Gazebo crash in batch mode

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Gazebo crash in batch mode

Andrés Faína Rodrí­guez-Vila
Hi,

I installed Gazebo-0.8-pre3 into a cluster of computers to do
experiments in batch mode. Gazebo works fine with the GUI, although it
reported a libGL error:

[fai@opteron9 ~]$ gazebo /opt/gazebo/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[/opt/gazebo/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/lib64/OGRE]
*libGL error: open DRM failed (Operation not permitted)
libGL error: reverting to (slow) indirect rendering*
creating /home/fai/tmp/gazebo-fai-0
creating /home/fai/tmp/gazebo-fai-0/simulation.default 112 145592
creating /home/fai/tmp/gazebo-fai-0/position.position_iface_0 112 288
creating /home/fai/tmp/gazebo-fai-0/laser.laser_iface_0 112 12512
creating /home/fai/tmp/gazebo-fai-0/fiducial.fiducial_iface_0 112 22600
deleting /home/fai/tmp/gazebo-fai-0/position.position_iface_0
deleting /home/fai/tmp/gazebo-fai-0/laser.laser_iface_0
deleting /home/fai/tmp/gazebo-fai-0/fiducial.fiducial_iface_0
deleting /home/fai/tmp/gazebo-fai-0/simulation.default
deleting /home/fai/tmp/gazebo-fai-0
Done.


but crashed without the GUI:
[fai@opteron9 ~]$ gazebo -g /opt/gazebo/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[/opt/gazebo/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/lib64/OGRE]
libGL error: open DRM failed (Operation not permitted)
libGL error: reverting to (slow) indirect rendering
X Error of failed request:  BadMatch (invalid parameter attributes)
  Major opcode of failed request:  143 (GLX)
  Minor opcode of failed request:  5 (X_GLXMakeCurrent)
  Serial number of failed request:  21
  Current serial number in output stream:  21
Locking assertion failure.  Backtrace:
#0 /usr/lib64/libxcb-xlib.so.0 [0x7fd00cd3091c]
#1 /usr/lib64/libxcb-xlib.so.0(xcb_xlib_lock+0x17) [0x7fd00cd30a97]
#2 /usr/lib64/libX11.so.6 [0x7fd010ef5061]
#3 /usr/lib64/libGL.so.1 [0x7fd0125c8e97]
#4 /usr/lib64/libGL.so.1(glXDestroyContext+0x9) [0x7fd0125c8f3c]
#5 gazebo(_ZN6gazebo11OgreAdaptorD0Ev+0x22) [0x4620a2]
#6 /lib64/libc.so.6(exit+0x9d) [0x7fd0101be85d]
#7 /usr/lib64/libX11.so.6(_XDefaultWireError+0) [0x7fd010eecc04]
#8 /usr/lib64/libX11.so.6(_XError+0x1a4) [0x7fd010eecdbf]
#9 /usr/lib64/libX11.so.6(_XReply+0x2b0) [0x7fd010ef6e80]
#10 /usr/lib64/libGL.so.1 [0x7fd0125cae34]
#11 /usr/lib64/libGL.so.1(glXMakeCurrentReadSGI+0x12e) [0x7fd0125cb0db]
#12 /usr/lib64/libGL.so.1(glXMakeCurrent+0xf) [0x7fd0125cb32c]
#13 gazebo(_ZN6gazebo11OgreAdaptor4InitEPNS_13XMLConfigNodeE+0x1c1)
[0x464b01]
#14 gazebo(_ZN6gazebo9Simulator4LoadERKSsj+0xec) [0x4beb4c]
#15 gazebo(main+0xd3) [0x4a7c93]
#16 /lib64/libc.so.6(__libc_start_main+0xe6) [0x7fd0101a8316]
#17 gazebo [0x439009]

Any Ideas?


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Re: Gazebo crash in batch mode

Nate Koenig-4
Hello,

You should try getting rid of the GL error that you are seeing. Run
glxinfo, an it will probably say that direct rendering is not enabled.
You'll most likely need to install drivers for your graphic card.

-nate

On Wed, Sep 10, 2008 at 10:30 AM, Andrés Faína Rodrí­guez-Vila
<[hidden email]> wrote:

> Hi,
>
> I installed Gazebo-0.8-pre3 into a cluster of computers to do
> experiments in batch mode. Gazebo works fine with the GUI, although it
> reported a libGL error:
>
> [fai@opteron9 ~]$ gazebo /opt/gazebo/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[/opt/gazebo/share/gazebo]
> [server/GazeboConfig.cc:92]
>  Ogre Path[/usr/lib64/OGRE]
> *libGL error: open DRM failed (Operation not permitted)
> libGL error: reverting to (slow) indirect rendering*
> creating /home/fai/tmp/gazebo-fai-0
> creating /home/fai/tmp/gazebo-fai-0/simulation.default 112 145592
> creating /home/fai/tmp/gazebo-fai-0/position.position_iface_0 112 288
> creating /home/fai/tmp/gazebo-fai-0/laser.laser_iface_0 112 12512
> creating /home/fai/tmp/gazebo-fai-0/fiducial.fiducial_iface_0 112 22600
> deleting /home/fai/tmp/gazebo-fai-0/position.position_iface_0
> deleting /home/fai/tmp/gazebo-fai-0/laser.laser_iface_0
> deleting /home/fai/tmp/gazebo-fai-0/fiducial.fiducial_iface_0
> deleting /home/fai/tmp/gazebo-fai-0/simulation.default
> deleting /home/fai/tmp/gazebo-fai-0
> Done.
>
>
> but crashed without the GUI:
> [fai@opteron9 ~]$ gazebo -g /opt/gazebo/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[/opt/gazebo/share/gazebo]
> [server/GazeboConfig.cc:92]
>  Ogre Path[/usr/lib64/OGRE]
> libGL error: open DRM failed (Operation not permitted)
> libGL error: reverting to (slow) indirect rendering
> X Error of failed request:  BadMatch (invalid parameter attributes)
>  Major opcode of failed request:  143 (GLX)
>  Minor opcode of failed request:  5 (X_GLXMakeCurrent)
>  Serial number of failed request:  21
>  Current serial number in output stream:  21
> Locking assertion failure.  Backtrace:
> #0 /usr/lib64/libxcb-xlib.so.0 [0x7fd00cd3091c]
> #1 /usr/lib64/libxcb-xlib.so.0(xcb_xlib_lock+0x17) [0x7fd00cd30a97]
> #2 /usr/lib64/libX11.so.6 [0x7fd010ef5061]
> #3 /usr/lib64/libGL.so.1 [0x7fd0125c8e97]
> #4 /usr/lib64/libGL.so.1(glXDestroyContext+0x9) [0x7fd0125c8f3c]
> #5 gazebo(_ZN6gazebo11OgreAdaptorD0Ev+0x22) [0x4620a2]
> #6 /lib64/libc.so.6(exit+0x9d) [0x7fd0101be85d]
> #7 /usr/lib64/libX11.so.6(_XDefaultWireError+0) [0x7fd010eecc04]
> #8 /usr/lib64/libX11.so.6(_XError+0x1a4) [0x7fd010eecdbf]
> #9 /usr/lib64/libX11.so.6(_XReply+0x2b0) [0x7fd010ef6e80]
> #10 /usr/lib64/libGL.so.1 [0x7fd0125cae34]
> #11 /usr/lib64/libGL.so.1(glXMakeCurrentReadSGI+0x12e) [0x7fd0125cb0db]
> #12 /usr/lib64/libGL.so.1(glXMakeCurrent+0xf) [0x7fd0125cb32c]
> #13 gazebo(_ZN6gazebo11OgreAdaptor4InitEPNS_13XMLConfigNodeE+0x1c1)
> [0x464b01]
> #14 gazebo(_ZN6gazebo9Simulator4LoadERKSsj+0xec) [0x4beb4c]
> #15 gazebo(main+0xd3) [0x4a7c93]
> #16 /lib64/libc.so.6(__libc_start_main+0xe6) [0x7fd0101a8316]
> #17 gazebo [0x439009]
>
> Any Ideas?
>
>
> -------------------------------------------------------------------------
> This SF.Net email is sponsored by the Moblin Your Move Developer's challenge
> Build the coolest Linux based applications with Moblin SDK & win great prizes
> Grand prize is a trip for two to an Open Source event anywhere in the world
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> _______________________________________________
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> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: Gazebo crash in batch mode

Andrés Faína Rodrí­guez-Vila
Hi,

I still can't work with gazebo in batch mode. The DRI is enabled and
Gazebo works fine with the GUI, so I don't think that the problem was an
issue of graphic card drivers. A Bactrace of the error shows that gazebo
in batch mode crashes when OgreAdaptor::Init call to glXMakeCurrent ().

gdb gazebo
GNU gdb 6.8-2mdv2009.0 (Mandriva Linux release 2009.0)
Copyright (C) 2008 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later
<http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-mandriva-linux-gnu"...
(gdb) run -g /opt/gazebo/share/gazebo/worlds/pioneer2dx.world
Starting program: /opt/gazebo-0.8-pre3/bin/gazebo -g
/opt/gazebo/share/gazebo/worlds/pioneer2dx.world
[Thread debugging using libthread_db enabled]
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[/opt/gazebo/share/gazebo]
[server/GazeboConfig.cc:92]
  Ogre Path[/usr/lib64/OGRE]
[New Thread 0x7ffe1cb96700 (LWP 30360)]
X Error of failed request:  BadMatch (invalid parameter attributes)
  Major opcode of failed request:  144 (GLX)
  Minor opcode of failed request:  5 (X_GLXMakeCurrent)
  Serial number of failed request:  16
  Current serial number in output stream:  16
Locking assertion failure.  Backtrace:
#0 /usr/lib64/libxcb-xlib.so.0 [0x7ffe153ae91c]
#1 /usr/lib64/libxcb-xlib.so.0(xcb_xlib_lock+0x17) [0x7ffe153aea97]
#2 /usr/lib64/libX11.so.6 [0x7ffe19574061]
#3 /usr/lib64/libGL.so.1 [0x7ffe1ac47e97]
#4 /usr/lib64/libGL.so.1(glXDestroyContext+0x9) [0x7ffe1ac47f3c]
#5 /opt/gazebo-0.8-pre3/bin/gazebo(_ZN6gazebo11OgreAdaptorD0Ev+0x3c)
[0x4ae8c4]
#6
/opt/gazebo-0.8-pre3/bin/gazebo(_ZN10DestroyerTIN6gazebo11OgreAdaptorEED1Ev+0x32)
[0x4a7010]
#7 /lib64/libc.so.6(exit+0x9d) [0x7ffe1883d85d]
#8 /usr/lib64/libX11.so.6(_XDefaultWireError+0) [0x7ffe1956bc04]
#9 /usr/lib64/libX11.so.6(_XError+0x1a4) [0x7ffe1956bdbf]
#10 /usr/lib64/libX11.so.6(_XReply+0x2b0) [0x7ffe19575e80]
#11 /usr/lib64/libGL.so.1 [0x7ffe1ac49e34]
#12 /usr/lib64/libGL.so.1(glXMakeCurrentReadSGI+0x12e) [0x7ffe1ac4a0db]
#13 /usr/lib64/libGL.so.1(glXMakeCurrent+0xf) [0x7ffe1ac4a32c]
#14
/opt/gazebo-0.8-pre3/bin/gazebo(_ZN6gazebo11OgreAdaptor4InitEPNS_13XMLConfigNodeE+0x66c)
[0x4ac956]
#15
/opt/gazebo-0.8-pre3/bin/gazebo(_ZN6gazebo9Simulator4LoadERKSsj+0xf51)
[0x521b57]
#16 /opt/gazebo-0.8-pre3/bin/gazebo(main+0xcd) [0x5014a8]
#17 /lib64/libc.so.6(__libc_start_main+0xe6) [0x7ffe18827316]
#18 /opt/gazebo-0.8-pre3/bin/gazebo [0x470929]

Program received signal SIGSEGV, Segmentation fault.
0x00000000004ae95c in ~OgreAdaptor (this=0x978df0) at
server/rendering/OgreAdaptor.cc:102
102       delete this->shadowIndexSizeP;
Missing debug package(s), you should install: OpenEXR-debug atk1.0-debug
boost-debug cairo-debug fontconfig-debug freetype2-debug gcc-debug
glib2.0-debug glibc-debug gtk+2.0-debug ilmbase-debug lcms-debug
libdrm-debug libice-debug libjpeg-debug libmng-debug libpng-debug
libsm-debug libtiff-debug libtool-debug libx11-debug libxau-debug
libxaw-debug libxcb-debug libxcomposite-debug libxcursor-debug
libxdamage-debug libxdmcp-debug libxext-debug libxfixes-debug
libxft-debug libxi-debug libxinerama-debug libxml2-debug libxmu-debug
libxp-debug libxpm-debug libxrandr-debug libxrender-debug libxt-debug
libxxf86vm-debug mesa-debug ode-debug ogre-debug pango-debug pcre-debug
pixman-debug zlib-debug zziplib-debug
(gdb) backtrace
#0  0x00000000004ae95c in ~OgreAdaptor (this=0x978df0) at
server/rendering/OgreAdaptor.cc:102
#1  0x00000000004a7010 in ~DestroyerT (this=0x76e580) at
server/SingletonT.hh:99
#2  0x00007ffe1883d85d in exit () from /lib64/libc.so.6
#3  0x00007ffe1956bc04 in _XDefaultError () from /usr/lib64/libX11.so.6
#4  0x00007ffe1956bdbf in _XError () from /usr/lib64/libX11.so.6
#5  0x00007ffe19575e80 in _XReply () from /usr/lib64/libX11.so.6
#6  0x00007ffe1ac49e34 in ?? () from /usr/lib64/libGL.so.1
#7  0x00007ffe1ac4a0db in glXMakeCurrentReadSGI () from
/usr/lib64/libGL.so.1
#8  0x00007ffe1ac4a32c in glXMakeCurrent () from /usr/lib64/libGL.so.1
#9  0x00000000004ac956 in gazebo::OgreAdaptor::Init (this=0x978df0,
rootNode=0x95edf0) at server/rendering/OgreAdaptor.cc:182
#10 0x0000000000521b57 in gazebo::Simulator::Load (this=0x955070,
worldFileName=@0x7fff24bcdbb0, serverId=0) at server/Simulator.cc:172
#11 0x00000000005014a8 in main (argc=3, argv=0x7fff24bcdca8) at
server/main.cc:267
(gdb)


Thank you for any help!


Nate Koenig escribió:

> Hello,
>
> You should try getting rid of the GL error that you are seeing. Run
> glxinfo, an it will probably say that direct rendering is not enabled.
> You'll most likely need to install drivers for your graphic card.
>
> -nate
>
> On Wed, Sep 10, 2008 at 10:30 AM, Andrés Faína Rodrí­guez-Vila
> <[hidden email]> wrote:
>  
>> Hi,
>>
>> I installed Gazebo-0.8-pre3 into a cluster of computers to do
>> experiments in batch mode. Gazebo works fine with the GUI, although it
>> reported a libGL error:
>>
>> [fai@opteron9 ~]$ gazebo /opt/gazebo/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[/opt/gazebo/share/gazebo]
>> [server/GazeboConfig.cc:92]
>>  Ogre Path[/usr/lib64/OGRE]
>> *libGL error: open DRM failed (Operation not permitted)
>> libGL error: reverting to (slow) indirect rendering*
>> creating /home/fai/tmp/gazebo-fai-0
>> creating /home/fai/tmp/gazebo-fai-0/simulation.default 112 145592
>> creating /home/fai/tmp/gazebo-fai-0/position.position_iface_0 112 288
>> creating /home/fai/tmp/gazebo-fai-0/laser.laser_iface_0 112 12512
>> creating /home/fai/tmp/gazebo-fai-0/fiducial.fiducial_iface_0 112 22600
>> deleting /home/fai/tmp/gazebo-fai-0/position.position_iface_0
>> deleting /home/fai/tmp/gazebo-fai-0/laser.laser_iface_0
>> deleting /home/fai/tmp/gazebo-fai-0/fiducial.fiducial_iface_0
>> deleting /home/fai/tmp/gazebo-fai-0/simulation.default
>> deleting /home/fai/tmp/gazebo-fai-0
>> Done.
>>
>>
>> but crashed without the GUI:
>> [fai@opteron9 ~]$ gazebo -g /opt/gazebo/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[/opt/gazebo/share/gazebo]
>> [server/GazeboConfig.cc:92]
>>  Ogre Path[/usr/lib64/OGRE]
>> libGL error: open DRM failed (Operation not permitted)
>> libGL error: reverting to (slow) indirect rendering
>> X Error of failed request:  BadMatch (invalid parameter attributes)
>>  Major opcode of failed request:  143 (GLX)
>>  Minor opcode of failed request:  5 (X_GLXMakeCurrent)
>>  Serial number of failed request:  21
>>  Current serial number in output stream:  21
>> Locking assertion failure.  Backtrace:
>> #0 /usr/lib64/libxcb-xlib.so.0 [0x7fd00cd3091c]
>> #1 /usr/lib64/libxcb-xlib.so.0(xcb_xlib_lock+0x17) [0x7fd00cd30a97]
>> #2 /usr/lib64/libX11.so.6 [0x7fd010ef5061]
>> #3 /usr/lib64/libGL.so.1 [0x7fd0125c8e97]
>> #4 /usr/lib64/libGL.so.1(glXDestroyContext+0x9) [0x7fd0125c8f3c]
>> #5 gazebo(_ZN6gazebo11OgreAdaptorD0Ev+0x22) [0x4620a2]
>> #6 /lib64/libc.so.6(exit+0x9d) [0x7fd0101be85d]
>> #7 /usr/lib64/libX11.so.6(_XDefaultWireError+0) [0x7fd010eecc04]
>> #8 /usr/lib64/libX11.so.6(_XError+0x1a4) [0x7fd010eecdbf]
>> #9 /usr/lib64/libX11.so.6(_XReply+0x2b0) [0x7fd010ef6e80]
>> #10 /usr/lib64/libGL.so.1 [0x7fd0125cae34]
>> #11 /usr/lib64/libGL.so.1(glXMakeCurrentReadSGI+0x12e) [0x7fd0125cb0db]
>> #12 /usr/lib64/libGL.so.1(glXMakeCurrent+0xf) [0x7fd0125cb32c]
>> #13 gazebo(_ZN6gazebo11OgreAdaptor4InitEPNS_13XMLConfigNodeE+0x1c1)
>> [0x464b01]
>> #14 gazebo(_ZN6gazebo9Simulator4LoadERKSsj+0xec) [0x4beb4c]
>> #15 gazebo(main+0xd3) [0x4a7c93]
>> #16 /lib64/libc.so.6(__libc_start_main+0xe6) [0x7fd0101a8316]
>> #17 gazebo [0x439009]
>>
>> Any Ideas?
>>
>>
>> -------------------------------------------------------------------------
>> This SF.Net email is sponsored by the Moblin Your Move Developer's challenge
>> Build the coolest Linux based applications with Moblin SDK & win great prizes
>> Grand prize is a trip for two to an Open Source event anywhere in the world
>> http://moblin-contest.org/redirect.php?banner_id=100&url=/
>> _______________________________________________
>> Playerstage-gazebo mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>
>>    
>
> -------------------------------------------------------------------------
> This SF.Net email is sponsored by the Moblin Your Move Developer's challenge
> Build the coolest Linux based applications with Moblin SDK & win great prizes
> Grand prize is a trip for two to an Open Source event anywhere in the world
> http://moblin-contest.org/redirect.php?banner_id=100&url=/
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>  


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