It looks like you have a non-zero <rpy> in inertia's origin tag.  We don't currently support rotated inertia frames at this time.  The second error is most likely due to shadows, for now you can turn off shadow rendering by adding a <shadows> tag in the world file:

  <rendering:ogre>
    <ambient>0.5 0.5 0.5 0.5</ambient>
    <sky>
      <material>Gazebo/CloudySky</material>
    </sky>
    <grid>false</grid>
    <maxUpdateRate>10.</maxUpdateRate>
    <shadowTechnique>none</shadowTechnique>
    <shadows>false</shadows>
  </rendering:ogre>

This should fix it for now, I've ticketed it here:
https://code.ros.org/trac/ros-pkg/ticket/4241

thanks,

John

On Fri, Jul 9, 2010 at 3:55 AM, Nicolas Goossaert <nicolas@shadowrobot.com> wrote:
Hi everyone,

I am currently trying to use my URDF model and the <gazebo> tags to get a real simulation of my robot in Gazebo, and not just an Rviz 3D picture.

The problem is: when I spawn my model, I get the following error:

[ERROR] [113.806000000]: rotation of inertial frame is not supported
                                                                                                       
[ERROR] [114.168000000]: rotation of inertial frame is not supported
                                                                                                       
[ERROR] [114.168000000]: rotation of inertial frame is not supported
                                                                                                       
[ERROR] [114.168000000]: rotation of inertial frame is not supported
                                                                                                       
gazebo: /home/hand/rosunstable/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/OgreMain/src/OgreShadowCaster.cpp:348: virtual void Ogre::ShadowCaster::generateShadowVolume(Ogre::EdgeData*, const Ogre::HardwareIndexBufferSharedPtr&, const Ogre::Light*, std::vector<Ogre::ShadowRenderable*, Ogre::STLAllocator<Ogre::ShadowRenderable*, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0u> > >&, long unsigned int): Assertion `numIndices <= indexBuffer->getNumIndexes() && "Index buffer overrun while generating shadow volume!! " "You must increase the size of the shadow index buffer."' failed.
[gazebo-2] process has died [pid 5041, exit code -6].

I cannot see where the problem comes from. Could someone help me ?

Cheers,

Nicolas

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