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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
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Can't use rviz turtlebot3 slam configuration file #199

Closed maximilienpe closed 6 years ago

maximilienpe commented 6 years ago

Hi !

I can't use the configuration file in turtlebot3_slam. It gives me a segmentation fault with Rviz.

OS of the PC : Debian Jessie OS of the raspberry pi 3 b : Ubuntu Xenial

Process : (1) PC : roscore (2) Turtlebot3 : roslaunch turtlebot3_bringup turtlebot3_robot.launch

================================================================================ ... logging to /home/turtlebot3/.ros/log/e14a5510-51e7-11e8-887e-b8ac6f43b528/roslaunch-turtlebot3-desktop-2660.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.128.128:42388/

SUMMARY

PARAMETERS

NODES / turtlebot3_core (rosserial_python/serial_node.py) turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics) turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.128.68:11311

process[turtlebot3_core-1]: started with pid [2688] process[turtlebot3_lds-2]: started with pid [2689] process[turtlebot3_diagnostics-3]: started with pid [2690] [INFO] [1525695852.748995]: ROS Serial Python Node [INFO] [1525695852.813717]: Connecting to /dev/ttyACM0 at 115200 baud [INFO] [1525695854.977798]: Note: publish buffer size is 1024 bytes [INFO] [1525695854.979438]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState] [INFO] [1525695854.989607]: Setup publisher on version_info [turtlebot3_msgs/VersionInfo] [INFO] [1525695855.000042]: Setup publisher on imu [sensor_msgs/Imu] [INFO] [1525695855.012410]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist] [INFO] [1525695855.039606]: Setup publisher on odom [nav_msgs/Odometry] [INFO] [1525695855.052477]: Setup publisher on joint_states [sensor_msgs/JointState] [INFO] [1525695855.064908]: Setup publisher on battery_state [sensor_msgs/BatteryState] [INFO] [1525695855.074904]: Setup publisher on magnetic_field [sensor_msgs/MagneticField] [INFO] [1525695857.354180]: Setup publisher on /tf [tf/tfMessage] [INFO] [1525695857.379500]: Note: subscribe buffer size is 1024 bytes [INFO] [1525695857.380958]: Setup subscriber on cmd_vel [geometry_msgs/Twist] [INFO] [1525695857.405518]: Setup subscriber on sound [turtlebot3_msgs/Sound] [INFO] [1525695857.431306]: Setup subscriber on motor_power [std_msgs/Bool] [INFO] [1525695857.446810]: Setup subscriber on reset [std_msgs/Empty]

[INFO] [1525695858.015653]: Connected to OpenCR board! [INFO] [1525695858.018791]: This core(v1.1.2) is compatible with TB3 Burger

[INFO] [1525695858.024968]: Start Calibration of Gyro [INFO] [1525695860.568680]: Calibration End

================================================================================

(3) PC : roslaunch turtlebot3_slam turtlebot3_slam.launch

================================================================================ ... logging to /home/maximilien/.ros/log/e14a5510-51e7-11e8-887e-b8ac6f43b528/roslaunch-xeon2-18514.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order started roslaunch server http://192.168.128.68:42817/

SUMMARY

PARAMETERS

NODES / robot_state_publisher (robot_state_publisher/robot_state_publisher) turtlebot3_slam_gmapping (gmapping/slam_gmapping)

ROS_MASTER_URI=http://192.168.128.68:11311

process[robot_state_publisher-1]: started with pid [18534] process[turtlebot3_slam_gmapping-2]: started with pid [18535] [ INFO] [1525695898.012390604]: Laser is mounted upwards. -maxUrange 4 -maxUrange 3.49 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.01 -srt 0.02 -str 0.01 -stt 0.02 -linearUpdate 0.2 -angularUpdate 0.2 -resampleThreshold 0.5 -xmin -10 -xmax 10 -ymin -10 -ymax 10 -delta 0.05 -particles 120 [ INFO] [1525695898.014903802]: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= -0.032 -3.48478e-05 -3.1405 m_count 0 Registering First Scan update frame 3 update ld=1.76842e-05 ad=0.000552631 Laser Pose= -0.032 -2.29143e-05 -3.14088 m_count 1 Average Scan Matching Score=183.595 neff= 119.991 Registering Scans:Done

================================================================================ (So here it works fine.)

(4) PC : rosrun rviz rviz -d rospack find turtlebot3_slam/rviz/turtlebot3_slam.rviz

================================================================================ [ INFO] [1525695967.510466684]: rviz version 1.12.15 [ INFO] [1525695967.510607425]: compiled against Qt version 5.3.2 [ INFO] [1525695967.510633230]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1525695971.855628105]: Stereo is NOT SUPPORTED [ INFO] [1525695971.855773128]: OpenGl version: 2.1 (GLSL 1.2). [ WARN] [1525695972.788003489]: The STL file 'package://turtlebot3_description/meshes/bases/burger_base.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead. [ WARN] [1525695973.456920803]: The STL file 'package://turtlebot3_description/meshes/sensors/lds.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead. Erreur de segmentation

================================================================================ (Here it fails)

I also try to use the fourth command without launching any ros slam node. It gives me the same message. If I don't use Rviz, I manage to save a map with the map_server. I can open it with gimp and it's ok. But I would like to visualize it with Rviz.

Other information. Rviz works fine with the configuration file in turtlebot_description and I can notice the laser data in the Rviz environment.

I first thought I had to synchronize with ntpdate. But I've just done it and it gives me the same.

Anyone would have any idea to help ?

Thank you in advance :)

ps : I use a turtlebot3 burger with the recommended configurations.

ps bis : when I launch the rviz command with the -l option

================================================================================ [ INFO] [1525697870.405118617]: rviz version 1.12.15 [ INFO] [1525697870.405243725]: compiled against Qt version 5.3.2 [ INFO] [1525697870.405277391]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1525697870.596409056]: Creating resource group General [ INFO] [1525697870.596510750]: Creating resource group Internal [ INFO] [1525697870.596554967]: Creating resource group Autodetect [ INFO] [1525697870.596687163]: SceneManagerFactory for type 'DefaultSceneManager' registered. [ INFO] [1525697870.596915213]: Registering ResourceManager for type Material [ INFO] [1525697870.596972101]: Registering ResourceManager for type Mesh [ INFO] [1525697870.597012083]: Registering ResourceManager for type Skeleton [ INFO] [1525697870.597085849]: MovableObjectFactory for type 'ParticleSystem' registered. [ INFO] [1525697870.597168063]: ArchiveFactory for archive type FileSystem registered. [ INFO] [1525697870.597207678]: ArchiveFactory for archive type Zip registered. [ INFO] [1525697870.597255531]: ArchiveFactory for archive type EmbeddedZip registered. [ INFO] [1525697870.597295501]: DDS codec registering [ INFO] [1525697870.597365105]: FreeImage version: 3.15.4 [ INFO] [1525697870.597402257]: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details [ INFO] [1525697870.597590935]: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,g3,sgi,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti [ INFO] [1525697870.597630291]: PVRTC codec registering [ INFO] [1525697870.597707146]: ETC codec registering [ INFO] [1525697870.597751835]: Registering ResourceManager for type HighLevelGpuProgram [ INFO] [1525697870.597804443]: Registering ResourceManager for type Compositor [ INFO] [1525697870.598033070]: MovableObjectFactory for type 'Entity' registered. [ INFO] [1525697870.598077942]: MovableObjectFactory for type 'Light' registered. [ INFO] [1525697870.598117582]: MovableObjectFactory for type 'BillboardSet' registered. [ INFO] [1525697870.598161221]: MovableObjectFactory for type 'ManualObject' registered. [ INFO] [1525697870.598200406]: MovableObjectFactory for type 'BillboardChain' registered. [ INFO] [1525697870.598240548]: MovableObjectFactory for type 'RibbonTrail' registered. [ INFO] [1525697870.598332654]: -- OGRE Initialising [ INFO] [1525697870.598370311]: -- Version 1.9.0 (Ghadamon) [ INFO] [1525697870.598429797]: OverlayElementFactory for type Panel registered. [ INFO] [1525697870.598467232]: OverlayElementFactory for type BorderPanel registered. [ INFO] [1525697870.598500044]: OverlayElementFactory for type TextArea registered. [ INFO] [1525697870.598532892]: Registering ResourceManager for type Font [ INFO] [1525697870.598570935]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/RenderSystem_GL [ INFO] [1525697870.602929173]: Installing plugin: GL RenderSystem [ INFO] [1525697870.602981414]: OpenGL Rendering Subsystem created. [ INFO] [1525697870.724828856]: Plugin successfully installed [ INFO] [1525697870.724997329]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_OctreeSceneManager [ INFO] [1525697870.726671294]: Installing plugin: Octree Scene Manager [ INFO] [1525697870.726789259]: Plugin successfully installed [ INFO] [1525697870.726893374]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_ParticleFX [ INFO] [1525697870.730002359]: Installing plugin: ParticleFX [ INFO] [1525697870.730093912]: Particle Emitter Type 'Point' registered [ INFO] [1525697870.730174411]: Particle Emitter Type 'Box' registered [ INFO] [1525697870.730258403]: Particle Emitter Type 'Ellipsoid' registered [ INFO] [1525697870.730341907]: Particle Emitter Type 'Cylinder' registered [ INFO] [1525697870.730419114]: Particle Emitter Type 'Ring' registered [ INFO] [1525697870.730498077]: Particle Emitter Type 'HollowEllipsoid' registered [ INFO] [1525697870.730577265]: Particle Affector Type 'LinearForce' registered [ INFO] [1525697870.730655915]: Particle Affector Type 'ColourFader' registered [ INFO] [1525697870.730733161]: Particle Affector Type 'ColourFader2' registered [ INFO] [1525697870.730811032]: Particle Affector Type 'ColourImage' registered [ INFO] [1525697870.730887592]: Particle Affector Type 'ColourInterpolator' registered [ INFO] [1525697870.730967084]: Particle Affector Type 'Scaler' registered [ INFO] [1525697870.731043734]: Particle Affector Type 'Rotator' registered [ INFO] [1525697870.731125506]: Particle Affector Type 'DirectionRandomiser' registered [ INFO] [1525697870.731205895]: Particle Affector Type 'DeflectorPlane' registered [ INFO] [1525697870.731283125]: Plugin successfully installed [ INFO] [1525697870.731383231]: CPU Identifier & Features

[ INFO] [1525697870.731536640]: CPU ID: GenuineIntel: Intel(R) Xeon(R) CPU E5450 @ 3.00GHz [ INFO] [1525697870.731613894]: SSE: yes [ INFO] [1525697870.731692111]: SSE2: yes [ INFO] [1525697870.731768548]: SSE3: yes [ INFO] [1525697870.731843733]: MMX: yes [ INFO] [1525697870.731919839]: MMXEXT: yes [ INFO] [1525697870.731998877]: 3DNOW: no [ INFO] [1525697870.732074493]: 3DNOWEXT: no [ INFO] [1525697870.732149353]: CMOV: yes [ INFO] [1525697870.732223793]: TSC: yes [ INFO] [1525697870.732298867]: FPU: yes [ INFO] [1525697870.732375649]: PRO: yes [ INFO] [1525697870.732450212]: * HT: no

Starting GLX Subsystem

[ INFO] [1525697870.732695113]: Registering ResourceManager for type Texture [ INFO] [1525697870.732835445]: GLRenderSystem::_createRenderWindow "OgreWindow(0)", 1x1 windowed miscParams: FSAA=4 contentScalingFactor=1,000000 externalGLControl= externalWindowHandle=54525953 parentWindowHandle=54525953 [ INFO] [1525697870.741397710]: GLXWindow::create used FBConfigID = 277 [ INFO] [1525697870.741537825]: GL_VERSION = 2.1.2 NVIDIA 304.135 [ INFO] [1525697870.741582974]: GL_VENDOR = NVIDIA Corporation [ INFO] [1525697870.741620355]: GL_RENDERER = Quadro NVS 285/PCIe/SSE2 [ INFO] [1525697870.741771279]: GL_EXTENSIONS = GL_ARB_color_buffer_float GL_ARB_compressed_texture_pixel_storage GL_ARB_conservative_depth GL_ARB_copy_buffer GL_ARB_depth_clamp GL_ARB_depth_texture GL_ARB_draw_buffers GL_ARB_ES2_compatibility GL_ARB_explicit_attrib_location GL_ARB_fragment_program GL_ARB_fragment_program_shadow GL_ARB_fragment_shader GL_ARB_framebuffer_object GL_ARB_get_program_binary GL_ARB_half_float_pixel GL_ARB_half_float_vertex GL_ARB_imaging GL_ARB_internalformat_query GL_ARB_map_buffer_alignment GL_ARB_map_buffer_range GL_ARB_multisample GL_ARB_multitexture GL_ARB_occlusion_query GL_ARB_occlusion_query2 GL_ARB_pixel_buffer_object GL_ARB_point_parameters GL_ARB_point_sprite GL_ARB_provoking_vertex GL_ARB_robustness GL_ARB_sampler_objects GL_ARB_separate_shader_objects GL_ARB_shader_objects GL_ARB_shading_language_100 GL_ARB_shading_language_420pack GL_ARB_shading_language_include GL_ARB_shadow GL_ARB_sync 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_non_power_of_two GL_ARB_texture_rectangle GL_ARB_texture_rg GL_ARB_texture_storage GL_ARB_texture_swizzle GL_ARB_timer_query GL_ARB_transpose_matrix GL_ARB_vertex_array_bgra GL_ARB_vertex_array_object GL_ARB_vertex_buffer_object GL_ARB_vertex_program GL_ARB_vertex_shader GL_ARB_window_pos GL_ATI_draw_buffers GL_ATI_texture_float GL_ATI_texture_mirror_once GL_S3_s3tc GL_EXT_texture_env_add GL_EXT_abgr GL_EXT_bgra GL_EXT_blend_color GL_EXT_blend_equation_separate GL_EXT_blend_func_separate GL_EXT_blend_minmax GL_EXT_blend_subtract GL_EXT_compiled_vertex_array GL_EXT_Cg_shader GL_EXT_depth_bounds_test GL_EXT_direct_state_access GL_EXT_draw_range_elements GL_EXT_fog_coord GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample 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_pixel_buffer_object GL_EXT_point_parameters GL_EXT_provoking_vertex GL_EXT_rescale_normal GL_EXT_secondary_color GL_EXT_separate_shader_objects GL_EXT_separate_specular_color GL_EXT_shadow_funcs GL_EXT_stencil_two_side GL_EXT_stencil_wrap GL_EXT_texture3D GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_s3tc GL_EXT_texture_cube_map GL_EXT_texture_edge_clamp GL_EXT_texture_env_combine GL_EXT_texture_env_dot3 GL_EXT_texture_filter_anisotropic GL_EXT_texture_format_BGRA8888 GL_EXT_texture_lod GL_EXT_texture_lod_bias GL_EXT_texture_mirror_clamp GL_EXT_texture_object GL_EXT_texture_sRGB GL_EXT_texture_sRGB_decode GL_EXT_texture_storage GL_EXT_texture_swizzle GL_EXT_timer_query GL_EXT_vertex_array GL_EXT_vertex_array_bgra GL_EXT_x11_sync_object GL_EXT_import_sync_object GL_IBM_rasterpos_clip GL_IBM_texture_mirrored_repeat GL_KTX_buffer_region GL_NV_alpha_test GL_NV_blend_minmax GL_NV_blend_square GL_NV_complex_primitives GL_NV_copy_depth_to_color GL_NV_depth_clamp GL_NV_ES1_1_compatibility GL_NV_fbo_color_attachments GL_NV_fence GL_NV_float_buffer GL_NV_fog_distance GL_NV_fragdepth GL_NV_fragment_program GL_NV_fragment_program_option GL_NV_fragment_program2 GL_NV_framebuffer_multisample_coverage GL_NV_half_float GL_NV_light_max_exponent GL_NV_multisample_filter_hint GL_NV_occlusion_query GL_NV_packed_depth_stencil GL_NV_pixel_data_range GL_NV_point_sprite GL_NV_primitive_restart GL_NV_register_combiners GL_NV_register_combiners2 GL_NV_texgen_reflection GL_NV_texture_barrier GL_NV_texture_compression_vtc GL_NV_texture_env_combine4 GL_NV_texture_expand_normal GL_NV_texture_lod_clamp GL_NV_texture_rectangle GL_NV_texture_shader GL_NV_texture_shader2 GL_NV_texture_shader3 GL_NV_vertex_array_range GL_NV_vertex_array_range2 GL_NV_vertex_program GL_NV_vertex_program1_1 GL_NV_vertex_program2 GL_NV_vertex_program2_option GL_NV_vertex_program3 GL_NVX_conditional_render GL_OES_compressed_paletted_texture GL_OES_depth24 GL_OES_depth32 GL_OES_depth_texture GL_OES_element_index_uint GL_OES_fbo_render_mipmap GL_OES_get_program_binary GL_OES_mapbuffer GL_OES_packed_depth_stencil GL_OES_point_size_array GL_OES_point_sprite GL_OES_rgb8_rgba8 GL_OES_read_format GL_OES_standard_derivatives GL_OES_texture_3D GL_OES_texture_float GL_OES_texture_float_linear GL_OES_texture_half_float GL_OES_texture_half_float_linear GL_OES_texture_npot GL_OES_vertex_array_object GL_OES_vertex_half_float GL_SGIS_generate_mipmap GL_SGIS_texture_lod GL_SGIX_depth_texture GL_SGIX_shadow GL_SUN_slice_accum [ INFO] [1525697870.742025611]: Supported GLX extensions: GLX_EXT_visual_info GLX_EXT_visual_rating GLX_SGIX_fbconfig GLX_SGIX_pbuffer GLX_SGI_video_sync GLX_SGI_swap_control GLX_EXT_swap_control GLX_EXT_swap_control_tear GLX_EXT_texture_from_pixmap GLX_ARB_create_context GLX_ARB_create_context_profile GLX_EXT_create_context_es2_profile GLX_ARB_create_context_robustness GLX_ARB_multisample GLX_NV_float_buffer GLX_ARB_fbconfig_float GLX_ARB_get_proc_address

[ INFO] [1525697870.742120331]: GL Renderer Started

[ INFO] [1525697870.745325783]: Registering ResourceManager for type GpuProgram [ INFO] [1525697870.745402057]: GLSL support detected [ INFO] [1525697870.745440235]: GL: Using GL_EXT_framebuffer_object for rendering to textures (best) [ INFO] [1525697870.810882127]: FBO PF_UNKNOWN depth/stencil support: D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697870.995763473]: FBO PF_R5G6B5 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697871.178722930]: FBO PF_B5G6R5 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697871.450358315]: FBO PF_R8G8B8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697871.601180813]: FBO PF_B8G8R8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697871.751976980]: FBO PF_A8R8G8B8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697871.901889680]: FBO PF_B8G8R8A8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697872.166845958]: FBO PF_A2R10G10B10 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697872.315821302]: FBO PF_A2B10G10R10 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697872.511159303]: FBO PF_FLOAT16_RGB depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697872.710537201]: FBO PF_FLOAT16_RGBA depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697872.906463685]: FBO PF_FLOAT32_RGB depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697873.218429874]: FBO PF_FLOAT32_RGBA depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697873.365772591]: FBO PF_X8R8G8B8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697873.515851315]: FBO PF_X8B8G8R8 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697873.667823782]: FBO PF_SHORT_RGBA depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697873.967446226]: FBO PF_R3G3B2 depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697874.122899893]: FBO PF_SHORT_RGB depth/stencil support: D0S0 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1525697874.124428862]: [GL] : Valid FBO targets PF_UNKNOWN PF_R5G6B5 PF_B5G6R5 PF_R8G8B8 PF_B8G8R8 PF_A8R8G8B8 PF_B8G8R8A8 PF_A2R10G10B10 PF_A2B10G10R10 PF_FLOAT16_RGB PF_FLOAT16_RGBA PF_FLOAT32_RGB PF_FLOAT32_RGBA PF_X8R8G8B8 PF_X8B8G8R8 PF_SHORT_RGBA PF_R3G3B2 PF_SHORT_RGB [ INFO] [1525697874.124544833]: RenderSystem capabilities

[ INFO] [1525697874.124633438]: RenderSystem Name: OpenGL Rendering Subsystem [ INFO] [1525697874.124679417]: GPU Vendor: nvidia [ INFO] [1525697874.124710747]: Device Name: Quadro NVS 285/PCIe/SSE2 [ INFO] [1525697874.124754874]: Driver Version: 2.1.2.0 [ INFO] [1525697874.124790375]: Fixed function pipeline: yes [ INFO] [1525697874.124827587]: Hardware generation of mipmaps: yes [ INFO] [1525697874.124861837]: Texture blending: yes [ INFO] [1525697874.124899738]: Anisotropic texture filtering: yes [ INFO] [1525697874.124934866]: Dot product texture operation: yes [ INFO] [1525697874.124973079]: Cube mapping: yes [ INFO] [1525697874.125007835]: Hardware stencil buffer: yes [ INFO] [1525697874.125046397]: - Stencil depth: 8 [ INFO] [1525697874.125080647]: - Two sided stencil support: yes [ INFO] [1525697874.125111634]: - Wrap stencil values: yes [ INFO] [1525697874.125147454]: Hardware vertex / index buffers: yes [ INFO] [1525697874.125181968]: Vertex programs: yes [ INFO] [1525697874.125221722]: Number of floating-point constants for vertex programs: 256 [ INFO] [1525697874.125257439]: Number of integer constants for vertex programs: 0 [ INFO] [1525697874.125296901]: Number of boolean constants for vertex programs: 0 [ INFO] [1525697874.125334640]: Fragment programs: yes [ INFO] [1525697874.125371317]: Number of floating-point constants for fragment programs: 512 [ INFO] [1525697874.125405380]: Number of integer constants for fragment programs: 0 [ INFO] [1525697874.125445194]: Number of boolean constants for fragment programs: 0 [ INFO] [1525697874.125479795]: Geometry programs: no [ INFO] [1525697874.125515408]: Number of floating-point constants for geometry programs: 0 [ INFO] [1525697874.125554247]: Number of integer constants for geometry programs: 0 [ INFO] [1525697874.125589032]: Number of boolean constants for geometry programs: 0 [ INFO] [1525697874.125622299]: Tesselation Hull programs: no [ INFO] [1525697874.125671108]: Number of floating-point constants for tesselation hull programs: 0 [ INFO] [1525697874.125709577]: Number of integer constants for tesselation hull programs: 0 [ INFO] [1525697874.125743647]: Number of boolean constants for tesselation hull programs: 0 [ INFO] [1525697874.125782212]: Tesselation Domain programs: no [ INFO] [1525697874.125819831]: Number of floating-point constants for tesselation domain programs: 0 [ INFO] [1525697874.125854523]: Number of integer constants for tesselation domain programs: 0 [ INFO] [1525697874.125892556]: Number of boolean constants for tesselation domain programs: 0 [ INFO] [1525697874.125927627]: Compute programs: no [ INFO] [1525697874.125963979]: Number of floating-point constants for compute programs: 0 [ INFO] [1525697874.126004352]: Number of integer constants for compute programs: 0 [ INFO] [1525697874.126040635]: Number of boolean constants for compute programs: 0 [ INFO] [1525697874.126081171]: Supported Shader Profiles: arbfp1 arbvp1 fp20 fp30 fp40 glsl vp30 vp40 [ INFO] [1525697874.126116500]: Texture Compression: yes [ INFO] [1525697874.126152949]: - DXT: yes [ INFO] [1525697874.126187084]: - VTC: yes [ INFO] [1525697874.126223160]: - PVRTC: no [ INFO] [1525697874.126257376]: - ATC: no [ INFO] [1525697874.126291401]: - ETC1: no [ INFO] [1525697874.126330724]: - ETC2: no [ INFO] [1525697874.126364306]: - BC4/BC5: no [ INFO] [1525697874.126396965]: - BC6H/BC7: no [ INFO] [1525697874.126432439]: Scissor Rectangle: yes [ INFO] [1525697874.126466463]: Hardware Occlusion Query: yes [ INFO] [1525697874.126498000]: User clip planes: yes [ INFO] [1525697874.126530157]: VET_UBYTE4 vertex element type: yes [ INFO] [1525697874.126566103]: Infinite far plane projection: yes [ INFO] [1525697874.126595252]: Hardware render-to-texture: yes [ INFO] [1525697874.126633857]: Floating point textures: yes [ INFO] [1525697874.126668853]: Non-power-of-two textures: yes [ INFO] [1525697874.126700035]: 1d textures: yes [ INFO] [1525697874.126733027]: Volume textures: yes [ INFO] [1525697874.126770944]: Multiple Render Targets: 4 [ INFO] [1525697874.126801963]: - With different bit depths: yes [ INFO] [1525697874.126836075]: Point Sprites: yes [ INFO] [1525697874.126873314]: Extended point parameters: yes [ INFO] [1525697874.126948373]: Max Point Size: 63.375 [ INFO] [1525697874.126982040]: Vertex texture fetch: yes [ INFO] [1525697874.127020268]: Number of world matrices: 0 [ INFO] [1525697874.127056338]: Number of texture units: 16 [ INFO] [1525697874.127093481]: Stencil buffer depth: 8 [ INFO] [1525697874.127129213]: Number of vertex blend matrices: 0 [ INFO] [1525697874.127163289]: - Max vertex textures: 4 [ INFO] [1525697874.127197337]: - Vertex textures shared: yes [ INFO] [1525697874.127230567]: Render to Vertex Buffer : no [ INFO] [1525697874.127264607]: Hardware Atomic Counters: no [ INFO] [1525697874.127298544]: GL 1.5 without VBO workaround: no [ INFO] [1525697874.127333876]: Frame Buffer objects: yes [ INFO] [1525697874.127364917]: Frame Buffer objects (ARB extension): no [ INFO] [1525697874.127395290]: Frame Buffer objects (ATI extension): no [ INFO] [1525697874.127429267]: PBuffer support: yes [ INFO] [1525697874.127465285]: GL 1.5 without HW-occlusion workaround: no [ INFO] [1525697874.127495652]: Vertex Array Objects: no [ INFO] [1525697874.127533487]: * Separate shader objects: no [ INFO] [1525697874.127579367]: Using FSAA from GL_ARB_multisample extension. [ INFO] [1525697874.127729292]: DefaultWorkQueue('Root') initialising on thread 7f306e0d6840. [ INFO] [1525697874.127961477]: DefaultWorkQueue('Root')::WorkerFunc - thread 7f3033fff700 starting. [ INFO] [1525697874.128086435]: DefaultWorkQueue('Root')::WorkerFunc - thread 7f30337fe700 starting. [ INFO] [1525697874.128167049]: DefaultWorkQueue('Root')::WorkerFunc - thread 7f30327fc700 starting. [ INFO] [1525697874.128233852]: Particle Renderer Type 'billboard' registered [ INFO] [1525697874.128296346]: DefaultWorkQueue('Root')::WorkerFunc - thread 7f3032ffd700 starting. [ INFO] [1525697874.128544413]: SceneManagerFactory for type 'OctreeSceneManager' registered. [ INFO] [1525697874.128597942]: Stereo is NOT SUPPORTED [ INFO] [1525697874.128674086]: OpenGl version: 2.1 (GLSL 1.2). [ INFO] [1525697874.128813149]: Creating resource group rviz [ INFO] [1525697874.128921550]: Added resource location '/opt/ros/kinetic/share/rviz/ogre_media' of type 'FileSystem' to resource group 'rviz' [ INFO] [1525697874.128995394]: Added resource location '/opt/ros/kinetic/share/rviz/ogre_media/textures' of type 'FileSystem' to resource group 'rviz' [ INFO] [1525697874.129076573]: Added resource location '/opt/ros/kinetic/share/rviz/ogre_media/fonts' of type 'FileSystem' to resource group 'rviz' [ INFO] [1525697874.129165151]: Added resource location '/opt/ros/kinetic/share/rviz/ogre_media/models' of type 'FileSystem' to resource group 'rviz' [ INFO] [1525697874.129251579]: Added resource location '/opt/ros/kinetic/share/rviz/ogre_media/materials' of type 'FileSystem' to resource group 'rviz' [ INFO] [1525697874.129341892]: Added resource location '/opt/ros/kinetic/share/rviz/ogre_media/materials/scripts' of type 'FileSystem' to resource group 'rviz' [ INFO] [1525697874.129498483]: Added resource location '/opt/ros/kinetic/share/rviz/ogre_media/materials/glsl120' of type 'FileSystem' to resource group 'rviz' [ INFO] [1525697874.129593148]: Added resource location '/opt/ros/kinetic/share/rviz/ogre_media/materials/glsl120/nogp' of type 'FileSystem' to resource group 'rviz' [ INFO] [1525697874.129686827]: Added resource location '/opt/ros/kinetic/share/rviz/ogre_media/materials/scripts120' of type 'FileSystem' to resource group 'rviz' [ INFO] [1525697874.130087999]: Parsing scripts for resource group Autodetect [ INFO] [1525697874.130136784]: Finished parsing scripts for resource group Autodetect [ INFO] [1525697874.130175028]: Creating resources for group Autodetect [ INFO] [1525697874.130213594]: All done [ INFO] [1525697874.130248424]: Parsing scripts for resource group General [ INFO] [1525697874.130287910]: Finished parsing scripts for resource group General [ INFO] [1525697874.130324515]: Creating resources for group General [ INFO] [1525697874.130356476]: All done [ INFO] [1525697874.130390227]: Parsing scripts for resource group Internal [ INFO] [1525697874.130428446]: Finished parsing scripts for resource group Internal [ INFO] [1525697874.130464946]: Creating resources for group Internal [ INFO] [1525697874.130496456]: All done [ INFO] [1525697874.130533437]: Parsing scripts for resource group rviz [ INFO] [1525697874.131551771]: Parsing script glsl120.program [ INFO] [1525697874.133440905]: Parsing script nogp.program [ INFO] [1525697874.134615288]: Parsing script indexed_8bit_image.material [ INFO] [1525697874.134825133]: Parsing script point_cloud_tile.material [ INFO] [1525697874.135172155]: Parsing script point_cloud_point.material [ INFO] [1525697874.135493083]: Parsing script default_pick_and_depth.material [ INFO] [1525697874.135874451]: Parsing script point_cloud_square.material [ INFO] [1525697874.136156561]: Parsing script point_cloud_sphere.material [ INFO] [1525697874.136447321]: Parsing script point_cloud_box.material [ INFO] [1525697874.136705509]: Parsing script point_cloud_flat_square.material [ INFO] [1525697874.136986055]: Parsing script liberation_sans.fontdef [ INFO] [1525697874.137111343]: Finished parsing scripts for resource group rviz [ INFO] [1525697874.137152555]: Creating resources for group rviz [ INFO] [1525697874.137187954]: All done [ INFO] [1525697874.139920365]: GLRenderSystem::_createRenderWindow "OgreWindow(1)", 100x30 windowed miscParams: FSAA=4 contentScalingFactor=1,000000 externalGLControl= externalWindowHandle=50331673 parentWindowHandle=50331673 [ INFO] [1525697874.194255808]: GLXWindow::create used FBConfigID = 277 [ INFO] [1525697874.242327214]: Mesh: Loading rviz_sphere.mesh. [ INFO] [1525697874.261355245]: Texture: SelectionRect0Texture: Loading 1 faces(PF_R8G8B8A8,1x1x1) Internal format is PF_A8R8G8B8,1x1x1. [ INFO] [1525697874.264591482]: Mesh: Loading rviz_cylinder.mesh. [ INFO] [1525697874.264949229]: Mesh: Loading rviz_cone.mesh. [ INFO] [1525697874.283044890]: Texture: ROSImageTexture0: Loading 1 faces(PF_A8R8G8B8,420x300x1) Internal format is PF_A8R8G8B8,420x300x1. [ INFO] [1525697874.283556842]: Texture: MapPaletteTexture0: Loading 1 faces(PF_A8B8G8R8,256x1x1) Internal format is PF_A8R8G8B8,256x1x1. [ INFO] [1525697874.283700325]: Texture: MapPaletteTexture1: Loading 1 faces(PF_A8B8G8R8,256x1x1) Internal format is PF_A8R8G8B8,256x1x1. [ INFO] [1525697874.283787339]: Texture: MapPaletteTexture2: Loading 1 faces(PF_A8B8G8R8,256x1x1) Internal format is PF_A8R8G8B8,256x1x1. Erreur de segmentation

================================================================================ Maximilien

routiful commented 6 years ago

Hi :)

You can fix malformed stl after you launch fourth commands

https://gist.github.com/awesomebytes/2595b1dc41831c804a4f

We will solve that problem next update. Sorry for inconvenience.

Thanks.

maximilienpe commented 6 years ago

Hi !

Thank you for the fast answer.

Unfortunately, solving the malformed stl issue doesn't solve the seg fault.

routiful commented 6 years ago

Actually I can't find exact clue why it is happened, but your OpenGl version is lower than me.

[Yours]

[ INFO] [1525695967.510466684]: rviz version 1.12.15
[ INFO] [1525695967.510607425]: compiled against Qt version 5.3.2
[ INFO] [1525695967.510633230]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1525695971.855628105]: Stereo is NOT SUPPORTED
[ INFO] [1525695971.855773128]: OpenGl version: 2.1 (GLSL 1.2).

[Mine]

[ INFO] [1525913799.051114890]: rviz version 1.12.15
[ INFO] [1525913799.051155895]: compiled against Qt version 5.5.1
[ INFO] [1525913799.051165624]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1525913799.695720323]: Stereo is NOT SUPPORTED
[ INFO] [1525913799.695805396]: OpenGl version: 4.5 (GLSL 4.5).

I think you can get a more information about it to post this problem in ROS Answer.

robotpilot commented 6 years ago

This issue will be closed since there were no actions for a while. You can reopen this issue to show this issue to the users whenever. Thanks.

maximilienpe commented 6 years ago

Hi, I had no answer on ROS Answer about my question and the trouble.

Today, I have installed ROS Kinetic on another computer on Debian 8 Jessie, with a better graphic card and so a newer version of OpenGL and I have the same results. When I use Rviz with your configuration file it still crashes with a segmentation fault.

Another information I have for you, since the last update of May the 25th, it crashes not only for the configuration file of the SLAM part but also with the others (in description, and in navigation).

Have you modify anything in those others configuration files which can give us a clue about what is the trouble with Debian 8 ?

Thank you in advance for all your answers.

[SOLUTION] I've just seen that you track your code version with github tag. I compared the file and I saw that the major difference is that you use the rviz item image in the new configuration files. When I use this item in Rviz with my configuration it occurs a segmentation fault directly.

I don't know why the item rviz/image makes a segmentation fault here.

Thank you for your consideration ! :)