EuslispのGUI画面が表示されない

[HisaakiIida]

Euslispを家のPCで起動しようとしたところ、下記エラーメッセージのあとに(full-body-ik)などの一覧が出力されました。

configuring by "/opt/ros/noetic/share/euslisp/jskeus/eus//lib/eusrt.l" ;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin No protocol specified Xserver connection failed;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph gnuplotlib time pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb ;; extending gcstack 0x5598df2bf680[16374] --> 0x5598df71abf0[32748] top=3d4b irtgl irtglc irtviewer EusLisp 9.29( 1.2.5) for Linux64 created on ip-10-0-1-5(Tue Jun 20 10:34:21 PST 2023) ;; no display is found. exit from (make-irtviewer) ;; no display is found. exit from (make-irtviewer)

その状態でfull-body-ikを試してみると、

loop: 0 union-link-list: (:torso-link0 :torso-link1 :larm-link0 :larm-link1 :larm-link2 :larm-link3 :larm-link4 :larm-link5 :larm-link6) move-target: (#<cascaded-coords #X5598df842678 -9.936 -17.568 1376.588 / 1.055 -1.409 -1.606>) targe-coordst: (#<coordinates #X5598df335428 0.0 0.0 1500.0 / 0.0 0.0 0.0>) vel-pos :100.000 0.000 0.025 vel-rot : vel-pos-norm : 100.000/ 1.000 vel-rot-norm : 0.000/ 0.017 collision-links : (:waist :torso-link1 :larm-link3 :rarm-link3) parnet-links : (nil :waist :larm-link2 :rarm-link2) valid-link-list : (:torso-link1 :larm-link0 :larm-link1 :larm-link2 :larm-link3 :larm-link4 :larm-link5 :larm-link6) index-links : (nil 0 4 nil) angle : -33.1 -14.6 -150.0 23.9 -1.3 -13.3 4.3 0.1 1.1 min : -45.0 -90.0 -150.0 -30.0 -90.0 -180.0 -90.0 -90.0 -90.0 max : 45.0 90.0 150.0 180.0 90.0 0.0 90.0 90.0 90.0 usrwei: 1.000 1.000 1.000 1.000 1.000 1.000 1.000 1.000 1.000 ocost : 8.893 0.218 4297.135 0.911 0.018 14.492 0.062 0.001 0.016 cost : 8.893 0.218 4297.135 0.911 0.018 14.493 0.062 0.001 0.016 weight: 0.101 1.000 0.000 0.523 0.982 0.065 1.000 1.000 1.000 k : 0.031 (manipulability: 0.021, gain: 0.050, limit: 0.100, len:9) col-distance : 129.799(<200.000) #f( 0.285 0.685 0.671 ) (:torso-link1 :rarm-link3) col-distance : 233.029(<200.000) #f( -0.252 -0.240 -0.938 ) (:torso-link1 :larm-link3) col-distance : 436.465(<200.000) #f( 0.095 0.108 0.990 ) (:larm-link3 :waist) col-distance : 647.365(<200.000) #f( 0.298 0.386 0.873 ) (:larm-link3 :rarm-link3) coljnt: -0.000 0.001 0.000 0.000 0.000 0.000 0.000 0.000 0.000 colnul: -0.000 0.001 0.000 0.000 0.000 0.000 0.000 0.000 0.000 colvel: -0.000 0.001 0.000 0.000 0.000 0.000 0.000 0.000 0.000 blend : 0.390 nspace: 0.031 0.001 0.000 0.071 0.000 -0.027 -0.001 -0.000 -0.000 J : -0.003 -0.000 -0.050 -0.001 -0.000 0.004 -0.000 0.000 -0.000 0.042 -0.026 0.003 0.513 0.055 0.018 -0.001 0.050 0.000 0.356 -0.649 -0.471 0.027 0.004 -0.244 -0.000 -0.000 -0.050 d(JJt): 0.000 J#t : -0.008 -0.007 -0.000 -0.004 0.003 0.008 -0.000 0.003 -0.000 0.013 0.054 0.000 1.538 0.311 0.012 -0.005 0.287 0.015 0.075 -1.377 -0.000 -0.052 -0.008 -0.034 0.000 -0.015 -0.107 x : 0.100 0.000 0.000 J#x : -0.048 -0.042 -0.002 -0.024 0.018 0.044 -0.000 0.017 -0.002 aspeed: -0.000 0.001 0.000 0.000 0.000 0.000 0.000 0.000 0.000 J#x : -0.029 -0.025 -0.001 -0.015 0.011 0.027 -0.000 0.010 -0.001 Ny : 0.029 0.025 0.000 0.015 -0.011 -0.027 -0.001 -0.010 0.001 dav : 0.000 -0.000 -0.001 0.000 -0.000 0.000 -0.001 -0.000 -0.000 dav^ : 0.000 -0.000 -0.001 0.000 -0.000 0.000 -0.001 -0.000 -0.000 ;; (window-main-one nil) was called, but no display is found.

というエラーメッセージが繰り返し出力され、GUIの画面が表示されません。 いろいろと調べてX11やDISPLAY環境変数の変更なども試してみましたが、改善するようすがないので質問させていただきます。

[k-okada]

環境は何を使っていますか？ linux? windows + wsl ? mac + docker ? ???

[HisaakiIida]

linuxで、学科PCと同じubuntu 20.04を使っています。

[k-okada]

sudo apt install -y mesa-utils
DISPLAY=:0.0 glxinfo

の結果をすべて貼り付けてください。

[HisaakiIida]

Invalid MIT-MAGIC-COOKIE-1 keyError: unable to open display :0.0 と出ました。

[k-okada]

この時の画面全体のキャプチャを張ってみてください。

◉ Kei Okada

2023年11月19日(日) 15:47 HisaakiIida @.***>:

Invalid MIT-MAGIC-COOKIE-1 keyError: unable to open display :0.0 と出ました。

— Reply to this email directly, view it on GitHub https://github.com/euslisp/jskeus/issues/639#issuecomment-1817765538, or unsubscribe https://github.com/notifications/unsubscribe-auth/AADYNXCFSMIJGNZYTALPGXTYFGTMTAVCNFSM6AAAAAA7RDS75CVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMJXG43DKNJTHA . You are receiving this because you commented.Message ID: @.***>

[HisaakiIida]

こちらです

[k-okada]

xhost + としてから、もう一度 DISPLAY=:0.0 glxinfo をしてみてください。

◉ Kei Okada

2023年11月19日(日) 16:27 HisaakiIida @.***>:

[image: 56A4D773-A483-461B-BDA3-A4C5574DB6B3_1_201_a] https://user-images.githubusercontent.com/147042983/284043298-1337dc87-91bf-407a-b50f-8061904a64b6.png こちらです

— Reply to this email directly, view it on GitHub https://github.com/euslisp/jskeus/issues/639#issuecomment-1817773244, or unsubscribe https://github.com/notifications/unsubscribe-auth/AADYNXC74ZOAD4WRZLMTKMLYFGYFVAVCNFSM6AAAAAA7RDS75CVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMJXG43TGMRUGQ . You are receiving this because you commented.Message ID: @.***>

[HisaakiIida]

変わらずInvalid MIT-MAGIC-COOKIE-1 keyError: unable to open display :0.0が表示されます。

[k-okada]

xhost としたときの画面のキャプチャを送ってください

◉ Kei Okada

2023年11月19日(日) 16:37 HisaakiIida @.***>:

変わらずInvalid MIT-MAGIC-COOKIE-1 keyError: unable to open display :0.0が表示されます。

— Reply to this email directly, view it on GitHub https://github.com/euslisp/jskeus/issues/639#issuecomment-1817775148, or unsubscribe https://github.com/notifications/unsubscribe-auth/AADYNXCU6YAEPK6GEVHLBKTYFGZKHAVCNFSM6AAAAAA7RDS75CVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMJXG43TKMJUHA . You are receiving this because you commented.Message ID: @.***>

[HisaakiIida]

access control disabled, clients can connect from any host とだけ表示されています。

[k-okada]

cat /etc/hosts hostname の出力をキャプチャして送ってください

[HisaakiIida]

こちらです

[k-okada]

問題ないように見えますね。 cat /var/log/Xorg.0.log と env の出力もすべて送ってください。

[HisaakiIida]

$ env SHELL=/bin/bash ROS_VERSION=1 SESSION_MANAGER=local/kokumapc:@/tmp/.ICE-unix/1992,unix/kokumapc:/tmp/.ICE-unix/1992 QT_ACCESSIBILITY=1 COLORTERM=truecolor XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg XDG_MENU_PREFIX=gnome- GNOME_DESKTOP_SESSION_ID=this-is-deprecated PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/x86_64-linux-gnu/pkgconfig ROS_PYTHON_VERSION=3 GNOME_SHELL_SESSION_MODE=ubuntu SSH_AUTH_SOCK=/run/user/1000/keyring/ssh XMODIFIERS=@im=ibus DESKTOP_SESSION=ubuntu SSH_AGENT_PID=1890 ROS_PACKAGE_PATH=/opt/ros/noetic/share GTK_MODULES=gail:atk-bridge ROSLISP_PACKAGE_DIRECTORIES= PWD=/home/hisaakiiida LOGNAME=hisaakiiida XDG_SESSION_DESKTOP=ubuntu XDG_SESSION_TYPE=x11 GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1 XAUTHORITY=/run/user/1000/gdm/Xauthority GJS_DEBUG_TOPICS=JS ERROR;JS LOG WINDOWPATH=2 HOME=/home/hisaakiiida USERNAME=hisaakiiida IM_CONFIG_PHASE=1 LANG=ja_JP.UTF-8 ROS_ETC_DIR=/opt/ros/noetic/etc/ros LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35:.mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:*.xspf=00;36: XDG_CURRENT_DESKTOP=ubuntu:GNOME VTE_VERSION=6003 CMAKE_PREFIX_PATH=/opt/ros/noetic GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/34a53313_cf88_49d5_99a8_a704097867a0 INVOCATION_ID=729a5ab6255b4dc680ab520b8e28f68b MANAGERPID=1711 GJS_DEBUG_OUTPUT=stderr LESSCLOSE=/usr/bin/lesspipe %s %s XDG_SESSION_CLASS=user PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages TERM=xterm-256color LESSOPEN=| /usr/bin/lesspipe %s USER=hisaakiiida GNOME_TERMINAL_SERVICE=:1.128 DISPLAY=:1 SHLVL=1 ROS_MASTER_URI=http://localhost:11311 QT_IM_MODULE=ibus LD_LIBRARY_PATH=/opt/ros/noetic/share/euslisp/jskeus/eus//Linux64/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu XDG_RUNTIME_DIR=/run/user/1000 ARCHDIR=Linux64 EUSDIR=/opt/ros/noetic/share/euslisp/jskeus/eus/ JOURNAL_STREAM=8:47903 XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop PATH=/opt/ros/noetic/share/euslisp/jskeus/eus//Linux64/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin GDMSESSION=ubuntu DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus ROS_ROOT=/opt/ros/noetic/share/ros ROSDISTRO=noetic =/usr/bin/env

[k-okada]

glxinfo だけをするとどうなりますか？

[HisaakiIida]

~$ glxinfo name of display: :1 display: :1 screen: 0 direct rendering: Yes server glx vendor string: SGI server glx version string: 1.4 server glx extensions: GLX_ARB_context_flush_control, GLX_ARB_create_context, GLX_ARB_create_context_no_error, GLX_ARB_create_context_profile, GLX_ARB_fbconfig_float, GLX_ARB_framebuffer_sRGB, GLX_ARB_multisample, GLX_EXT_create_context_es2_profile, GLX_EXT_create_context_es_profile, GLX_EXT_fbconfig_packed_float, GLX_EXT_framebuffer_sRGB, GLX_EXT_import_context, GLX_EXT_libglvnd, GLX_EXT_no_config_context, GLX_EXT_texture_from_pixmap, GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_MESA_copy_sub_buffer, GLX_OML_swap_method, GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group, GLX_SGI_make_current_read client glx vendor string: Mesa Project and SGI client glx version string: 1.4 client glx extensions: GLX_ARB_context_flush_control, GLX_ARB_create_context, GLX_ARB_create_context_no_error, GLX_ARB_create_context_profile, GLX_ARB_create_context_robustness, GLX_ARB_fbconfig_float, GLX_ARB_framebuffer_sRGB, GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_ATI_pixel_format_float, GLX_EXT_buffer_age, GLX_EXT_create_context_es2_profile, GLX_EXT_create_context_es_profile, GLX_EXT_fbconfig_packed_float, GLX_EXT_framebuffer_sRGB, GLX_EXT_import_context, GLX_EXT_no_config_context, GLX_EXT_swap_control, GLX_EXT_swap_control_tear, GLX_EXT_texture_from_pixmap, GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_INTEL_swap_event, GLX_MESA_copy_sub_buffer, GLX_MESA_multithread_makecurrent, GLX_MESA_query_renderer, GLX_MESA_swap_control, GLX_NV_float_buffer, GLX_OML_swap_method, GLX_OML_sync_control, GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group, GLX_SGI_make_current_read, GLX_SGI_swap_control, GLX_SGI_video_sync GLX version: 1.4 GLX extensions: GLX_ARB_context_flush_control, GLX_ARB_create_context, GLX_ARB_create_context_no_error, GLX_ARB_create_context_profile, GLX_ARB_fbconfig_float, GLX_ARB_framebuffer_sRGB, GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_create_context_es2_profile, GLX_EXT_create_context_es_profile, GLX_EXT_fbconfig_packed_float, GLX_EXT_framebuffer_sRGB, GLX_EXT_import_context, GLX_EXT_no_config_context, GLX_EXT_texture_from_pixmap, GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_MESA_copy_sub_buffer, GLX_MESA_query_renderer, GLX_OML_swap_method, GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group, GLX_SGI_make_current_read Extended renderer info (GLX_MESA_query_renderer): Vendor: Mesa/X.org (0xffffffff) Device: llvmpipe (LLVM 12.0.0, 256 bits) (0xffffffff) Version: 21.2.6 Accelerated: no Video memory: 31830MB Unified memory: no Preferred profile: core (0x1) Max core profile version: 4.5 Max compat profile version: 3.1 Max GLES1 profile version: 1.1 Max GLES[23] profile version: 3.2 OpenGL vendor string: Mesa/X.org OpenGL renderer string: llvmpipe (LLVM 12.0.0, 256 bits) OpenGL core profile version string: 4.5 (Core Profile) Mesa 21.2.6 OpenGL core profile shading language version string: 4.50 OpenGL core profile context flags: (none) OpenGL core profile profile mask: core profile OpenGL core profile extensions: GL_3DFX_texture_compression_FXT1, GL_AMD_conservative_depth, GL_AMD_draw_buffers_blend, GL_AMD_gpu_shader_int64, GL_AMD_multi_draw_indirect, GL_AMD_query_buffer_object, GL_AMD_seamless_cubemap_per_texture, GL_AMD_shader_stencil_export, GL_AMD_shader_trinary_minmax, GL_AMD_texture_texture4, GL_AMD_vertex_shader_layer, GL_AMD_vertex_shader_viewport_index, GL_ANGLE_texture_compression_dxt3, GL_ANGLE_texture_compression_dxt5, GL_ARB_ES2_compatibility, GL_ARB_ES3_1_compatibility, GL_ARB_ES3_2_compatibility, GL_ARB_ES3_compatibility, GL_ARB_arrays_of_arrays, GL_ARB_base_instance, GL_ARB_blend_func_extended, GL_ARB_buffer_storage, GL_ARB_clear_buffer_object, GL_ARB_clear_texture, GL_ARB_clip_control, GL_ARB_compressed_texture_pixel_storage, GL_ARB_compute_shader, GL_ARB_conditional_render_inverted, GL_ARB_conservative_depth, GL_ARB_copy_buffer, GL_ARB_copy_image, GL_ARB_cull_distance, GL_ARB_debug_output, GL_ARB_depth_buffer_float, GL_ARB_depth_clamp, GL_ARB_derivative_control, GL_ARB_direct_state_access, GL_ARB_draw_buffers, GL_ARB_draw_buffers_blend, GL_ARB_draw_elements_base_vertex, GL_ARB_draw_indirect, GL_ARB_draw_instanced, GL_ARB_enhanced_layouts, GL_ARB_explicit_attrib_location, GL_ARB_explicit_uniform_location, GL_ARB_fragment_coord_conventions, GL_ARB_fragment_layer_viewport, GL_ARB_fragment_shader, GL_ARB_framebuffer_no_attachments, GL_ARB_framebuffer_object, GL_ARB_framebuffer_sRGB, GL_ARB_get_program_binary, GL_ARB_get_texture_sub_image, GL_ARB_gl_spirv, GL_ARB_gpu_shader5, GL_ARB_gpu_shader_fp64, GL_ARB_gpu_shader_int64, GL_ARB_half_float_pixel, GL_ARB_half_float_vertex, GL_ARB_indirect_parameters, GL_ARB_instanced_arrays, GL_ARB_internalformat_query, GL_ARB_internalformat_query2, GL_ARB_invalidate_subdata, GL_ARB_map_buffer_alignment, GL_ARB_map_buffer_range, GL_ARB_multi_bind, GL_ARB_multi_draw_indirect, GL_ARB_occlusion_query2, GL_ARB_parallel_shader_compile, GL_ARB_pipeline_statistics_query, GL_ARB_pixel_buffer_object, GL_ARB_point_sprite, GL_ARB_polygon_offset_clamp, GL_ARB_post_depth_coverage, GL_ARB_program_interface_query, GL_ARB_provoking_vertex, GL_ARB_query_buffer_object, GL_ARB_robust_buffer_access_behavior, GL_ARB_robustness, GL_ARB_sample_shading, GL_ARB_sampler_objects, GL_ARB_seamless_cube_map, GL_ARB_seamless_cubemap_per_texture, GL_ARB_separate_shader_objects, GL_ARB_shader_atomic_counter_ops, GL_ARB_shader_atomic_counters, GL_ARB_shader_bit_encoding, GL_ARB_shader_draw_parameters, GL_ARB_shader_group_vote, GL_ARB_shader_image_load_store, GL_ARB_shader_image_size, GL_ARB_shader_objects, GL_ARB_shader_precision, GL_ARB_shader_stencil_export, GL_ARB_shader_storage_buffer_object, GL_ARB_shader_subroutine, GL_ARB_shader_texture_image_samples, GL_ARB_shader_texture_lod, GL_ARB_shader_viewport_layer_array, GL_ARB_shading_language_420pack, GL_ARB_shading_language_include, GL_ARB_shading_language_packing, GL_ARB_spirv_extensions, GL_ARB_stencil_texturing, GL_ARB_sync, GL_ARB_tessellation_shader, GL_ARB_texture_barrier, GL_ARB_texture_buffer_object, GL_ARB_texture_buffer_object_rgb32, GL_ARB_texture_buffer_range, GL_ARB_texture_compression_bptc, GL_ARB_texture_compression_rgtc, GL_ARB_texture_cube_map_array, GL_ARB_texture_filter_minmax, GL_ARB_texture_float, GL_ARB_texture_gather, GL_ARB_texture_mirror_clamp_to_edge, GL_ARB_texture_multisample, GL_ARB_texture_non_power_of_two, GL_ARB_texture_query_levels, GL_ARB_texture_query_lod, GL_ARB_texture_rectangle, GL_ARB_texture_rg, GL_ARB_texture_rgb10_a2ui, GL_ARB_texture_stencil8, GL_ARB_texture_storage, GL_ARB_texture_storage_multisample, GL_ARB_texture_swizzle, GL_ARB_texture_view, GL_ARB_timer_query, GL_ARB_transform_feedback2, GL_ARB_transform_feedback3, GL_ARB_transform_feedback_instanced, GL_ARB_transform_feedback_overflow_query, GL_ARB_uniform_buffer_object, GL_ARB_vertex_array_bgra, GL_ARB_vertex_array_object, GL_ARB_vertex_attrib_64bit, GL_ARB_vertex_attrib_binding, GL_ARB_vertex_buffer_object, GL_ARB_vertex_shader, GL_ARB_vertex_type_10f_11f_11f_rev, GL_ARB_vertex_type_2_10_10_10_rev, GL_ARB_viewport_array, GL_ATI_blend_equation_separate, GL_ATI_texture_float, GL_ATI_texture_mirror_once, GL_EXT_EGL_image_storage, GL_EXT_EGL_sync, GL_EXT_abgr, GL_EXT_blend_equation_separate, GL_EXT_draw_buffers2, GL_EXT_draw_instanced, GL_EXT_framebuffer_blit, GL_EXT_framebuffer_multisample, GL_EXT_framebuffer_multisample_blit_scaled, GL_EXT_framebuffer_object, GL_EXT_framebuffer_sRGB, GL_EXT_packed_depth_stencil, GL_EXT_packed_float, GL_EXT_pixel_buffer_object, GL_EXT_polygon_offset_clamp, GL_EXT_provoking_vertex, GL_EXT_shader_framebuffer_fetch_non_coherent, GL_EXT_shader_integer_mix, GL_EXT_texture_array, GL_EXT_texture_compression_dxt1, GL_EXT_texture_compression_rgtc, GL_EXT_texture_compression_s3tc, GL_EXT_texture_filter_minmax, GL_EXT_texture_integer, GL_EXT_texture_mirror_clamp, GL_EXT_texture_sRGB, GL_EXT_texture_sRGB_R8, GL_EXT_texture_sRGB_decode, GL_EXT_texture_shadow_lod, GL_EXT_texture_shared_exponent, GL_EXT_texture_snorm, GL_EXT_texture_swizzle, GL_EXT_timer_query, GL_EXT_transform_feedback, GL_EXT_vertex_array_bgra, GL_EXT_vertex_attrib_64bit, GL_IBM_multimode_draw_arrays, GL_KHR_blend_equation_advanced, GL_KHR_context_flush_control, GL_KHR_debug, GL_KHR_no_error, GL_KHR_parallel_shader_compile, GL_KHR_robust_buffer_access_behavior, GL_KHR_robustness, GL_KHR_texture_compression_astc_ldr, GL_KHR_texture_compression_astc_sliced_3d, GL_MESA_framebuffer_flip_y, GL_MESA_pack_invert, GL_MESA_shader_integer_functions, GL_MESA_texture_signed_rgba, GL_MESA_ycbcr_texture, GL_NV_conditional_render, GL_NV_copy_image, GL_NV_depth_clamp, GL_NV_packed_depth_stencil, GL_NV_texture_barrier, GL_OES_EGL_image, GL_S3_s3tc

OpenGL version string: 3.1 Mesa 21.2.6 OpenGL shading language version string: 1.40 OpenGL context flags: (none) OpenGL extensions: GL_3DFX_texture_compression_FXT1, GL_AMD_conservative_depth, GL_AMD_draw_buffers_blend, GL_AMD_multi_draw_indirect, GL_AMD_query_buffer_object, GL_AMD_seamless_cubemap_per_texture, GL_AMD_shader_stencil_export, GL_AMD_shader_trinary_minmax, GL_AMD_texture_texture4, GL_ANGLE_texture_compression_dxt3, GL_ANGLE_texture_compression_dxt5, GL_APPLE_packed_pixels, GL_ARB_ES2_compatibility, GL_ARB_ES3_compatibility, GL_ARB_arrays_of_arrays, GL_ARB_base_instance, GL_ARB_blend_func_extended, GL_ARB_buffer_storage, GL_ARB_clear_buffer_object, GL_ARB_clear_texture, GL_ARB_clip_control, GL_ARB_color_buffer_float, GL_ARB_compatibility, GL_ARB_compressed_texture_pixel_storage, GL_ARB_compute_shader, GL_ARB_conditional_render_inverted, GL_ARB_conservative_depth, GL_ARB_copy_buffer, GL_ARB_copy_image, GL_ARB_cull_distance, GL_ARB_debug_output, GL_ARB_depth_buffer_float, GL_ARB_depth_clamp, GL_ARB_depth_texture, GL_ARB_derivative_control, GL_ARB_direct_state_access, GL_ARB_draw_buffers, GL_ARB_draw_buffers_blend, GL_ARB_draw_elements_base_vertex, GL_ARB_draw_indirect, GL_ARB_draw_instanced, GL_ARB_enhanced_layouts, GL_ARB_explicit_attrib_location, GL_ARB_explicit_uniform_location, GL_ARB_fragment_coord_conventions, GL_ARB_fragment_layer_viewport, GL_ARB_fragment_program, GL_ARB_fragment_program_shadow, GL_ARB_fragment_shader, GL_ARB_framebuffer_no_attachments, GL_ARB_framebuffer_object, GL_ARB_framebuffer_sRGB, GL_ARB_get_program_binary, GL_ARB_get_texture_sub_image, GL_ARB_gl_spirv, GL_ARB_half_float_pixel, GL_ARB_half_float_vertex, GL_ARB_indirect_parameters, GL_ARB_instanced_arrays, GL_ARB_internalformat_query, GL_ARB_internalformat_query2, GL_ARB_invalidate_subdata, GL_ARB_map_buffer_alignment, GL_ARB_map_buffer_range, GL_ARB_multi_bind, GL_ARB_multi_draw_indirect, GL_ARB_multisample, GL_ARB_multitexture, GL_ARB_occlusion_query, GL_ARB_occlusion_query2, GL_ARB_parallel_shader_compile, GL_ARB_pipeline_statistics_query, GL_ARB_pixel_buffer_object, GL_ARB_point_parameters, GL_ARB_point_sprite, GL_ARB_polygon_offset_clamp, GL_ARB_post_depth_coverage, GL_ARB_program_interface_query, GL_ARB_provoking_vertex, GL_ARB_query_buffer_object, GL_ARB_robust_buffer_access_behavior, GL_ARB_robustness, GL_ARB_sample_shading, GL_ARB_sampler_objects, GL_ARB_seamless_cube_map, GL_ARB_seamless_cubemap_per_texture, GL_ARB_separate_shader_objects, GL_ARB_shader_atomic_counter_ops, GL_ARB_shader_atomic_counters, GL_ARB_shader_bit_encoding, GL_ARB_shader_draw_parameters, GL_ARB_shader_group_vote, GL_ARB_shader_image_load_store, GL_ARB_shader_image_size, GL_ARB_shader_objects, GL_ARB_shader_stencil_export, GL_ARB_shader_storage_buffer_object, GL_ARB_shader_subroutine, GL_ARB_shader_texture_image_samples, GL_ARB_shader_texture_lod, GL_ARB_shading_language_100, GL_ARB_shading_language_420pack, GL_ARB_shading_language_include, GL_ARB_shading_language_packing, GL_ARB_shadow, GL_ARB_spirv_extensions, GL_ARB_stencil_texturing, GL_ARB_sync, GL_ARB_texture_barrier, GL_ARB_texture_border_clamp, GL_ARB_texture_buffer_object, GL_ARB_texture_buffer_object_rgb32, GL_ARB_texture_buffer_range, GL_ARB_texture_compression, GL_ARB_texture_compression_bptc, GL_ARB_texture_compression_rgtc, GL_ARB_texture_cube_map, GL_ARB_texture_cube_map_array, GL_ARB_texture_env_add, GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar, GL_ARB_texture_env_dot3, GL_ARB_texture_filter_minmax, GL_ARB_texture_float, GL_ARB_texture_gather, GL_ARB_texture_mirror_clamp_to_edge, GL_ARB_texture_mirrored_repeat, GL_ARB_texture_multisample, GL_ARB_texture_non_power_of_two, GL_ARB_texture_query_levels, GL_ARB_texture_query_lod, GL_ARB_texture_rectangle, GL_ARB_texture_rg, GL_ARB_texture_rgb10_a2ui, GL_ARB_texture_stencil8, GL_ARB_texture_storage, GL_ARB_texture_storage_multisample, GL_ARB_texture_swizzle, GL_ARB_texture_view, GL_ARB_timer_query, GL_ARB_transform_feedback2, GL_ARB_transform_feedback3, GL_ARB_transform_feedback_instanced, GL_ARB_transform_feedback_overflow_query, GL_ARB_transpose_matrix, GL_ARB_uniform_buffer_object, GL_ARB_vertex_array_bgra, GL_ARB_vertex_array_object, GL_ARB_vertex_attrib_binding, GL_ARB_vertex_buffer_object, GL_ARB_vertex_program, GL_ARB_vertex_shader, GL_ARB_vertex_type_10f_11f_11f_rev, GL_ARB_vertex_type_2_10_10_10_rev, GL_ARB_viewport_array, GL_ARB_window_pos, GL_ATI_blend_equation_separate, GL_ATI_draw_buffers, GL_ATI_fragment_shader, GL_ATI_separate_stencil, GL_ATI_texture_compression_3dc, GL_ATI_texture_env_combine3, GL_ATI_texture_float, GL_ATI_texture_mirror_once, GL_EXT_EGL_image_storage, GL_EXT_EGL_sync, 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_copy_texture, GL_EXT_direct_state_access, GL_EXT_draw_buffers2, GL_EXT_draw_instanced, GL_EXT_draw_range_elements, GL_EXT_fog_coord, GL_EXT_framebuffer_blit, GL_EXT_framebuffer_multisample, GL_EXT_framebuffer_multisample_blit_scaled, GL_EXT_framebuffer_object, GL_EXT_framebuffer_sRGB, GL_EXT_gpu_program_parameters, GL_EXT_gpu_shader4, GL_EXT_multi_draw_arrays, GL_EXT_packed_depth_stencil, GL_EXT_packed_float, GL_EXT_packed_pixels, GL_EXT_pixel_buffer_object, GL_EXT_point_parameters, GL_EXT_polygon_offset_clamp, GL_EXT_provoking_vertex, GL_EXT_rescale_normal, GL_EXT_secondary_color, GL_EXT_separate_specular_color, GL_EXT_shader_framebuffer_fetch_non_coherent, GL_EXT_shader_integer_mix, GL_EXT_shadow_funcs, GL_EXT_stencil_two_side, GL_EXT_stencil_wrap, GL_EXT_subtexture, GL_EXT_texture, GL_EXT_texture3D, GL_EXT_texture_array, GL_EXT_texture_buffer_object, GL_EXT_texture_compression_dxt1, GL_EXT_texture_compression_latc, GL_EXT_texture_compression_rgtc, 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_minmax, GL_EXT_texture_integer, GL_EXT_texture_lod_bias, GL_EXT_texture_mirror_clamp, GL_EXT_texture_object, GL_EXT_texture_rectangle, GL_EXT_texture_sRGB, GL_EXT_texture_sRGB_R8, GL_EXT_texture_sRGB_decode, GL_EXT_texture_shadow_lod, GL_EXT_texture_shared_exponent, GL_EXT_texture_snorm, GL_EXT_texture_swizzle, GL_EXT_timer_query, GL_EXT_transform_feedback, GL_EXT_vertex_array, GL_EXT_vertex_array_bgra, GL_IBM_multimode_draw_arrays, GL_IBM_rasterpos_clip, GL_IBM_texture_mirrored_repeat, GL_INGR_blend_func_separate, GL_KHR_blend_equation_advanced, GL_KHR_context_flush_control, GL_KHR_debug, GL_KHR_no_error, GL_KHR_parallel_shader_compile, GL_KHR_robust_buffer_access_behavior, GL_KHR_robustness, GL_KHR_texture_compression_astc_ldr, GL_KHR_texture_compression_astc_sliced_3d, GL_MESA_pack_invert, GL_MESA_shader_integer_functions, GL_MESA_texture_signed_rgba, GL_MESA_window_pos, GL_MESA_ycbcr_texture, GL_NV_blend_square, GL_NV_conditional_render, GL_NV_copy_depth_to_color, GL_NV_copy_image, GL_NV_depth_clamp, GL_NV_fog_distance, GL_NV_half_float, GL_NV_light_max_exponent, GL_NV_packed_depth_stencil, GL_NV_primitive_restart, GL_NV_texgen_reflection, GL_NV_texture_barrier, GL_NV_texture_env_combine4, GL_NV_texture_rectangle, GL_OES_EGL_image, GL_OES_read_format, GL_S3_s3tc, GL_SGIS_generate_mipmap, GL_SGIS_texture_border_clamp, GL_SGIS_texture_edge_clamp, GL_SGIS_texture_lod, GL_SUN_multi_draw_arrays

OpenGL ES profile version string: OpenGL ES 3.2 Mesa 21.2.6 OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20 OpenGL ES profile extensions: GL_ANDROID_extension_pack_es31a, GL_ANGLE_pack_reverse_row_order, GL_ANGLE_texture_compression_dxt3, GL_ANGLE_texture_compression_dxt5, GL_APPLE_texture_max_level, GL_EXT_EGL_image_storage, GL_EXT_base_instance, GL_EXT_blend_func_extended, GL_EXT_blend_minmax, GL_EXT_buffer_storage, GL_EXT_clip_control, GL_EXT_clip_cull_distance, GL_EXT_color_buffer_float, GL_EXT_color_buffer_half_float, GL_EXT_compressed_ETC1_RGB8_sub_texture, GL_EXT_copy_image, GL_EXT_depth_clamp, GL_EXT_discard_framebuffer, GL_EXT_disjoint_timer_query, GL_EXT_draw_buffers, GL_EXT_draw_buffers_indexed, GL_EXT_draw_elements_base_vertex, GL_EXT_draw_instanced, GL_EXT_float_blend, GL_EXT_frag_depth, GL_EXT_geometry_point_size, GL_EXT_geometry_shader, GL_EXT_gpu_shader5, GL_EXT_map_buffer_range, GL_EXT_multi_draw_arrays, GL_EXT_occlusion_query_boolean, GL_EXT_polygon_offset_clamp, GL_EXT_primitive_bounding_box, GL_EXT_read_format_bgra, GL_EXT_render_snorm, GL_EXT_robustness, GL_EXT_sRGB_write_control, GL_EXT_separate_shader_objects, GL_EXT_shader_framebuffer_fetch_non_coherent, GL_EXT_shader_group_vote, GL_EXT_shader_implicit_conversions, GL_EXT_shader_integer_mix, GL_EXT_shader_io_blocks, GL_EXT_tessellation_point_size, GL_EXT_tessellation_shader, GL_EXT_texture_border_clamp, GL_EXT_texture_buffer, GL_EXT_texture_compression_bptc, GL_EXT_texture_compression_dxt1, GL_EXT_texture_compression_rgtc, GL_EXT_texture_compression_s3tc, GL_EXT_texture_compression_s3tc_srgb, GL_EXT_texture_cube_map_array, GL_EXT_texture_filter_minmax, GL_EXT_texture_format_BGRA8888, GL_EXT_texture_norm16, GL_EXT_texture_query_lod, GL_EXT_texture_rg, GL_EXT_texture_sRGB_R8, GL_EXT_texture_sRGB_RG8, GL_EXT_texture_sRGB_decode, GL_EXT_texture_shadow_lod, GL_EXT_texture_type_2_10_10_10_REV, GL_EXT_texture_view, GL_EXT_unpack_subimage, GL_KHR_blend_equation_advanced, GL_KHR_context_flush_control, GL_KHR_debug, GL_KHR_no_error, GL_KHR_parallel_shader_compile, GL_KHR_robust_buffer_access_behavior, GL_KHR_robustness, GL_KHR_texture_compression_astc_ldr, GL_KHR_texture_compression_astc_sliced_3d, GL_MESA_bgra, GL_MESA_framebuffer_flip_y, GL_MESA_shader_integer_functions, GL_NV_conditional_render, GL_NV_draw_buffers, GL_NV_fbo_color_attachments, GL_NV_image_formats, GL_NV_pixel_buffer_object, GL_NV_read_buffer, GL_NV_read_depth, GL_NV_read_depth_stencil, GL_NV_read_stencil, GL_OES_EGL_image, GL_OES_EGL_image_external, GL_OES_EGL_image_external_essl3, GL_OES_EGL_sync, GL_OES_compressed_ETC1_RGB8_texture, GL_OES_copy_image, GL_OES_depth24, GL_OES_depth_texture, GL_OES_depth_texture_cube_map, GL_OES_draw_buffers_indexed, GL_OES_draw_elements_base_vertex, GL_OES_element_index_uint, GL_OES_fbo_render_mipmap, GL_OES_geometry_point_size, GL_OES_geometry_shader, GL_OES_get_program_binary, GL_OES_gpu_shader5, GL_OES_mapbuffer, GL_OES_packed_depth_stencil, GL_OES_primitive_bounding_box, GL_OES_required_internalformat, GL_OES_rgb8_rgba8, GL_OES_sample_shading, GL_OES_sample_variables, GL_OES_shader_image_atomic, GL_OES_shader_io_blocks, GL_OES_shader_multisample_interpolation, GL_OES_standard_derivatives, GL_OES_stencil8, GL_OES_surfaceless_context, GL_OES_tessellation_point_size, GL_OES_tessellation_shader, GL_OES_texture_3D, GL_OES_texture_border_clamp, GL_OES_texture_buffer, GL_OES_texture_cube_map_array, 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_texture_stencil8, GL_OES_texture_storage_multisample_2d_array, GL_OES_texture_view, GL_OES_vertex_array_object, GL_OES_vertex_half_float, GL_OES_viewport_array

390 GLX Visuals visual x bf lv rg d st colorbuffer sr ax dp st accumbuffer ms cav id dep cl sp sz l ci b ro r g b a F gb bf th cl r g b a ns b eat

0x021 24 tc 0 32 0 r y . 8 8 8 8 . . 0 24 8 0 0 0 0 0 0 None 0x38a 24 tc 0 32 0 r . . 8 8 8 8 . . 0 0 0 0 0 0 0 0 0 None 0x38b 24 tc 0 32 0 r . . 8 8 8 8 . . 0 0 0 16 16 16 16 0 0 Slow 　： 　：

以降ほぼ同じ構文の繰り返しです。

[k-okada]

これで irteusgl とすると動くとおもいます．

[HisaakiIida]

$ irteusgl configuring by "/opt/ros/noetic/share/euslisp/jskeus/eus//lib/eusrt.l" ;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin connected to Xserver DISPLAY=:1 X events are being asynchronously monitored. ;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph gnuplotlib time pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb ;; extending gcstack 0x55dbce070680[16374] --> 0x55dbce4fbba0[32748] top=3d4b irtgl irtglc irtviewer EusLisp 9.29( 1.2.5) for Linux64 created on ip-10-0-1-5(Tue Jun 20 10:34:21 PST 2023) 1.irteusgl$

となり、エラーは出なくなりましたが相変わらずGUIが出ません。

[k-okada]

guiはirteusglを立ち上げた後に

(load "irteus/demo/demo.l")
(full-body-ik)

などとします

[HisaakiIida]

忘れてました！GUI出ました ありがとうございました！！