Gazebo GUI runs too slow

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Gazebo GUI runs too slow

Rufino Bolado
Hi

I have just started to get familiar with the player/gazebo environment with
the idea to implement a 3D virtual simulation for my PhD project. My system
properties are: PC intel core2 duo, video card: ATI Technologies Inc RV516
[Radeon X1300/X1550 Series], OS: Ubuntu 2.6.24-22-generic x86_64 GNU/Linux.
I have installed Player/Stage/Gazebo software following the instructions on:

- http://www.irobotics.org/gazebo08.f8.html

I run one of the given worlds:
$ gazebo /usr/local/share/gazebo/worlds/pioneer2dx.world
Gazebo multi-robot simulator, version 0.8-pre3

Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.

[server/GazeboConfig.cc:84]
  Gazebo Path[/usr/local/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/lib/OGRE]
creating /tmp/gazebo-rufino-0
creating /tmp/gazebo-rufino-0/simulation.default 112 145592
creating /tmp/gazebo-rufino-0/position.position_iface_0 112 288

It works but the gui runs too slow and when I tried to move the agent around
using the suggested player/gazebo config file
'gazebo_rev6886.cfg<http://www.irobotics.org/files/gazebo_rev6886.cfg>'
(from web page mentioned above). Any help to improve this problem?

Thanks for your time

Rufo
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Re: Gazebo GUI runs too slow

Nate Koenig
Do you have GLX and DRI up and running? You can check the status via
the glxinfo command.

-nate

On Mon, Jan 19, 2009 at 8:06 AM, Rufino Bolado <[hidden email]> wrote:

> Hi
>
> I have just started to get familiar with the player/gazebo environment with
> the idea to implement a 3D virtual simulation for my PhD project. My system
> properties are: PC intel core2 duo, video card: ATI Technologies Inc RV516
> [Radeon X1300/X1550 Series], OS: Ubuntu 2.6.24-22-generic x86_64 GNU/Linux.
> I have installed Player/Stage/Gazebo software following the instructions on:
>
> - http://www.irobotics.org/gazebo08.f8.html
>
> I run one of the given worlds:
> $ gazebo /usr/local/share/gazebo/worlds/pioneer2dx.world
> Gazebo multi-robot simulator, version 0.8-pre3
>
> Part of the Player/Stage Project [http://playerstage.sourceforge.net].
> Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
> Released under the GNU General Public License.
>
> [server/GazeboConfig.cc:84]
>  Gazebo Path[/usr/local/share/gazebo]
> [server/GazeboConfig.cc:92]
>  Ogre Path[/usr/lib/OGRE]
> creating /tmp/gazebo-rufino-0
> creating /tmp/gazebo-rufino-0/simulation.default 112 145592
> creating /tmp/gazebo-rufino-0/position.position_iface_0 112 288
>
> It works but the gui runs too slow and when I tried to move the agent around
> using the suggested player/gazebo config file
> 'gazebo_rev6886.cfg<http://www.irobotics.org/files/gazebo_rev6886.cfg>'
> (from web page mentioned above). Any help to improve this problem?
>
> Thanks for your time
>
> Rufo
> ------------------------------------------------------------------------------
> This SF.net email is sponsored by:
> SourcForge Community
> SourceForge wants to tell your story.
> http://p.sf.net/sfu/sf-spreadtheword
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: Gazebo GUI runs too slow

Rufino Bolado
Hi

I am a bit unfamiliar with this graphics driver set-up process. I run these
two commands at the terminal prompt with the following results:

$glxinfo
name of display: :1.0
display: :1  screen: 0
direct rendering: No (If you want to find out why, try setting
LIBGL_DEBUG=verbose)
server glx vendor string: SGI
server glx version string: 1.2
server glx extensions:
    GLX_ARB_multisample, GLX_EXT_visual_info, GLX_EXT_visual_rating,
    GLX_EXT_import_context, GLX_EXT_texture_from_pixmap,
GLX_OML_swap_method,
    GLX_SGI_make_current_read, GLX_SGIS_multisample, GLX_SGIX_hyperpipe,
    GLX_SGIX_swap_barrier, GLX_SGIX_fbconfig
client glx vendor string: SGI
client glx version string: 1.4
client glx extensions:
    GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_MESA_allocate_memory,
    GLX_MESA_swap_control, GLX_MESA_swap_frame_usage, GLX_OML_swap_method,
    GLX_OML_sync_control, GLX_SGI_make_current_read, GLX_SGI_swap_control,
    GLX_SGI_video_sync, GLX_SGIS_multisample, GLX_SGIX_fbconfig,
    GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group,
    GLX_EXT_texture_from_pixmap
GLX version: 1.2
GLX extensions:
    GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method,
    GLX_SGI_make_current_read, GLX_SGIS_multisample, GLX_SGIX_fbconfig,
    GLX_EXT_texture_from_pixmap
OpenGL vendor string: Mesa project: www.mesa3d.org
OpenGL renderer string: Mesa GLX Indirect
OpenGL version string: 1.2 (2.1 Mesa 7.0.3)
OpenGL extensions:
    GL_ARB_depth_texture, GL_ARB_fragment_program, GL_ARB_imaging,
    GL_ARB_multitexture, GL_ARB_point_parameters, GL_ARB_point_sprite,
    GL_ARB_shadow, GL_ARB_shadow_ambient, GL_ARB_texture_border_clamp,
    GL_ARB_texture_cube_map, GL_ARB_texture_env_add,
    GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar,
    GL_ARB_texture_env_dot3, GL_ARB_texture_mirrored_repeat,
    GL_ARB_texture_non_power_of_two, GL_ARB_texture_rectangle,
    GL_ARB_transpose_matrix, GL_ARB_vertex_program, GL_ARB_window_pos,
    GL_EXT_abgr, GL_EXT_bgra, GL_EXT_blend_color,
GL_EXT_blend_func_separate,
    GL_EXT_blend_logic_op, GL_EXT_blend_minmax, GL_EXT_blend_subtract,
    GL_EXT_clip_volume_hint, GL_EXT_copy_texture,
GL_EXT_draw_range_elements,
    GL_EXT_fog_coord, GL_EXT_framebuffer_object, GL_EXT_multi_draw_arrays,
    GL_EXT_packed_pixels, GL_EXT_point_parameters, GL_EXT_polygon_offset,
    GL_EXT_rescale_normal, GL_EXT_secondary_color,
    GL_EXT_separate_specular_color, GL_EXT_shadow_funcs,
GL_EXT_stencil_wrap,
    GL_EXT_subtexture, GL_EXT_texture, GL_EXT_texture3D,
    GL_EXT_texture_edge_clamp, GL_EXT_texture_env_add,
    GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3,
    GL_EXT_texture_lod_bias, GL_EXT_texture_object,
GL_EXT_texture_rectangle,
    GL_EXT_vertex_array, GL_APPLE_packed_pixels,
GL_ATI_texture_env_combine3,
    GL_ATI_texture_mirror_once, GL_ATIX_texture_env_combine3,
    GL_IBM_texture_mirrored_repeat, GL_INGR_blend_func_separate,
    GL_MESA_pack_invert, GL_MESA_ycbcr_texture, GL_NV_blend_square,
    GL_NV_point_sprite, GL_NV_texgen_reflection, GL_NV_texture_rectangle,
    GL_SGIS_generate_mipmap, GL_SGIS_texture_border_clamp,
    GL_SGIS_texture_edge_clamp, GL_SGIS_texture_lod, GL_SGIX_depth_texture,
    GL_SGIX_shadow, GL_SGIX_shadow_ambient, GL_SUN_multi_draw_arrays

   visual  x  bf lv rg d st colorbuffer ax dp st accumbuffer  ms  cav
 id dep cl sp sz l  ci b ro  r  g  b  a bf th cl  r  g  b  a ns b eat
----------------------------------------------------------------------
0x2c 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
0x2d 24 tc  0 32  0 r  .  .  8  8  8  8  0  0  0  0  0  0  0  0 0 None
0x2e 32 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 Ncon
0x2f 32 tc  0 32  0 r  .  .  8  8  8  8  0  0  0  0  0  0  0  0 0 Ncon

$fglrxinfo
display: :1.0  screen: 0
OpenGL vendor string: Mesa project: www.mesa3d.org
OpenGL renderer string: Mesa GLX Indirect
OpenGL version string: 1.2 (2.1 Mesa 7.0.3)

I have installed the fglrx driver using synaptic in Ubuntu but still Gazebo
running too slow. I would appreciate some help.

Thanks

On Mon, Jan 26, 2009 at 6:28 PM, Nate Koenig <[hidden email]> wrote:

> Do you have GLX and DRI up and running? You can check the status via
> the glxinfo command.
>
> -nate
>
> On Mon, Jan 19, 2009 at 8:06 AM, Rufino Bolado <[hidden email]> wrote:
> > Hi
> >
> > I have just started to get familiar with the player/gazebo environment
> with
> > the idea to implement a 3D virtual simulation for my PhD project. My
> system
> > properties are: PC intel core2 duo, video card: ATI Technologies Inc
> RV516
> > [Radeon X1300/X1550 Series], OS: Ubuntu 2.6.24-22-generic x86_64
> GNU/Linux.
> > I have installed Player/Stage/Gazebo software following the instructions
> on:
> >
> > - http://www.irobotics.org/gazebo08.f8.html
> >
> > I run one of the given worlds:
> > $ gazebo /usr/local/share/gazebo/worlds/pioneer2dx.world
> > Gazebo multi-robot simulator, version 0.8-pre3
> >
> > Part of the Player/Stage Project [http://playerstage.sourceforge.net].
> > Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
> > Released under the GNU General Public License.
> >
> > [server/GazeboConfig.cc:84]
> >  Gazebo Path[/usr/local/share/gazebo]
> > [server/GazeboConfig.cc:92]
> >  Ogre Path[/usr/lib/OGRE]
> > creating /tmp/gazebo-rufino-0
> > creating /tmp/gazebo-rufino-0/simulation.default 112 145592
> > creating /tmp/gazebo-rufino-0/position.position_iface_0 112 288
> >
> > It works but the gui runs too slow and when I tried to move the agent
> around
> > using the suggested player/gazebo config file
> > 'gazebo_rev6886.cfg<http://www.irobotics.org/files/gazebo_rev6886.cfg>'
> > (from web page mentioned above). Any help to improve this problem?
> >
> > Thanks for your time
> >
> > Rufo
> >
> ------------------------------------------------------------------------------
> > This SF.net email is sponsored by:
> > SourcForge Community
> > SourceForge wants to tell your story.
> > http://p.sf.net/sfu/sf-spreadtheword
> > _______________________________________________
> > Playerstage-gazebo mailing list
> > [hidden email]
> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
>
>
> ------------------------------------------------------------------------------
> This SF.net email is sponsored by:
> SourcForge Community
> SourceForge wants to tell your story.
> http://p.sf.net/sfu/sf-spreadtheword
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
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Fwd: Gazebo GUI runs too slow

Nate Koenig
Forwarding email to the correct mailing list.

-nate


---------- Forwarded message ----------
From: Rufino Bolado <[hidden email]>
Date: Wed, Jan 28, 2009 at 9:21 AM
Subject: Re: [PlayerStage-Gazebo] Gazebo GUI runs too slow
To: [hidden email]


Hi,

I manage to fix the problem by following the instructions at
http://wiki.cchtml.com/index.php/Ubuntu_Hardy_Installation_Guide. Now

$ glxinfo
name of display: :0.0
display: :0  screen: 0
direct rendering: Yes
server glx vendor string: SGI
server glx version string: 1.2
server glx extensions:
    GLX_ARB_multisample, GLX_EXT_import_context, GLX_EXT_texture_from_pixmap,
    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method,
    GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_visual_select_group
client glx vendor string: SGI
client glx version string: 1.4
client glx extensions:
    GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_MESA_allocate_memory,
    GLX_MESA_swap_control, GLX_MESA_swap_frame_usage, GLX_OML_swap_method,
    GLX_OML_sync_control, GLX_SGI_make_current_read, GLX_SGI_swap_control,
    GLX_SGI_video_sync, GLX_SGIS_multisample, GLX_SGIX_fbconfig,
    GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group,
    GLX_EXT_texture_from_pixmap
GLX version: 1.2
GLX extensions:
    GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method,
    GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_visual_select_group
OpenGL vendor string: ATI Technologies Inc.
OpenGL renderer string: Radeon X1300/X1550 Series
OpenGL version string: 2.1.7412 Release
OpenGL extensions:
    GL_AMD_performance_monitor, GL_ARB_depth_texture, GL_ARB_draw_buffers,
    GL_ARB_fragment_program, GL_ARB_fragment_shader, GL_ARB_multisample,
    GL_ARB_multitexture, GL_ARB_occlusion_query, GL_ARB_pixel_buffer_object,
    GL_ARB_point_parameters, GL_ARB_point_sprite, GL_ARB_shader_objects,
    GL_ARB_shading_language_100, GL_ARB_shadow, GL_ARB_shadow_ambient,
    GL_ARB_texture_border_clamp, GL_ARB_texture_compression,
    GL_ARB_texture_cube_map, GL_ARB_texture_env_add,
    GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar,
    GL_ARB_texture_env_dot3, GL_ARB_texture_float,
    GL_ARB_texture_mirrored_repeat, GL_ARB_texture_rectangle,
    GL_ARB_transpose_matrix, GL_ARB_vertex_buffer_object,
    GL_ARB_vertex_program, GL_ARB_vertex_shader, GL_ARB_window_pos,
    GL_ATI_draw_buffers, GL_ATI_envmap_bumpmap, GL_ATI_fragment_shader,
    GL_ATI_meminfo, GL_ATI_separate_stencil, GL_ATI_texture_compression_3dc,
    GL_ATI_texture_env_combine3, GL_ATI_texture_float, GL_EXT_abgr,
    GL_EXT_bgra, GL_EXT_blend_color, GL_EXT_blend_func_separate,
    GL_EXT_blend_minmax, GL_EXT_blend_subtract, GL_EXT_compiled_vertex_array,
    GL_EXT_copy_texture, GL_EXT_draw_range_elements, GL_EXT_fog_coord,
    GL_EXT_framebuffer_object, GL_EXT_gpu_program_parameters,
    GL_EXT_multi_draw_arrays, GL_EXT_packed_depth_stencil,
    GL_EXT_packed_pixels, GL_EXT_point_parameters, GL_EXT_rescale_normal,
    GL_EXT_secondary_color, GL_EXT_separate_specular_color,
    GL_EXT_shadow_funcs, GL_EXT_stencil_wrap, GL_EXT_subtexture,
    GL_EXT_texgen_reflection, GL_EXT_texture3D,
    GL_EXT_texture_compression_s3tc, GL_EXT_texture_cube_map,
    GL_EXT_texture_edge_clamp, GL_EXT_texture_env_add,
    GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3,
    GL_EXT_texture_filter_anisotropic, GL_EXT_texture_lod_bias,
    GL_EXT_texture_mirror_clamp, GL_EXT_texture_object,
    GL_EXT_texture_rectangle, GL_EXT_texture_sRGB, GL_EXT_vertex_array,
    GL_KTX_buffer_region, GL_NV_blend_square, GL_NV_texgen_reflection,
    GL_SGIS_generate_mipmap, GL_SGIS_texture_edge_clamp, GL_SGIS_texture_lod,
    GL_WIN_swap_hint, WGL_EXT_swap_control

   visual  x  bf lv rg d st colorbuffer ax dp st accumbuffer  ms  cav
 id dep cl sp sz l  ci b ro  r  g  b  a bf th cl  r  g  b  a ns b eat
----------------------------------------------------------------------
0x23 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x24 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x25 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x26 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x27 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
0x28 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
0x29 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  0 0 None
0x2a 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  0 0 None
0x2b 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x2c 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x2d 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x2e 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x2f 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  2 1 None
0x30 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  2 1 None
0x31 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  2 1 None
0x32 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  2 1 None
0x33 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x34 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x35 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x36 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x37 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  4 1 None
0x38 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  4 1 None
0x39 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  4 1 None
0x3a 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  4 1 None
0x3b 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x3c 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x3d 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x3e 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x3f 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  6 1 None
0x40 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  6 1 None
0x41 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  6 1 None
0x42 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  6 1 None
0x43 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x44 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x45 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x46 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x47 24 tc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
0x48 24 tc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
0x49 24 tc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
0x4a 24 tc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
0x4b 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x4c 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x4d 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x4e 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x4f 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
0x50 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
0x51 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  0 0 None
0x52 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  0 0 None
0x53 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x54 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x55 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x56 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x57 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  2 1 None
0x58 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  2 1 None
0x59 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  2 1 None
0x5a 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  2 1 None
0x5b 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x5c 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x5d 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x5e 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x5f 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  4 1 None
0x60 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  4 1 None
0x61 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  4 1 None
0x62 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  4 1 None
0x63 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x64 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x65 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x66 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x67 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  6 1 None
0x68 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  6 1 None
0x69 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  6 1 None
0x6a 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  6 1 None
0x6b 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x6c 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
0x6d 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x6e 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
0x6f 24 dc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
0x70 24 dc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
0x71 24 dc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
0x72 24 dc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
0x85 32 tc  0 32  0 r  .  .  8  8  8  8  0  0  0  0  0  0  0  8 1 Ncon

&&

$ fglrxinfo
display: :0.0  screen: 0
OpenGL vendor string: ATI Technologies Inc.
OpenGL renderer string: Radeon X1300/X1550 Series
OpenGL version string: 2.1.7412 Release

Then I tried a gazebo world and it is rendering much faster, around 50 FPS.

On the other hand, my ultimate goal is to simulate a Khepera-robot
type performing a behavioral-learning based task in a simple world. I
would like to know if there is any groundwork or examples relating the
Khepera-robot virtual simulation by using Gazebo? I am asking this
because all the example worlds and info that I have been able to find,
mostly relates to the pioneer structure.

Regards,

Rufo
On Wed, Jan 28, 2009 at 5:04 PM, Nate Koenig <[hidden email]> wrote:

>
> Hello,
>
> You should look online for help getting DRI (direct rendering) enabled.
>
> The output from glxinfo should have the line:
> > direct rendering: Yes
>
> -nate
>
>
> On Wed, Jan 28, 2009 at 6:39 AM, Rufino Bolado <[hidden email]> wrote:
> > Hi
> >
> > I am a bit unfamiliar with this graphics driver set-up process. I run these
> > two commands at the terminal prompt with the following results:
> >
> > $glxinfo
> > name of display: :1.0
> > display: :1  screen: 0
> > direct rendering: No (If you want to find out why, try setting
> > LIBGL_DEBUG=verbose)
> > server glx vendor string: SGI
> > server glx version string: 1.2
> > server glx extensions:
> >     GLX_ARB_multisample, GLX_EXT_visual_info, GLX_EXT_visual_rating,
> >     GLX_EXT_import_context, GLX_EXT_texture_from_pixmap,
> > GLX_OML_swap_method,
> >     GLX_SGI_make_current_read, GLX_SGIS_multisample, GLX_SGIX_hyperpipe,
> >     GLX_SGIX_swap_barrier, GLX_SGIX_fbconfig
> > client glx vendor string: SGI
> > client glx version string: 1.4
> > client glx extensions:
> >     GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
> >     GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_MESA_allocate_memory,
> >     GLX_MESA_swap_control, GLX_MESA_swap_frame_usage, GLX_OML_swap_method,
> >     GLX_OML_sync_control, GLX_SGI_make_current_read, GLX_SGI_swap_control,
> >     GLX_SGI_video_sync, GLX_SGIS_multisample, GLX_SGIX_fbconfig,
> >     GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group,
> >     GLX_EXT_texture_from_pixmap
> > GLX version: 1.2
> > GLX extensions:
> >     GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
> >     GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method,
> >     GLX_SGI_make_current_read, GLX_SGIS_multisample, GLX_SGIX_fbconfig,
> >     GLX_EXT_texture_from_pixmap
> > OpenGL vendor string: Mesa project: www.mesa3d.org
> > OpenGL renderer string: Mesa GLX Indirect
> > OpenGL version string: 1.2 (2.1 Mesa 7.0.3)
> > OpenGL extensions:
> >     GL_ARB_depth_texture, GL_ARB_fragment_program, GL_ARB_imaging,
> >     GL_ARB_multitexture, GL_ARB_point_parameters, GL_ARB_point_sprite,
> >     GL_ARB_shadow, GL_ARB_shadow_ambient, GL_ARB_texture_border_clamp,
> >     GL_ARB_texture_cube_map, GL_ARB_texture_env_add,
> >     GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar,
> >     GL_ARB_texture_env_dot3, GL_ARB_texture_mirrored_repeat,
> >     GL_ARB_texture_non_power_of_two, GL_ARB_texture_rectangle,
> >     GL_ARB_transpose_matrix, GL_ARB_vertex_program, GL_ARB_window_pos,
> >     GL_EXT_abgr, GL_EXT_bgra, GL_EXT_blend_color,
> > GL_EXT_blend_func_separate,
> >     GL_EXT_blend_logic_op, GL_EXT_blend_minmax, GL_EXT_blend_subtract,
> >     GL_EXT_clip_volume_hint, GL_EXT_copy_texture,
> > GL_EXT_draw_range_elements,
> >     GL_EXT_fog_coord, GL_EXT_framebuffer_object, GL_EXT_multi_draw_arrays,
> >     GL_EXT_packed_pixels, GL_EXT_point_parameters, GL_EXT_polygon_offset,
> >     GL_EXT_rescale_normal, GL_EXT_secondary_color,
> >     GL_EXT_separate_specular_color, GL_EXT_shadow_funcs,
> > GL_EXT_stencil_wrap,
> >     GL_EXT_subtexture, GL_EXT_texture, GL_EXT_texture3D,
> >     GL_EXT_texture_edge_clamp, GL_EXT_texture_env_add,
> >     GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3,
> >     GL_EXT_texture_lod_bias, GL_EXT_texture_object,
> > GL_EXT_texture_rectangle,
> >     GL_EXT_vertex_array, GL_APPLE_packed_pixels,
> > GL_ATI_texture_env_combine3,
> >     GL_ATI_texture_mirror_once, GL_ATIX_texture_env_combine3,
> >     GL_IBM_texture_mirrored_repeat, GL_INGR_blend_func_separate,
> >     GL_MESA_pack_invert, GL_MESA_ycbcr_texture, GL_NV_blend_square,
> >     GL_NV_point_sprite, GL_NV_texgen_reflection, GL_NV_texture_rectangle,
> >     GL_SGIS_generate_mipmap, GL_SGIS_texture_border_clamp,
> >     GL_SGIS_texture_edge_clamp, GL_SGIS_texture_lod, GL_SGIX_depth_texture,
> >     GL_SGIX_shadow, GL_SGIX_shadow_ambient, GL_SUN_multi_draw_arrays
> >
> >    visual  x  bf lv rg d st colorbuffer ax dp st accumbuffer  ms  cav
> >  id dep cl sp sz l  ci b ro  r  g  b  a bf th cl  r  g  b  a ns b eat
> > ----------------------------------------------------------------------
> > 0x2c 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
> > 0x2d 24 tc  0 32  0 r  .  .  8  8  8  8  0  0  0  0  0  0  0  0 0 None
> > 0x2e 32 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 Ncon
> > 0x2f 32 tc  0 32  0 r  .  .  8  8  8  8  0  0  0  0  0  0  0  0 0 Ncon
> >
> > $fglrxinfo
> > display: :1.0  screen: 0
> > OpenGL vendor string: Mesa project: www.mesa3d.org
> > OpenGL renderer string: Mesa GLX Indirect
> > OpenGL version string: 1.2 (2.1 Mesa 7.0.3)
> >
> > I have installed the fglrx driver using synaptic in Ubuntu but still Gazebo
> > running too slow. I would appreciate some help.
> >
> > Thanks
> >
> > On Mon, Jan 26, 2009 at 6:28 PM, Nate Koenig <[hidden email]> wrote:
> >>
> >> Do you have GLX and DRI up and running? You can check the status via
> >> the glxinfo command.
> >>
> >> -nate
> >>
> >> On Mon, Jan 19, 2009 at 8:06 AM, Rufino Bolado <[hidden email]> wrote:
> >> > Hi
> >> >
> >> > I have just started to get familiar with the player/gazebo environment
> >> > with
> >> > the idea to implement a 3D virtual simulation for my PhD project. My
> >> > system
> >> > properties are: PC intel core2 duo, video card: ATI Technologies Inc
> >> > RV516
> >> > [Radeon X1300/X1550 Series], OS: Ubuntu 2.6.24-22-generic x86_64
> >> > GNU/Linux.
> >> > I have installed Player/Stage/Gazebo software following the instructions
> >> > on:
> >> >
> >> > - http://www.irobotics.org/gazebo08.f8.html
> >> >
> >> > I run one of the given worlds:
> >> > $ gazebo /usr/local/share/gazebo/worlds/pioneer2dx.world
> >> > Gazebo multi-robot simulator, version 0.8-pre3
> >> >
> >> > Part of the Player/Stage Project [http://playerstage.sourceforge.net].
> >> > Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
> >> > Released under the GNU General Public License.
> >> >
> >> > [server/GazeboConfig.cc:84]
> >> >  Gazebo Path[/usr/local/share/gazebo]
> >> > [server/GazeboConfig.cc:92]
> >> >  Ogre Path[/usr/lib/OGRE]
> >> > creating /tmp/gazebo-rufino-0
> >> > creating /tmp/gazebo-rufino-0/simulation.default 112 145592
> >> > creating /tmp/gazebo-rufino-0/position.position_iface_0 112 288
> >> >
> >> > It works but the gui runs too slow and when I tried to move the agent
> >> > around
> >> > using the suggested player/gazebo config file
> >> > 'gazebo_rev6886.cfg<http://www.irobotics.org/files/gazebo_rev6886.cfg>'
> >> > (from web page mentioned above). Any help to improve this problem?
> >> >
> >> > Thanks for your time
> >> >
> >> > Rufo
> >> >
> >> > ------------------------------------------------------------------------------
> >> > This SF.net email is sponsored by:
> >> > SourcForge Community
> >> > SourceForge wants to tell your story.
> >> > http://p.sf.net/sfu/sf-spreadtheword
> >> > _______________________________________________
> >> > Playerstage-gazebo mailing list
> >> > [hidden email]
> >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >> >
> >>
> >>
> >> ------------------------------------------------------------------------------
> >> This SF.net email is sponsored by:
> >> SourcForge Community
> >> SourceForge wants to tell your story.
> >> http://p.sf.net/sfu/sf-spreadtheword
> >> _______________________________________________
> >> Playerstage-gazebo mailing list
> >> [hidden email]
> >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> >
> >

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Re: Fwd: Gazebo GUI runs too slow

Jordi Polo Carrés
IIRC, old versions of Gazebo had a C++ hard-coded Khepera robot.
If you take a look to the code of the piooner and to the XML file equivalent
in Gazebo 0.8 you should be able to easily construct a Khepera XML file. And
of course, if you contribute it to Gazebo everybody wins ...



On Thu, Jan 29, 2009 at 4:22 AM, Nate Koenig <[hidden email]> wrote:

> Forwarding email to the correct mailing list.
>
> -nate
>
>
> ---------- Forwarded message ----------
> From: Rufino Bolado <[hidden email]>
> Date: Wed, Jan 28, 2009 at 9:21 AM
> Subject: Re: [PlayerStage-Gazebo] Gazebo GUI runs too slow
> To: [hidden email]
>
>
> Hi,
>
> I manage to fix the problem by following the instructions at
> http://wiki.cchtml.com/index.php/Ubuntu_Hardy_Installation_Guide. Now
>
> $ glxinfo
> name of display: :0.0
> display: :0  screen: 0
> direct rendering: Yes
> server glx vendor string: SGI
> server glx version string: 1.2
> server glx extensions:
>     GLX_ARB_multisample, GLX_EXT_import_context,
> GLX_EXT_texture_from_pixmap,
>     GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method,
>     GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_visual_select_group
> client glx vendor string: SGI
> client glx version string: 1.4
> client glx extensions:
>    GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
>    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_MESA_allocate_memory,
>    GLX_MESA_swap_control, GLX_MESA_swap_frame_usage, GLX_OML_swap_method,
>    GLX_OML_sync_control, GLX_SGI_make_current_read, GLX_SGI_swap_control,
>    GLX_SGI_video_sync, GLX_SGIS_multisample, GLX_SGIX_fbconfig,
>    GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group,
>    GLX_EXT_texture_from_pixmap
> GLX version: 1.2
> GLX extensions:
>    GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context,
>    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method,
>     GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_visual_select_group
> OpenGL vendor string: ATI Technologies Inc.
> OpenGL renderer string: Radeon X1300/X1550 Series
> OpenGL version string: 2.1.7412 Release
> OpenGL extensions:
>    GL_AMD_performance_monitor, GL_ARB_depth_texture, GL_ARB_draw_buffers,
>    GL_ARB_fragment_program, GL_ARB_fragment_shader, GL_ARB_multisample,
>    GL_ARB_multitexture, GL_ARB_occlusion_query, GL_ARB_pixel_buffer_object,
>    GL_ARB_point_parameters, GL_ARB_point_sprite, GL_ARB_shader_objects,
>    GL_ARB_shading_language_100, GL_ARB_shadow, GL_ARB_shadow_ambient,
>    GL_ARB_texture_border_clamp, GL_ARB_texture_compression,
>     GL_ARB_texture_cube_map, GL_ARB_texture_env_add,
>    GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar,
>     GL_ARB_texture_env_dot3, GL_ARB_texture_float,
>    GL_ARB_texture_mirrored_repeat, GL_ARB_texture_rectangle,
>    GL_ARB_transpose_matrix, GL_ARB_vertex_buffer_object,
>    GL_ARB_vertex_program, GL_ARB_vertex_shader, GL_ARB_window_pos,
>    GL_ATI_draw_buffers, GL_ATI_envmap_bumpmap, GL_ATI_fragment_shader,
>    GL_ATI_meminfo, GL_ATI_separate_stencil, GL_ATI_texture_compression_3dc,
>    GL_ATI_texture_env_combine3, GL_ATI_texture_float, GL_EXT_abgr,
>     GL_EXT_bgra, GL_EXT_blend_color, GL_EXT_blend_func_separate,
>     GL_EXT_blend_minmax, GL_EXT_blend_subtract,
> GL_EXT_compiled_vertex_array,
>     GL_EXT_copy_texture, GL_EXT_draw_range_elements, GL_EXT_fog_coord,
>     GL_EXT_framebuffer_object, GL_EXT_gpu_program_parameters,
>    GL_EXT_multi_draw_arrays, GL_EXT_packed_depth_stencil,
>    GL_EXT_packed_pixels, GL_EXT_point_parameters, GL_EXT_rescale_normal,
>     GL_EXT_secondary_color, GL_EXT_separate_specular_color,
>    GL_EXT_shadow_funcs, GL_EXT_stencil_wrap, GL_EXT_subtexture,
>     GL_EXT_texgen_reflection, GL_EXT_texture3D,
>    GL_EXT_texture_compression_s3tc, GL_EXT_texture_cube_map,
>     GL_EXT_texture_edge_clamp, GL_EXT_texture_env_add,
>    GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3,
>     GL_EXT_texture_filter_anisotropic, GL_EXT_texture_lod_bias,
>    GL_EXT_texture_mirror_clamp, GL_EXT_texture_object,
>    GL_EXT_texture_rectangle, GL_EXT_texture_sRGB, GL_EXT_vertex_array,
>    GL_KTX_buffer_region, GL_NV_blend_square, GL_NV_texgen_reflection,
>    GL_SGIS_generate_mipmap, GL_SGIS_texture_edge_clamp,
> GL_SGIS_texture_lod,
>    GL_WIN_swap_hint, WGL_EXT_swap_control
>
>   visual  x  bf lv rg d st colorbuffer ax dp st accumbuffer  ms  cav
>  id dep cl sp sz l  ci b ro  r  g  b  a bf th cl  r  g  b  a ns b eat
> ----------------------------------------------------------------------
> 0x23 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x24 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x25 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x26 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x27 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
> 0x28 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
> 0x29 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  0 0 None
> 0x2a 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  0 0 None
> 0x2b 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x2c 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x2d 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x2e 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x2f 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  2 1 None
> 0x30 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  2 1 None
> 0x31 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  2 1 None
> 0x32 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  2 1 None
> 0x33 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x34 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x35 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x36 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x37 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  4 1 None
> 0x38 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  4 1 None
> 0x39 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  4 1 None
> 0x3a 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  4 1 None
> 0x3b 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x3c 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x3d 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x3e 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x3f 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  6 1 None
> 0x40 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  6 1 None
> 0x41 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  6 1 None
> 0x42 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  6 1 None
> 0x43 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x44 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x45 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x46 24 tc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x47 24 tc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
> 0x48 24 tc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
> 0x49 24 tc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
> 0x4a 24 tc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
> 0x4b 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x4c 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x4d 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x4e 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x4f 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
> 0x50 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
> 0x51 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  0 0 None
> 0x52 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  0 0 None
> 0x53 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x54 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x55 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x56 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x57 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  2 1 None
> 0x58 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  2 1 None
> 0x59 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  2 1 None
> 0x5a 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  2 1 None
> 0x5b 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x5c 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x5d 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x5e 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x5f 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  4 1 None
> 0x60 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  4 1 None
> 0x61 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  4 1 None
> 0x62 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  4 1 None
> 0x63 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x64 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x65 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x66 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x67 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  6 1 None
> 0x68 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8  0  0  0  0  6 1 None
> 0x69 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0  0  0  0  0  6 1 None
> 0x6a 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0  0  0  0  0  6 1 None
> 0x6b 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x6c 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  8 16 16 16 16  0 0 None
> 0x6d 24 dc  0 32  0 r  y  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x6e 24 dc  0 32  0 r  .  .  8  8  8  8  0 24  0 16 16 16 16  0 0 None
> 0x6f 24 dc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
> 0x70 24 dc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
> 0x71 24 dc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
> 0x72 24 dc  1  0  0 c  .  .  0  0  0  0  0  0  0  0  0  0  0  0 0 None
> 0x85 32 tc  0 32  0 r  .  .  8  8  8  8  0  0  0  0  0  0  0  8 1 Ncon
>
> &&
>
> $ fglrxinfo
> display: :0.0  screen: 0
> OpenGL vendor string: ATI Technologies Inc.
> OpenGL renderer string: Radeon X1300/X1550 Series
> OpenGL version string: 2.1.7412 Release
>
> Then I tried a gazebo world and it is rendering much faster, around 50 FPS.
>
> On the other hand, my ultimate goal is to simulate a Khepera-robot
> type performing a behavioral-learning based task in a simple world. I
> would like to know if there is any groundwork or examples relating the
> Khepera-robot virtual simulation by using Gazebo? I am asking this
> because all the example worlds and info that I have been able to find,
> mostly relates to the pioneer structure.
>
> Regards,
>
> Rufo
> On Wed, Jan 28, 2009 at 5:04 PM, Nate Koenig <[hidden email]> wrote:
> >
> > Hello,
> >
> > You should look online for help getting DRI (direct rendering) enabled.
> >
> > The output from glxinfo should have the line:
> > > direct rendering: Yes
> >
> > -nate
> >
> >
> > On Wed, Jan 28, 2009 at 6:39 AM, Rufino Bolado <[hidden email]>
> wrote:
> > > Hi
> > >
> > > I am a bit unfamiliar with this graphics driver set-up process. I run
> these
> > > two commands at the terminal prompt with the following results:
> > >
> > > $glxinfo
> > > name of display: :1.0
> > > display: :1  screen: 0
> > > direct rendering: No (If you want to find out why, try setting
> > > LIBGL_DEBUG=verbose)
> > > server glx vendor string: SGI
> > > server glx version string: 1.2
> > > server glx extensions:
> > >     GLX_ARB_multisample, GLX_EXT_visual_info, GLX_EXT_visual_rating,
> > >     GLX_EXT_import_context, GLX_EXT_texture_from_pixmap,
> > > GLX_OML_swap_method,
> > >     GLX_SGI_make_current_read, GLX_SGIS_multisample,
> GLX_SGIX_hyperpipe,
> > >     GLX_SGIX_swap_barrier, GLX_SGIX_fbconfig
> > > client glx vendor string: SGI
> > > client glx version string: 1.4
> > > client glx extensions:
> > >     GLX_ARB_get_proc_address, GLX_ARB_multisample,
> GLX_EXT_import_context,
> > >     GLX_EXT_visual_info, GLX_EXT_visual_rating,
> GLX_MESA_allocate_memory,
> > >     GLX_MESA_swap_control, GLX_MESA_swap_frame_usage,
> GLX_OML_swap_method,
> > >     GLX_OML_sync_control, GLX_SGI_make_current_read,
> GLX_SGI_swap_control,
> > >     GLX_SGI_video_sync, GLX_SGIS_multisample, GLX_SGIX_fbconfig,
> > >     GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group,
> > >     GLX_EXT_texture_from_pixmap
> > > GLX version: 1.2
> > > GLX extensions:
> > >     GLX_ARB_get_proc_address, GLX_ARB_multisample,
> GLX_EXT_import_context,
> > >     GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method,
> > >     GLX_SGI_make_current_read, GLX_SGIS_multisample, GLX_SGIX_fbconfig,
> > >     GLX_EXT_texture_from_pixmap
> > > OpenGL vendor string: Mesa project: www.mesa3d.org
> > > OpenGL renderer string: Mesa GLX Indirect
> > > OpenGL version string: 1.2 (2.1 Mesa 7.0.3)
> > > OpenGL extensions:
> > >     GL_ARB_depth_texture, GL_ARB_fragment_program, GL_ARB_imaging,
> > >     GL_ARB_multitexture, GL_ARB_point_parameters, GL_ARB_point_sprite,
> > >     GL_ARB_shadow, GL_ARB_shadow_ambient, GL_ARB_texture_border_clamp,
> > >     GL_ARB_texture_cube_map, GL_ARB_texture_env_add,
> > >     GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar,
> > >     GL_ARB_texture_env_dot3, GL_ARB_texture_mirrored_repeat,
> > >     GL_ARB_texture_non_power_of_two, GL_ARB_texture_rectangle,
> > >     GL_ARB_transpose_matrix, GL_ARB_vertex_program, GL_ARB_window_pos,
> > >     GL_EXT_abgr, GL_EXT_bgra, GL_EXT_blend_color,
> > > GL_EXT_blend_func_separate,
> > >     GL_EXT_blend_logic_op, GL_EXT_blend_minmax, GL_EXT_blend_subtract,
> > >     GL_EXT_clip_volume_hint, GL_EXT_copy_texture,
> > > GL_EXT_draw_range_elements,
> > >     GL_EXT_fog_coord, GL_EXT_framebuffer_object,
> GL_EXT_multi_draw_arrays,
> > >     GL_EXT_packed_pixels, GL_EXT_point_parameters,
> GL_EXT_polygon_offset,
> > >     GL_EXT_rescale_normal, GL_EXT_secondary_color,
> > >     GL_EXT_separate_specular_color, GL_EXT_shadow_funcs,
> > > GL_EXT_stencil_wrap,
> > >     GL_EXT_subtexture, GL_EXT_texture, GL_EXT_texture3D,
> > >     GL_EXT_texture_edge_clamp, GL_EXT_texture_env_add,
> > >     GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3,
> > >     GL_EXT_texture_lod_bias, GL_EXT_texture_object,
> > > GL_EXT_texture_rectangle,
> > >     GL_EXT_vertex_array, GL_APPLE_packed_pixels,
> > > GL_ATI_texture_env_combine3,
> > >     GL_ATI_texture_mirror_once, GL_ATIX_texture_env_combine3,
> > >     GL_IBM_texture_mirrored_repeat, GL_INGR_blend_func_separate,
> > >     GL_MESA_pack_invert, GL_MESA_ycbcr_texture, GL_NV_blend_square,
> > >     GL_NV_point_sprite, GL_NV_texgen_reflection,
> GL_NV_texture_rectangle,
> > >     GL_SGIS_generate_mipmap, GL_SGIS_texture_border_clamp,
> > >     GL_SGIS_texture_edge_clamp, GL_SGIS_texture_lod,
> GL_SGIX_depth_texture,
> > >     GL_SGIX_shadow, GL_SGIX_shadow_ambient, GL_SUN_multi_draw_arrays
> > >
> > >    visual  x  bf lv rg d st colorbuffer ax dp st accumbuffer  ms  cav
> > >  id dep cl sp sz l  ci b ro  r  g  b  a bf th cl  r  g  b  a ns b eat
> > > ----------------------------------------------------------------------
> > > 0x2c 24 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 None
> > > 0x2d 24 tc  0 32  0 r  .  .  8  8  8  8  0  0  0  0  0  0  0  0 0 None
> > > 0x2e 32 tc  0 32  0 r  y  .  8  8  8  8  0 24  8  0  0  0  0  0 0 Ncon
> > > 0x2f 32 tc  0 32  0 r  .  .  8  8  8  8  0  0  0  0  0  0  0  0 0 Ncon
> > >
> > > $fglrxinfo
> > > display: :1.0  screen: 0
> > > OpenGL vendor string: Mesa project: www.mesa3d.org
> > > OpenGL renderer string: Mesa GLX Indirect
> > > OpenGL version string: 1.2 (2.1 Mesa 7.0.3)
> > >
> > > I have installed the fglrx driver using synaptic in Ubuntu but still
> Gazebo
> > > running too slow. I would appreciate some help.
> > >
> > > Thanks
> > >
> > > On Mon, Jan 26, 2009 at 6:28 PM, Nate Koenig <[hidden email]>
> wrote:
> > >>
> > >> Do you have GLX and DRI up and running? You can check the status via
> > >> the glxinfo command.
> > >>
> > >> -nate
> > >>
> > >> On Mon, Jan 19, 2009 at 8:06 AM, Rufino Bolado <[hidden email]>
> wrote:
> > >> > Hi
> > >> >
> > >> > I have just started to get familiar with the player/gazebo
> environment
> > >> > with
> > >> > the idea to implement a 3D virtual simulation for my PhD project. My
> > >> > system
> > >> > properties are: PC intel core2 duo, video card: ATI Technologies Inc
> > >> > RV516
> > >> > [Radeon X1300/X1550 Series], OS: Ubuntu 2.6.24-22-generic x86_64
> > >> > GNU/Linux.
> > >> > I have installed Player/Stage/Gazebo software following the
> instructions
> > >> > on:
> > >> >
> > >> > - http://www.irobotics.org/gazebo08.f8.html
> > >> >
> > >> > I run one of the given worlds:
> > >> > $ gazebo /usr/local/share/gazebo/worlds/pioneer2dx.world
> > >> > Gazebo multi-robot simulator, version 0.8-pre3
> > >> >
> > >> > Part of the Player/Stage Project [
> http://playerstage.sourceforge.net].
> > >> > Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
> > >> > Released under the GNU General Public License.
> > >> >
> > >> > [server/GazeboConfig.cc:84]
> > >> >  Gazebo Path[/usr/local/share/gazebo]
> > >> > [server/GazeboConfig.cc:92]
> > >> >  Ogre Path[/usr/lib/OGRE]
> > >> > creating /tmp/gazebo-rufino-0
> > >> > creating /tmp/gazebo-rufino-0/simulation.default 112 145592
> > >> > creating /tmp/gazebo-rufino-0/position.position_iface_0 112 288
> > >> >
> > >> > It works but the gui runs too slow and when I tried to move the
> agent
> > >> > around
> > >> > using the suggested player/gazebo config file
> > >> > 'gazebo_rev6886.cfg<
> http://www.irobotics.org/files/gazebo_rev6886.cfg>'
> > >> > (from web page mentioned above). Any help to improve this problem?
> > >> >
> > >> > Thanks for your time
> > >> >
> > >> > Rufo
> > >> >
> > >> >
> ------------------------------------------------------------------------------
> > >> > This SF.net email is sponsored by:
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> > >> > SourceForge wants to tell your story.
> > >> > http://p.sf.net/sfu/sf-spreadtheword
> > >> > _______________________________________________
> > >> > Playerstage-gazebo mailing list
> > >> > [hidden email]
> > >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
> > >> >
> > >>
> > >>
> > >>
> ------------------------------------------------------------------------------
> > >> This SF.net email is sponsored by:
> > >> SourcForge Community
> > >> SourceForge wants to tell your story.
> > >> http://p.sf.net/sfu/sf-spreadtheword
> > >> _______________________________________________
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--
Jordi Polo Carres
NLP laboratory - NAIST
http://www.bahasara.org
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