-7] [Dbg] [Application.cc:170] Qt using OpenGL graphics interface
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:657] Create main window
[create-4] [INFO] [1726164881.897866950] [ros_gz_sim]: Waiting messages on topic [robot_description].
[create-4] [INFO] [1726164881.909173512] [ros_gz_sim]: Requested creation of entity.
[create-4] [INFO] [1726164881.909198470] [ros_gz_sim]: OK creation of entity.
[INFO] [create-4]: process has finished cleanly [pid 3805]
[rviz2-6] [INFO] [1726164882.244796682] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1726164882.244869507] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-6] [INFO] [1726164882.366549831] [rviz2]: Stereo is NOT SUPPORTED
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Gui.cc:343] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which gz) sim-7] [GUI] [Dbg] [PathManager.cc:57] Received resource paths.
[ruby $(which gz) sim-7] [GUI] [Dbg] [Gui.cc:401] Requesting GUI from [/world/underwater_data_collection/gui/info]...
[ruby $(which gz) sim-7] [GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/underwater_data_collection/state]...
[ruby $(which gz) sim-7] [GUI] [Msg] Loading config [/home/ubuntu/.gz/sim/8/gui.config]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [MinimalScene]
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [3D View] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [MinimalScene] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMinimalScene.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityContextMenuPlugin]
[ruby $(which gz) sim-7] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Entity Context Menu] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [GzSceneManager]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Scene Manager] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [GzSceneManager] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libGzSceneManager.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [InteractiveViewControl]
[ruby $(which gz) sim-7] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[ruby $(which gz) sim-7] [GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
[ruby $(which gz) sim-7] [GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Interactive view control] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libInteractiveViewControl.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [CameraTracking]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Camera tracking] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [CameraTracking] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libCameraTracking.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [MarkerManager]
[ruby $(which gz) sim-7] [GUI] [Msg] Listening to stats on [/world/underwater_data_collection/stats]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Marker Manager] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [MarkerManager] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libMarkerManager.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [SelectEntities]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Select entities] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [SelectEntities] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libSelectEntities.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [Spawn]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Spawn] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [Spawn] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libSpawn.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [VisualizationCapabilities]
[ruby $(which gz) sim-7] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
[ruby $(which gz) sim-7] [GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[ruby $(which gz) sim-7] [GUI] [Msg] View center of mass service on [/gui/view/com]
[ruby $(which gz) sim-7] [GUI] [Msg] View inertia service on [/gui/view/inertia]
[ruby $(which gz) sim-7] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[ruby $(which gz) sim-7] [GUI] [Msg] View joints service on [/gui/view/joints]
[ruby $(which gz) sim-7] [GUI] [Msg] View frames service on [/gui/view/frames]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Visualization capabilities] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libVisualizationCapabilities.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldControl]
[ruby $(which gz) sim-7] [GUI] [Msg] Using world control service [/world/underwater_data_collection/control]
[ruby $(which gz) sim-7] [GUI] [Msg] Listening to stats on [/world/underwater_data_collection/stats]
[ruby $(which gz) sim-7] [GUI] [Dbg] [WorldControl.cc:237] Using an event to share WorldControl msgs with the server
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [World control] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [WorldControl] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldControl.so]
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [WorldStats]
[ruby $(which gz) sim-7] [GUI] [Msg] Listening to stats on [/world/underwater_data_collection/stats]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [World stats] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [WorldStats] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libWorldStats.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [Shapes]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Shapes] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [Shapes] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libShapes.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [Lights]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Lights] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [Lights] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libLights.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [TransformControl]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Transform control] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [TransformControl] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libTransformControl.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [Screenshot]
[ruby $(which gz) sim-7] [GUI] [Msg] Screenshot service on [/gui/screenshot]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Screenshot] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [Screenshot] from path [/opt/ros/jazzy/opt/gz_gui_vendor/lib/gz-gui-8/plugins/libScreenshot.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [CopyPaste]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Copy/Paste] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [CopyPaste] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libCopyPaste.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [ComponentInspector]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Component inspector] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [ComponentInspector] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libComponentInspector.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:528] Loading plugin [EntityTree]
[ruby $(which gz) sim-7] [GUI] [Msg] Currently tracking topic on [/gui/currently_tracked]
[ruby $(which gz) sim-7] [GUI] [Msg] Added plugin [Entity tree] to main window
[ruby $(which gz) sim-7] [GUI] [Msg] Loaded plugin [EntityTree] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libEntityTree.so]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:398] Loading window config
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Application.cc:908] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ruby $(which gz) sim-7] libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
[ruby $(which gz) sim-7] libEGL warning: egl: failed to create dri2 screen
[ruby $(which gz) sim-7] [GUI] [Msg] Using server control service [;32m/control/state] and [/world/underwater_data_collection/playback/control]
[ruby $(which gz) sim-7] [Msg] Serving GUI information on [/world/underwater_data_collection/gui/info]
[ruby $(which gz) sim-7] [Msg] World [underwater_data_collection] initialized with [default_physics] physics profile.
[ruby $(which gz) sim-7] [Msg] Serving world SDF generation service on [/world/underwater_data_collection/generate_world_sdf]
[ruby $(which gz) sim-7] [Msg] Serving world names on [/gazebo/worlds]
[ruby $(which gz) sim-7] [Msg] Resource path add service on [/gazebo/resource_paths/add].
[ruby $(which gz) sim-7] [Msg] Resource path get service on [/gazebo/resource_paths/get].
[ruby $(which gz) sim-7] [Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[ruby $(which gz) sim-7] [Msg] Resource paths published on [/gazebo/resource_paths].
[ruby $(which gz) sim-7] [Msg] Server control service on [/server_control].
[ruby $(which gz) sim-7] [Msg] Found no publishers on /stats, adding root stats topic
[ruby $(which gz) sim-7] [Msg] Found no publishers on /clock, adding root clock topic
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:551] Creating PostUpdate worker threads: 3
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (0)
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (1)
[ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::Hydrodynamics] for entity [21]
[ruby $(which gz) sim-7] [Msg] OdometryPublisher publishing odometry on [/model/underwater_object/odometry]
[ruby $(which gz) sim-7] [Msg] OdometryPublisher publishing odometry with covariance on [/model/underwater_object/odometry_with_covariance]
[ruby $(which gz) sim-7] [Msg] OdometryPublisher publishing Pose_V (TF) on [/model/underwater_object/pose]
[ruby $(which gz) sim-7] [Dbg] [SystemManager.cc:77] Loaded system [gz::sim::systems::OdometryPublisher] for entity [21]
[ruby $(which gz) sim-7] [Dbg] [UserCommands.cc:1311] Created entity [21] named [underwater_object]
[ruby $(which gz) sim-7] [Dbg] [SDFFeatures.cc:332] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[ruby $(which gz) sim-7] [Dbg] [SDFFeatures.cc:863] The geometry element of collision [ground] couldn't be created
[ruby $(which gz) sim-7] [Msg] Serving scene information on [/world/underwater_data_collection/scene/info]
[ruby $(which gz) sim-7] [Msg] Serving graph information on [/world/underwater_data_collection/scene/graph]
[ruby $(which gz) sim-7] [Msg] Serving full state on [/world/underwater_data_collection/state]
[ruby $(which gz) sim-7] [Msg] Serving full state (async) on [/world/underwater_data_collection/state_async]
[ruby $(which gz) sim-7] [Msg] Publishing scene information on [/world/underwater_data_collection/scene/info]
[ruby $(which gz) sim-7] [Msg] Publishing entity deletions on [/world/underwater_data_collection/scene/deletion]
[ruby $(which gz) sim-7] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which gz) sim-7] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which gz) sim-7] Trying to serialize component with data type [N3sdf3v145WorldE], which doesn't have `operator<<`. Component will not be serialized.
[ruby $(which gz) sim-7] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which gz) sim-7] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v145WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[ruby $(which gz) sim-7] [Msg] Publishing state changes on [/server_control]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:671] Applying config
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:802] Creating gz-rendering interface for OpenGL
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:986] Creating render thread interface for OpenGL
[ruby $(which gz) sim-7] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:749] Create scene [scene]
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:1037] Creating texture node render interface for OpenGL
[ruby $(which gz) sim-7] Warning [Utils.cc:132] [/sdf/plugin[@name="gz::sim::systems::ShaderParam"]:<data-string>:L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].
[ruby $(which gz) sim-7] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which gz) sim-7] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which gz) sim-7] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which gz) sim-7] [GUI] [Dbg] [TransformControl.cc:453] TransformControl plugin is using camera [scene::Camera(65527)]
[ruby $(which gz) sim-7] [GUI] [Dbg] [Spawn.cc:308] Spawn plugin is using camera [scene::Camera(65527)]
[ruby $(which gz) sim-7] [GUI] [Dbg] [SelectEntities.cc:452] SelectEntities plugin is using camera [scene::Camera(65527)]
[ruby $(which gz) sim-7] [GUI] [Dbg] [MarkerManager.cc:169] Advertise /marker/list service.
[ruby $(which gz) sim-7] [GUI] [Dbg] [MarkerManager.cc:179] Advertise /marker/list.
[ruby $(which gz) sim-7] [GUI] [Dbg] [MarkerManager.cc:189] Advertise /marker_array.
[ruby $(which gz) sim-7] [GUI] [Dbg] [CameraTracking.cc:205] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[ruby $(which gz) sim-7] [GUI] [Msg] Move to service on [/gui/move_to]
[ruby $(which gz) sim-7] [GUI] [Msg] Follow service on [/gui/follow] (deprecated)
[ruby $(which gz) sim-7] [GUI] [Msg] Tracking topic on [/gui/track]
[ruby $(which gz) sim-7] [GUI] [Msg] Tracking status topic on [/gui/currently_tracked]
[ruby $(which gz) sim-7] [GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[ruby $(which gz) sim-7] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[ruby $(which gz) sim-7] [GUI] [Msg] Follow offset service on [/gui/follow/offset] (deprecated)
[ruby $(which gz) sim-7] [GUI] [Dbg] [InteractiveViewControl.cc:176] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[ruby $(which gz) sim-7] [GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[ruby $(which gz) sim-7] [GUI] [Dbg] [GuiRunner.cc:357] Loaded system [gz::sim::systems::ShaderParam] for entity [10] in GUI
[ruby $(which gz) sim-7] [GUI] [Dbg] [GuiRunner.cc:357] Loaded system [gz::sim::systems::ShaderParam] for entity [10] in GUI
[ruby $(which gz) sim-7] Warning [Utils.cc:132] [/sdf/plugin[@name="gz::sim::systems::ShaderParam"]:<data-string>:L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].
[ruby $(which gz) sim-7] /world/underwater_data_collection/state]
[ruby $(which gz) sim-7] [Msg] Publishing pose messages on [/world/underwater_data_collection/pose/info]
[ruby $(which gz) sim-7] [Msg] Publishing dynamic pose messages on [/world/underwater_data_collection/dynamic_pose/info]
[ruby $(which gz) sim-7] [Dbg] [EntityComponentManager.cc:1655] Updated state thread iterators: 16 threads processing around 2 entities each.
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:578] Exiting postupdate worker thread (0)
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:578] Exiting postupdate worker thread (1)
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:551] Creating PostUpdate worker threads: 5
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (0)
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (1)
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (2)
[ruby $(which gz) sim-7] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (3)
[ruby $(which gz) sim-7] 
[ruby $(which gz) sim-7] ODE INTERNAL ERROR 1: assertion "!bSafeNormalize4Fault" failed in dxNormalize4() [odemath.h:53]
[ruby $(which gz) sim-7] Stack trace (most recent call last):
[ruby $(which gz) sim-7] #31   Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a472c9, in rb_yield
[ruby $(which gz) sim-7] #30   Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a42b39, in rb_vm_exec
[ruby $(which gz) sim-7] #29   Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a3f5db, in 
[ruby $(which gz) sim-7] #28   Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a3b0fe, in 
[ruby $(which gz) sim-7] #27   Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a388ef, in 
[ruby $(which gz) sim-7] #26   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x787602bccb13, in 
[ruby $(which gz) sim-7] #25   Object "/usr/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x787607a013bb, in rb_nogvl
[ruby $(which gz) sim-7] #24   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x787602bcc43b, in 
[ruby $(which gz) sim-7] #23   Object "/usr/lib/x86_64-linux-gnu/libffi.so.8", at 0x787602b700bd, in ffi_call
[ruby $(which gz) sim-7] #22   Object "/usr/lib/x86_64-linux-gnu/libffi.so.8", at 0x787602b6d3ee, in 
[ruby $(which gz) sim-7] #21   Object "/usr/lib/x86_64-linux-gnu/libffi.so.8", at 0x787602b70b15, in 
[ruby $(which gz) sim-7] #20   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8-gz.so.8.6.0", at 0x7876020558ff, in runServer
[ruby $(which gz) sim-7] #19   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x787601d61fa7, in 
[ruby $(which gz) sim-7] #18   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x787601d706e6, in gz::sim::v8::SimulationRunner::Run(unsigned long)
[ruby $(which gz) sim-7] #17   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x787601d6fd41, in gz::sim::v8::SimulationRunner::Step(gz::sim::v8::UpdateInfo const&)
[ruby $(which gz) sim-7] #16   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x787601d6df63, in gz::sim::v8::SimulationRunner::UpdateSystems()
[ruby $(which gz) sim-7] #15   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7875f85d6fef, in gz::sim::v8::systems::Physics::Update(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager&)
[ruby $(which gz) sim-7] #14   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7875f85dcc85, in gz::sim::v8::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
[ruby $(which gz) sim-7] #13   Object "/opt/ros/jazzy/opt/gz_physics_vendor/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875d1967c92, 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-7] #12   Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart.so.6.13", at 0x7875d161398c, in dart::simulation::World::step(bool)
[ruby $(which gz) sim-7] #11   Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart.so.6.13", at 0x7875d15ffc25, in dart::constraint::ConstraintSolver::solve()
[ruby $(which gz) sim-7] #10   Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart.so.6.13", at 0x7875d15fd9c0, in dart::constraint::ConstraintSolver::updateConstraints()
[ruby $(which gz) sim-7] #9    Object "/opt/ros/jazzy/opt/gz_physics_vendor/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7875d194759b, in dart::collision::GzOdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
[ruby $(which gz) sim-7] #8    Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart-collision-ode.so.6.13", at 0x7875d1777459, in dart::collision::OdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
[ruby $(which gz) sim-7] #7    Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart.so.6.13", at 0x7875d15d4bb8, in dart::collision::CollisionGroup::updateEngineData()
[ruby $(which gz) sim-7] #6    Object "/opt/ros/jazzy/opt/gz_dartsim_vendor/lib/libdart-collision-ode.so.6.13", at 0x7875d1776564, in dart::collision::OdeCollisionObject::updateEngineData()
[ruby $(which gz) sim-7] #5    Object "/usr/lib/x86_64-linux-gnu/libode.so.8", at 0x7875d111b3ab, in dBodySetQuaternion
[ruby $(which gz) sim-7] #4    Object "/usr/lib/x86_64-linux-gnu/libode.so.8", at 0x7875d111fe7e, in 
[ruby $(which gz) sim-7] #3    Object "/usr/lib/x86_64-linux-gnu/libode.so.8", at 0x7875d10fa037, in dDebug
[ruby $(which gz) sim-7] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x78760743c8fe, in abort
[ruby $(which gz) sim-7] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x78760745926d, in gsignal
[ruby $(which gz) sim-7] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7876074b2b1c, in pthread_kill
[ruby $(which gz) sim-7] Aborted (Signal sent by tkill() 3922 1000)
[ruby $(which gz) sim-7] [GUI] [Msg] Using glsl shaders. 
[ruby $(which gz) sim-7] [GUI] [Msg] Using glsl shaders. 
[ruby $(which gz) sim-7] [GUI] [Dbg] [SignalHandler.cc:142] Received signal[2].
[ruby $(which gz) sim-7] [GUI] [Dbg] [Gui.cc:523] Shutting down gz-sim-gui
[ruby $(which gz) sim-7] [GUI] [Dbg] [Application.cc:237] Terminating application.
[ruby $(which gz) sim-7] [GUI] [Dbg] [MinimalScene.cc:841] Destroy scene [scene]
[INFO] [ruby $(which gz) sim-7]: process has finished cleanly [pid 3808]
[INFO] [launch]: process[ruby $(which gz) sim-7] was required: shutting down launched system

Description

• Expected behavior: When simulating a world with more than one buoyancy grade, Gazebo should be able to simulate the object moving between each grade.
• Actual behavior: When simulating an object in Gazebo using the buoyancy plugin with multiple buoyancy grades (example in Steps to reproduce), Gazebo crashes with an ODE INTERNAL ERROR.

Steps to reproduce

1. Configure your .world file to include the Buoyancy plugin with more than one grade. For example,

<plugin filename="gz-sim-buoyancy-system"
        name="gz::sim::systems::Buoyancy">
  <graded_buoyancy>
    <default_density>1025</default_density>
    <!-- First change -->
    <density_change>
      <above_depth>0</above_depth>
      <density>1</density>
    </density_change>
    <!-- Second change -->
    <density_change>
      <above_depth>-5</above_depth>
      <density>1000</density>
    </density_change>
  </graded_buoyancy>
  <enable>underwater_object</enable>
</plugin>

2. Launch an object in Gazebo using a world with the aforementioned configurations
3. Allow the object to transition move from the first grade ($-5 < z \leq 0)$ to the second grade ($-\infty \leq z \leq -5$)
4. Observe crash upon entering the second grade

Output

Refer to the log provided above.

[arjo129]

Can I know what the object spawned was? If you run with -v4 enabled you would get a warning stating:

 Only <box> and <sphere> collisions are supported by the graded buoyancy option.