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Day: October 6, 2023

Gazebo9 Model Server Error

Problem

The version of the default Gazebo9 with ROS Melodic on Ubuntu 18.04 is 9.0.0. This version has an issue connecting to the API server for Gazebo models. The error messages below indicate that Gazebo cannot connect to the server.

[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'

Solution

Gazebo Install

NOTE: People say that the server name inside ~/.ignioin/fuel/config.yaml must be changed. But this is not true. You don’t need to change this file. Just keep the original.

Upgrade your Gazebo 9.0.0 to the latest Gazebo 9. As of today when I write this article, 9.19.0 is the latest version of Gazebo 9.

sudo apt update
sudo apt install gazebo9

Check your Gazebo version.

gazebo --verbose
Gazebo multi-robot simulator, version 9.19.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 9.19.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.0.2.15
[Msg] Publicized address: 10.0.2.15
[Msg] Loading world file [/usr/share/gazebo-9/worlds/empty.world]

If you still see 9.0.0, please follow the steps below.

  • Setup your computer to accept software from packages.osrfoundation.org.
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
  • Setup keys
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
  • Install Gazebo9
sudo apt update
sudo apt install gazebo9
sudo apt install libgazebo9-dev

Upgrade libignition-math2

After upgrading Gazebo 9.0.0 to 9.19.0, when you start gazebo, you may see error messages. Then you have to upgrade libignition-math2.

  • Upgrade libignition-math2
sudo apt upgrade libignition-math2