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RoboStack / ros-galactic

Vinca build files for ROS 2 Galactic Geochelone
https://robostack.github.io
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Ignition Gazebo crashes on start (works in humble but not galactic) #104

Open BenjaminNavarro opened 2 years ago

BenjaminNavarro commented 2 years ago

I just created a new environement and installed ros-galactic-ros-ign-gazebo.

The installation went fine but running ign gazebo generate some errors in the console and the application crashes a second later.

> ign gazebo             
Error while loading the library [/home/benjamin/.conda/envs/ros2_env/lib/ign-physics-4/engine-plugins/libignition-physics-dartsim-plugin.so]: libode.so.0.16.2: cannot open shared object file: No such file or directory
[Err] [Physics.cc:600] Unable to load the [/home/benjamin/.conda/envs/ros2_env/lib/ign-physics-4/engine-plugins/libignition-physics-dartsim-plugin.so] library.
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin72139]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin98835]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin63996]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin59288]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin8327]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin20386]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin303]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin85117]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin78014]
[GUI] [Err] [RenderEngineManager.cc:461] Failed to load plugin [ogre2] : couldn't find shared library.
[GUI] [Err] [RenderUtil.cc:1678] Engine [ogre2] is not supported. Loading OGRE2 instead.
[GUI] [Err] [RenderEngineManager.cc:461] Failed to load plugin [ogre2] : couldn't find shared library.
Stack trace (most recent call last) in thread 255529:
#14   Object "", at 0xffffffffffffffff, in 
#13   Source "../sysdeps/unix/sysv/linux/x86_64/clone.S", line 100, in __clone [0x7f216cd11873]
#12   Source "/usr/src/debug/glibc/nptl/pthread_create.c", line 442, in start_thread [0x7f216cc8c54c]
#11   Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f2167aa190e, in 
#10   Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f2167aa094c, in QThread::exec()
#9    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f2167ba899a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#8    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f2167bd8bc0, in QEventDispatcherUNIX::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#7    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f2167bac1bf, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#6    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f2167babf87, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#5    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Widgets.so.5.12.9", at 0x7f216757a34c, in QApplication::notify(QObject*, QEvent*)
#4    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Widgets.so.5.12.9", at 0x7f2167574821, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#3    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f2167bc0f15, in QObject::event(QEvent*)
#2    Object "/home/benjamin/.conda/envs/ros2_env/lib/ign-gazebo-5/plugins/gui/libGzScene3D.so", at 0x7f214c4dd150, in ignition::gazebo::v5::RenderThread::RenderNext(ignition::gazebo::v5::RenderSync*)
#1    Object "/home/benjamin/.conda/envs/ros2_env/lib/ign-gazebo-5/plugins/gui/libGzScene3D.so", at 0x7f214c4d986f, in ignition::gazebo::v5::IgnRenderer::Initialize()
#0    Object "/home/benjamin/.conda/envs/ros2_env/lib/libignition-gazebo5-rendering.so.5.1.0", at 0x7f214c407aff, in ignition::gazebo::v5::RenderUtil::Init()
Segmentation fault (Address not mapped to object [(nil)])

It seems that it failed to locate the ODE and Ogre 2 shared libs. I don't know if they are not installed or if its just the LD_LIBRARY_PATH that is not set correctly in order for the dynamic linker to find them.

Tobias-Fischer commented 2 years ago

What happens if you mamba install libode=0.16.2? After doing that, if it still doesn't work, please provide the output of mamba list

BenjaminNavarro commented 2 years ago

It solves the missing ODE lib error. The other errors are still there:

> ign gazebo
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin22311]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin36993]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin39984]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin36827]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin36459]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin91369]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin35473]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin57650]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin42580]
[GUI] [Err] [RenderEngineManager.cc:461] Failed to load plugin [ogre2] : couldn't find shared library.
[GUI] [Err] [RenderUtil.cc:1678] Engine [ogre2] is not supported. Loading OGRE2 instead.
[GUI] [Err] [RenderEngineManager.cc:461] Failed to load plugin [ogre2] : couldn't find shared library.
Stack trace (most recent call last) in thread 280919:
#14   Object "", at 0xffffffffffffffff, in 
#13   Source "../sysdeps/unix/sysv/linux/x86_64/clone.S", line 100, in __clone [0x7f1617f11873]
#12   Source "/usr/src/debug/glibc/nptl/pthread_create.c", line 442, in start_thread [0x7f1617e8c54c]
#11   Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f1612ca190e, in 
#10   Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f1612ca094c, in QThread::exec()
#9    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f1612da899a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#8    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f1612dd8bc0, in QEventDispatcherUNIX::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#7    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f1612dac1bf, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#6    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f1612dabf87, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#5    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Widgets.so.5.12.9", at 0x7f161277a34c, in QApplication::notify(QObject*, QEvent*)
#4    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Widgets.so.5.12.9", at 0x7f1612774821, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#3    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f1612dc0f15, in QObject::event(QEvent*)
#2    Object "/home/benjamin/.conda/envs/ros2_env/lib/ign-gazebo-5/plugins/gui/libGzScene3D.so", at 0x7f15e06cb150, in ignition::gazebo::v5::RenderThread::RenderNext(ignition::gazebo::v5::RenderSync*)
#1    Object "/home/benjamin/.conda/envs/ros2_env/lib/ign-gazebo-5/plugins/gui/libGzScene3D.so", at 0x7f15e06c786f, in ignition::gazebo::v5::IgnRenderer::Initialize()
#0    Object "/home/benjamin/.conda/envs/ros2_env/lib/libignition-gazebo5-rendering.so.5.1.0", at 0x7f15e05f5aff, in ignition::gazebo::v5::RenderUtil::Init()
Segmentation fault (Address not mapped to object [(nil)])

Here is the output of mamba list:

# packages in environment at /home/benjamin/.conda/envs/ros2_env:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
alsa-lib                  1.2.6.1              h7f98852_0    conda-forge
aom                       3.3.0                h27087fc_1    conda-forge
argcomplete               2.0.0              pyhd8ed1ab_0    conda-forge
assimp                    5.0.1                hedfc422_7    conda-forge
attr                      2.5.1                h166bdaf_0    conda-forge
attrs                     21.4.0             pyhd8ed1ab_0    conda-forge
boost-cpp                 1.74.0               h6cacc03_7    conda-forge
bullet-cpp                3.17                 h43a58ef_1    conda-forge
bzip2                     1.0.8                h7f98852_4    conda-forge
c-ares                    1.18.1               h7f98852_0    conda-forge
ca-certificates           2022.6.15            ha878542_0    conda-forge
catkin_pkg                0.5.2              pyhd8ed1ab_0    conda-forge
cli11                     2.2.0                h27087fc_0    conda-forge
cmake                     3.23.2               h5432695_0    conda-forge
console_bridge            1.0.2                h924138e_1    conda-forge
cppzmq                    4.8.1                hf7cf922_0    conda-forge
dartsim                   6.10.1               he39ca3a_1    conda-forge
dbus                      1.13.6               h5008d03_3    conda-forge
docutils                  0.18.1           py38h578d9bd_1    conda-forge
eigen                     3.4.0                h4bd325d_0    conda-forge
empy                      3.3.4              pyh9f0ad1d_1    conda-forge
expat                     2.4.8                h27087fc_0    conda-forge
fcl                       0.6.1                h2cbc392_3    conda-forge
ffmpeg                    4.4.1                hd7ab26d_2    conda-forge
flann                     1.9.1             hfe772e8_1010    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 hab24e00_0    conda-forge
fontconfig                2.14.0               h8e229c2_0    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
foonathan-memory          0.6.2                h9c3ff4c_2    conda-forge
freeimage                 3.18.0               hf18588b_9    conda-forge
freetype                  2.10.4               h0708190_1    conda-forge
gdbm                      1.18                 h0a1914f_2    conda-forge
gettext                   0.19.8.1          h73d1719_1008    conda-forge
gflags                    2.2.2             he1b5a44_1004    conda-forge
glib                      2.70.2               h780b84a_4    conda-forge
glib-tools                2.70.2               h780b84a_4    conda-forge
gmock                     1.11.0               h924138e_0    conda-forge
gmp                       6.2.1                h58526e2_0    conda-forge
gnutls                    3.6.13               h85f3911_1    conda-forge
gst-plugins-base          1.20.3               hf6a322e_0    conda-forge
gstreamer                 1.20.3               hd4edc92_0    conda-forge
gtest                     1.11.0               h924138e_0    conda-forge
gts                       0.7.6                h64030ff_2    conda-forge
hdf5                      1.12.1          nompi_h2386368_104    conda-forge
icu                       69.1                 h9c3ff4c_0    conda-forge
imath                     3.1.5                h6239696_0    conda-forge
importlib-metadata        4.11.4           py38h578d9bd_0    conda-forge
importlib_metadata        4.11.4               hd8ed1ab_0    conda-forge
importlib_resources       5.8.0              pyhd8ed1ab_0    conda-forge
iniconfig                 1.1.1              pyh9f0ad1d_0    conda-forge
jpeg                      9e                   h166bdaf_1    conda-forge
jsoncpp                   1.9.4                h4bd325d_3    conda-forge
jxrlib                    1.1                  h7f98852_2    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
krb5                      1.19.3               h3790be6_0    conda-forge
lame                      3.100             h7f98852_1001    conda-forge
lark-parser               0.12.0             pyhd8ed1ab_0    conda-forge
lcms2                     2.12                 hddcbb42_0    conda-forge
ld_impl_linux-64          2.36.1               hea4e1c9_2    conda-forge
lerc                      3.0                  h9c3ff4c_0    conda-forge
libacl                    2.3.1                ha37c62d_1    conda-forge
libblas                   3.9.0           15_linux64_openblas    conda-forge
libcblas                  3.9.0           15_linux64_openblas    conda-forge
libccd                    2.1                  h9c3ff4c_1    conda-forge
libclang                  13.0.1          default_hc23dcda_0    conda-forge
libcurl                   7.83.1               h7bff187_0    conda-forge
libdeflate                1.12                 h166bdaf_0    conda-forge
libdrm                    2.4.111              h166bdaf_0    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libev                     4.33                 h516909a_1    conda-forge
libevent                  2.1.10               h9b69904_4    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libgcc-ng                 12.1.0              h8d9b700_16    conda-forge
libgfortran-ng            12.1.0              h69a702a_16    conda-forge
libgfortran5              12.1.0              hdcd56e2_16    conda-forge
libglib                   2.70.2               h174f98d_4    conda-forge
libglu                    9.0.0             he1b5a44_1001    conda-forge
libgomp                   12.1.0              h8d9b700_16    conda-forge
libiconv                  1.16                 h516909a_0    conda-forge
libignition-cmake2        2.12.1               h27087fc_0    conda-forge
libignition-common4       4.5.0                h8419eb0_1    conda-forge
libignition-fuel-tools6   6.0.0                h7b20e64_4    conda-forge
libignition-gazebo5       5.1.0                h18f0bbf_4    conda-forge
libignition-gui5          5.2.0                hb297166_2    conda-forge
libignition-math6         6.11.0           py38h70e2075_1    conda-forge
libignition-msgs7         7.2.0                hf191057_2    conda-forge
libignition-physics4      4.1.0                h9c3ff4c_0    conda-forge
libignition-plugin1       1.2.1                h9c3ff4c_0    conda-forge
libignition-rendering5    5.1.0                hd9181ad_1    conda-forge
libignition-sensors5      5.0.0                h1ef1eba_4    conda-forge
libignition-tools1        1.4.1                h33ecc0d_2    conda-forge
libignition-transport10   10.0.0               h23416e7_4    conda-forge
libignition-utils1        1.4.0                h27087fc_0    conda-forge
liblapack                 3.9.0           15_linux64_openblas    conda-forge
libllvm13                 13.0.1               hf817b99_2    conda-forge
libnghttp2                1.47.0               h727a467_0    conda-forge
libnsl                    2.0.0                h7f98852_0    conda-forge
libode                    0.16.2              hfa26641_10    conda-forge
libogg                    1.3.4                h7f98852_1    conda-forge
libopenblas               0.3.20          pthreads_h78a6416_0    conda-forge
libopus                   1.3.1                h7f98852_1    conda-forge
libpciaccess              0.16                 h516909a_0    conda-forge
libpng                    1.6.37               h21135ba_2    conda-forge
libpq                     14.4                 hd77ab85_0    conda-forge
libprotobuf               3.18.1               h780b84a_0    conda-forge
libraw                    0.20.2               h10796ff_1    conda-forge
libsdformat11             11.3.0               haeae685_0    conda-forge
libsodium                 1.0.18               h36c2ea0_1    conda-forge
libssh2                   1.10.0               ha56f1ee_2    conda-forge
libstdcxx-ng              12.1.0              ha89aaad_16    conda-forge
libtiff                   4.4.0                hc85c160_1    conda-forge
libuuid                   2.32.1            h7f98852_1000    conda-forge
libuv                     1.43.0               h7f98852_0    conda-forge
libva                     2.14.0               h7f98852_0    conda-forge
libvorbis                 1.3.7                h9c3ff4c_0    conda-forge
libvpx                    1.11.0               h9c3ff4c_3    conda-forge
libwebp-base              1.2.2                h7f98852_1    conda-forge
libxcb                    1.13              h7f98852_1004    conda-forge
libxkbcommon              1.0.3                he3ba5ed_0    conda-forge
libxml2                   2.9.12               h885dcf4_1    conda-forge
libxslt                   1.1.33               h0ef7038_3    conda-forge
libzip                    1.8.0                h4de3113_1    conda-forge
libzlib                   1.2.12               h166bdaf_1    conda-forge
lxml                      4.8.0            py38h0a891b7_2    conda-forge
lz4-c                     1.9.3                h9c3ff4c_1    conda-forge
mysql-common              8.0.29               haf5c9bc_1    conda-forge
mysql-libs                8.0.29               h28c427c_1    conda-forge
ncurses                   6.3                  h27087fc_1    conda-forge
nettle                    3.6                  he412f7d_0    conda-forge
nspr                      4.32                 h9c3ff4c_1    conda-forge
nss                       3.78                 h2350873_0    conda-forge
numpy                     1.23.0           py38h3a7f9d9_0    conda-forge
octomap                   1.9.7                h4bd325d_0    conda-forge
ogre                      1.12.13              h4b045b0_2    conda-forge
openexr                   3.1.5                he0ac6c6_0    conda-forge
openh264                  2.1.1                h780b84a_0    conda-forge
openjpeg                  2.4.0                hb52868f_1    conda-forge
openssl                   1.1.1p               h166bdaf_0    conda-forge
packaging                 21.3               pyhd8ed1ab_0    conda-forge
pcre                      8.45                 h9c3ff4c_0    conda-forge
pip                       22.1.2             pyhd8ed1ab_0    conda-forge
pluggy                    1.0.0            py38h578d9bd_3    conda-forge
pthread-stubs             0.4               h36c2ea0_1001    conda-forge
pugixml                   1.11.4               h9c3ff4c_0    conda-forge
py                        1.11.0             pyh6c4a22f_0    conda-forge
pybind11-abi              4                    hd8ed1ab_3    conda-forge
pyparsing                 3.0.9              pyhd8ed1ab_0    conda-forge
pytest                    7.1.2            py38h578d9bd_0    conda-forge
python                    3.8.13          h582c2e5_0_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python_abi                3.8                      2_cp38    conda-forge
qt                        5.12.9               h1304e3e_6    conda-forge
readline                  8.1.2                h0f457ee_0    conda-forge
rhash                     1.4.3                h166bdaf_0    conda-forge
ros-galactic-ament-cmake  1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-core 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-export-definitions 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-export-dependencies 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-export-include-directories 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-export-interfaces 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-export-libraries 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-export-link-flags 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-export-targets 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-gmock 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-gtest 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-include-directories 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-libraries 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-pytest 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-python 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-ros 0.9.2            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-target-dependencies 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-test 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-cmake-version 1.1.4            py38he9ab703_2    robostack-experimental
ros-galactic-ament-index-cpp 1.2.0            py38he9ab703_2    robostack-experimental
ros-galactic-ament-index-python 1.2.0            py38he9ab703_2    robostack-experimental
ros-galactic-ament-package 0.12.0           py38he9ab703_2    robostack-experimental
ros-galactic-builtin-interfaces 1.0.3            py38he9ab703_2    robostack-experimental
ros-galactic-cyclonedds   0.8.0            py38hcd11936_2    robostack-experimental
ros-galactic-domain-coordinator 0.9.2            py38he9ab703_2    robostack-experimental
ros-galactic-fastcdr      1.0.20           py38he9ab703_2    robostack-experimental
ros-galactic-fastrtps     2.3.4            py38h3035e2e_2    robostack-experimental
ros-galactic-fastrtps-cmake-module 1.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-foonathan-memory-vendor 1.0.0            py38he9ab703_2    robostack-experimental
ros-galactic-gmock-vendor 1.10.9003        py38he9ab703_2    robostack-experimental
ros-galactic-gtest-vendor 1.10.9003        py38he9ab703_2    robostack-experimental
ros-galactic-iceoryx-binding-c 1.0.0            py38he9ab703_2    robostack-experimental
ros-galactic-iceoryx-posh 1.0.0            py38he9ab703_2    robostack-experimental
ros-galactic-iceoryx-utils 1.0.0            py38he9ab703_2    robostack-experimental
ros-galactic-libstatistics-collector 1.1.1            py38he9ab703_2    robostack-experimental
ros-galactic-libyaml-vendor 1.2.0            py38he9ab703_2    robostack-experimental
ros-galactic-python-cmake-module 0.8.1            py38he9ab703_2    robostack-experimental
ros-galactic-rcl          3.1.2            py38he9ab703_2    robostack-experimental
ros-galactic-rcl-interfaces 1.0.3            py38he9ab703_2    robostack-experimental
ros-galactic-rcl-logging-interface 2.1.2            py38he9ab703_2    robostack-experimental
ros-galactic-rcl-logging-spdlog 2.1.2            py38h1c55902_2    robostack-experimental
ros-galactic-rcl-yaml-param-parser 3.1.2            py38he9ab703_2    robostack-experimental
ros-galactic-rclcpp       9.2.0            py38he9ab703_2    robostack-experimental
ros-galactic-rcpputils    2.2.0            py38he9ab703_2    robostack-experimental
ros-galactic-rcutils      4.0.2            py38he9ab703_2    robostack-experimental
ros-galactic-rmw          3.3.1            py38he9ab703_2    robostack-experimental
ros-galactic-rmw-connextdds 0.6.2            py38he9ab703_2    robostack-experimental
ros-galactic-rmw-connextdds-common 0.6.2            py38he9ab703_2    robostack-experimental
ros-galactic-rmw-cyclonedds-cpp 0.22.3           py38he9ab703_2    robostack-experimental
ros-galactic-rmw-dds-common 1.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rmw-fastrtps-cpp 5.0.1            py38he9ab703_2    robostack-experimental
ros-galactic-rmw-fastrtps-dynamic-cpp 5.0.1            py38he9ab703_2    robostack-experimental
ros-galactic-rmw-fastrtps-shared-cpp 5.0.1            py38he9ab703_2    robostack-experimental
ros-galactic-rmw-implementation 2.4.1            py38he9ab703_2    robostack-experimental
ros-galactic-rmw-implementation-cmake 3.3.1            py38he9ab703_2    robostack-experimental
ros-galactic-ros-ign-gazebo 0.233.2          py38h529f70c_2    robostack-experimental
ros-galactic-ros-workspace 1.0.2            py38he9ab703_2    robostack-experimental
ros-galactic-rosgraph-msgs 1.0.3            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-adapter 2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-cli   2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-cmake 2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-default-runtime 1.1.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-generator-c 2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-generator-py 0.11.0           py38hb5abb7c_2    robostack-experimental
ros-galactic-rosidl-parser 2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-runtime-c 2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-runtime-cpp 2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-typesupport-c 1.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-typesupport-cpp 1.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-typesupport-fastrtps-c 1.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-typesupport-fastrtps-cpp 1.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-typesupport-interface 2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-typesupport-introspection-c 2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rosidl-typesupport-introspection-cpp 2.2.1            py38he9ab703_2    robostack-experimental
ros-galactic-rpyutils     0.2.0            py38he9ab703_2    robostack-experimental
ros-galactic-rti-connext-dds-cmake-module 0.6.2            py38he9ab703_2    robostack-experimental
ros-galactic-spdlog-vendor 1.3.0            py38h1c55902_2    robostack-experimental
ros-galactic-statistics-msgs 1.0.3            py38he9ab703_2    robostack-experimental
ros-galactic-std-msgs     2.2.3            py38he9ab703_2    robostack-experimental
ros-galactic-tracetools   2.3.0            py38he9ab703_2    robostack-experimental
ros2-distro-mutex         0.1.0                  galactic    robostack-experimental
ruby                      3.1.2                h22ca3a2_0    conda-forge
sdl2                      2.0.22               h27087fc_1    conda-forge
setuptools                62.6.0           py38h578d9bd_0    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
spdlog                    1.9.2                h4bd325d_1    conda-forge
sqlite                    3.38.5               h4ff8645_0    conda-forge
svt-av1                   0.9.1                h27087fc_0    conda-forge
swig                      4.0.2                hd3c618e_2    conda-forge
tinyxml                   2.6.2                h4bd325d_2    conda-forge
tinyxml2                  9.0.0                h9c3ff4c_2    conda-forge
tk                        8.6.12               h27826a3_0    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
urdfdom                   2.3.5                h4bd325d_0    conda-forge
urdfdom_headers           1.1.0                h924138e_0    conda-forge
wheel                     0.37.1             pyhd8ed1ab_0    conda-forge
x264                      1!161.3030           h7f98852_1    conda-forge
x265                      3.5                  h924138e_3    conda-forge
xorg-fixesproto           5.0               h7f98852_1002    conda-forge
xorg-kbproto              1.0.7             h7f98852_1002    conda-forge
xorg-libice               1.0.10               h7f98852_0    conda-forge
xorg-libsm                1.2.3             hd9c2040_1000    conda-forge
xorg-libx11               1.7.2                h7f98852_0    conda-forge
xorg-libxau               1.0.9                h7f98852_0    conda-forge
xorg-libxaw               1.0.14               h7f98852_1    conda-forge
xorg-libxdmcp             1.1.3                h7f98852_0    conda-forge
xorg-libxext              1.3.4                h7f98852_1    conda-forge
xorg-libxfixes            5.0.3             h7f98852_1004    conda-forge
xorg-libxmu               1.1.3                h7f98852_0    conda-forge
xorg-libxpm               3.5.13               h7f98852_0    conda-forge
xorg-libxt                1.2.1                h7f98852_2    conda-forge
xorg-xextproto            7.3.0             h7f98852_1002    conda-forge
xorg-xproto               7.0.31            h7f98852_1007    conda-forge
xz                        5.2.5                h516909a_1    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
yaml-cpp                  0.6.3                he1b5a44_4    conda-forge
zeromq                    4.3.4                h9c3ff4c_1    conda-forge
zipp                      3.8.0              pyhd8ed1ab_0    conda-forge
zlib                      1.2.12               h166bdaf_1    conda-forge
zstd                      1.5.2                h8a70e8d_1    conda-forge
zziplib                   0.13.69              h27826a3_1    conda-forge
traversaro commented 2 years ago

I think this is related to https://github.com/conda-forge/libignition-gazebo-feedstock/issues/27 . Can you try to run ign gazebo --render-engine ogre?

BenjaminNavarro commented 2 years ago

Doesn't change anything, still complains about not finding ogre2.

But if I edit ~/.ignition/gazebo/gui.config to use ogre instead of ogre2, as mentioned in the issue you linked, it tries to load ogre, but fails because of a missing shared lib, then tries to load ogre2, still fails and crashes:

> ign gazebo                     
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin39500]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin96589]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin87875]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin60670]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin50479]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin61135]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin729]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin59118]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin34163]
Error while loading the library [/home/benjamin/.conda/envs/ros2_env/lib/ign-rendering-5/engine-plugins/libignition-rendering-ogre.so]: libOgreMain.so.1.12.12: cannot open shared object file: No such file or directory
[GUI] [Err] [RenderEngineManager.cc:470] Failed to load plugin [ignition-rendering-ogre] : couldn't load library on path [/home/benjamin/.conda/envs/ros2_env/lib/ign-rendering-5/engine-plugins/libignition-rendering-ogre.so].
[GUI] [Err] [RenderUtil.cc:1678] Engine [ogre] is not supported. Loading OGRE2 instead.
[GUI] [Err] [RenderEngineManager.cc:461] Failed to load plugin [ogre2] : couldn't find shared library.
Stack trace (most recent call last) in thread 282983:
#14   Object "", at 0xffffffffffffffff, in 
#13   Source "../sysdeps/unix/sysv/linux/x86_64/clone.S", line 100, in __clone [0x7f7c50711873]
#12   Source "/usr/src/debug/glibc/nptl/pthread_create.c", line 442, in start_thread [0x7f7c5068c54c]
#11   Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f7c4b4a190e, in 
#10   Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f7c4b4a094c, in QThread::exec()
#9    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f7c4b5a899a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#8    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f7c4b5d8bc0, in QEventDispatcherUNIX::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#7    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f7c4b5ac1bf, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#6    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f7c4b5abf87, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#5    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Widgets.so.5.12.9", at 0x7f7c4af7a34c, in QApplication::notify(QObject*, QEvent*)
#4    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Widgets.so.5.12.9", at 0x7f7c4af74821, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#3    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7f7c4b5c0f15, in QObject::event(QEvent*)
#2    Object "/home/benjamin/.conda/envs/ros2_env/lib/ign-gazebo-5/plugins/gui/libGzScene3D.so", at 0x7f7c1c6a8150, in ignition::gazebo::v5::RenderThread::RenderNext(ignition::gazebo::v5::RenderSync*)
#1    Object "/home/benjamin/.conda/envs/ros2_env/lib/ign-gazebo-5/plugins/gui/libGzScene3D.so", at 0x7f7c1c6a486f, in ignition::gazebo::v5::IgnRenderer::Initialize()
#0    Object "/home/benjamin/.conda/envs/ros2_env/lib/libignition-gazebo5-rendering.so.5.1.0", at 0x7f7c1c5d2aff, in ignition::gazebo::v5::RenderUtil::Init()
Segmentation fault (Address not mapped to object [(nil)])
BenjaminNavarro commented 2 years ago

After installing ogre 1.12.12 (with mamba install ogre=1.12.12) it still crashes but for a different reason:

> ign gazebo                            
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin53839]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin12129]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin34365]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin79703]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin95062]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin24654]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin22417]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin33059]
[GUI] [Err] [GuiRunner.cc:158] Failed to get plugin [plugin90755]
terminate called after throwing an instance of 'Ogre::RuntimeAssertionException'
  what():  RuntimeAssertionException: Ogre/ShadowExtrudePointLight not found. Verify that you referenced the 'ShadowVolume' folder in your resources.cfg in initialise at /home/conda/feedstock_root/build_artifacts/ogre_1624011825937/work/OgreMain/src/OgreShadowVolumeExtrudeProgram.cpp (line 70)
Stack trace (most recent call last) in thread 283809:
#10   Object "", at 0xffffffffffffffff, in 
#9    Source "../sysdeps/unix/sysv/linux/x86_64/clone.S", line 100, in __clone [0x7fc762f11873]
#8    Source "/usr/src/debug/glibc/nptl/pthread_create.c", line 442, in start_thread [0x7fc762e8c54c]
#7    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7fc75daa1967, in 
#6    Object "/home/benjamin/.conda/envs/ros2_env/lib/libQt5Core.so.5.12.9", at 0x7fc75da8ec24, in qTerminate()
#5    Source "../../../../libstdc++-v3/libsupc++/eh_terminate.cc", line 58, in terminate [0x7fc75f276575]
#4    Source "../../../../libstdc++-v3/libsupc++/eh_terminate.cc", line 48, in __terminate [0x7fc75f276523]
#3    Source "../../../../libstdc++-v3/libsupc++/vterminate.cc", line 95, in __verbose_terminate_handler [0x7fc75f278035]
#2    Source "/usr/src/debug/glibc/stdlib/abort.c", line 79, in abort [0x7fc762e28534]
#1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7fc762e3e837]
#0    Source "/usr/src/debug/glibc/nptl/pthread_kill.c", line 44, in __pthread_kill_implementation [0x7fc762e8e36c]
Aborted (Signal sent by tkill() 283740 1000)
traversaro commented 2 years ago

Can you try to install ogre=1.10 instead? The ogre 1.12 issue is tracked in https://github.com/conda-forge/libignition-gazebo-feedstock/issues/6 .

BenjaminNavarro commented 2 years ago

The installation fails with:

Encountered problems while solving:
  - package ros2-distro-mutex-0.1.0-galactic has constraint ogre 1.12.* conflicting with ogre-1.10.12-hc56bac0_0
traversaro commented 2 years ago

Then I am afraid that at the moment it is not possible to use Ignition Gazebo and ROS2 in the same environment, see https://github.com/conda-forge/libignition-gazebo-feedstock/issues/27 for more details.

traversaro commented 2 years ago

As you noticed the problem is the missing ogre2/ogre-next . Hopefully this is solved once https://github.com/conda-forge/staged-recipes/pull/19384 is merged and we rebuilt Modern Gazebo (formerly known as Ignition Gazebo) with ogre2/ogre-next support.

traversaro commented 2 years ago

Hi @BenjaminNavarro, the issue is solved on ROS Humble, i.e. if you create an environment as:

mamba create -n rosign -c conda-forge -c robostack-humble ros-humble-ros-ign-gazebo

launching ign gazebo or ign gazebo shapes.sdf work fine, see for example:

rosignhumble

At the moment ROS Galactic is not working as it is using Ignition/Gazebo Edifice (i.e. Ignition Gazebo 5). We could try to rebuild it with Ignition Gazebo 6, but Galactic is close to its EOL (it is a non-LTS release) so I wonder if for you it would work fine to use directly Humble for this.

BenjaminNavarro commented 2 years ago

Great! Yes I can definitely switch to humble as I'm not particularly tied to galactic.

I guess the issue can be closed then ?

traversaro commented 2 years ago

I guess the issue can be closed then ?

If you are ok with this, yes!

Tobias-Fischer commented 2 years ago

I'd say let's leave it open so people are aware