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SyrianSpock / realsense_gazebo_plugin

Intel RealSense R200 Gazebo ROS plugin and model
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Multiples: Light [sun] not found, DepthBuffer error for RenderTarget #24

Closed Maik93 closed 6 years ago

Maik93 commented 6 years ago

Hi, I've just cloned your repo and switched to kinetic-devel (command git checkout --track origin/kinetic-devel), then build with catkin_make; everything seemed to go well. However, now trying to test it (command roslaunch realsense_gazebo_plugin realsense.launch) I've got the following:

... [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 10.0.2.15 [Wrn] [msgs.cc:1655] Conversion of sensor type[depth] not suppported. [ INFO] [1540292352.124613569]: Realsense Gazebo ROS plugin loading.

RealSensePlugin: The realsense_camera plugin is attach to model realsense_camera [Wrn] [msgs.cc:1655] Conversion of sensor type[depth] not suppported. [Err] [Scene.cc:2927] Light [sun] not found. Use topic ~/factory/light to spawn a new light. [ INFO] [1540292352.465098998, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1540292352.549587152, 0.094000000]: Physics dynamic reconfigure ready. gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreRenderSystem.cpp:546: virtual void Ogre::RenderSystem::setDepthBufferFor(Ogre::RenderTarget*): Assertion bAttached && "A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed. Aborted (core dumped) [gazebo-2] process has died ...

Running Ubuntu 16.04 LTS, ROS Lunar, Gazebo 9.0

SyrianSpock commented 6 years ago

Since you're using Lunar + Gazebo 9, I would try the master branch instead (it was tested on Melodic + Gazebo 9). I'm actually surprised the branch kinetic-devel builds with Gazebo 9.0, it was meant for Gazebo 7.0, how did you install Gazebo? :thinking:

Also looking at the error, it seems to be an OpenGL/Ogre issue, are you running this in a VM?

Maik93 commented 6 years ago

Yes, you're right, the problem is OpenGL, I'm running on VirtualBox and this problem is present only there: I've tried on my laptop running Ubuntu and everything works flawlessly. There the error Light [sun] not found appears randomly but in general everything seems to work.

I've installed Lunar + Gazebo 9 booth in VM and partition automatically, installing ros-kinetic-desktop-full following the official guide, and your kinetic-devel branch compile without problems.

I've found problems wit your urdf model but I'll open a new issue for this, I suppose we can close this one, maybe just state in the readme that this plugin didn't work with old versions of OpenGL, like that one present in Virtual Box.