gazebo crashing with Intel graphics card while running baxter simulator

osrf-migration commented 9 years ago

Original report (archived issue) by Ajay Tanwani (Bitbucket: aktanwani).

The original report had attachments: gazebodebug.tar.gz, drcsimdebug.txt, Xorg.0.log

Hello,

I am experiencing problems in launching baxter simulator with gazebo. I get different behaviour most of the time when I launch the simulator. Two common errors are (apart from segmentation faults):

This one is most frequent. In this case, the simulator does not launch and the error reports:

#!c++

X Error of failed request:  BadDrawable (invalid Pixmap or Window parameter)
  Major opcode of failed request:  154 (DRI2)
  Minor opcode of failed request:  3 (DRI2CreateDrawable)
  Resource id in failed request:  0x5200002
  Serial number of failed request:  37
  Current serial number in output stream:  39

Sometimes, the simulator launches with the robot fine but I am not able to move the robot.

#!c++

[ERROR] [1433495983.497998746, 81.685000000]: Could not stop controller 'right_joint_velocity_controller' since it is not running
[ERROR] [1433495983.498204438, 81.685000000]: Failed to switch controllers

Specifications:

Laptop: Thinkpad T450s

Graphic card: Intel Corporation Broadwell-U Integrated Graphics

Version: 09

glxinfo output: attached (glxgears runs fine at 60 FPS)

ogre.log: attached

linux: ubuntu 14.04.02

installation steps: installed from source (http://www.gazebosim.org/tutorials?tut=install&ver=2.2&cat=install)

Gazebo version: 2.2.1

ROS version: ROS indigo

desktop environment: unity

Any pointers would be appreciated.

Best, -Ajay

osrf-migration commented 9 years ago

Original comment by Ajay Tanwani (Bitbucket: aktanwani).

Edited issue description

osrf-migration commented 9 years ago

Original comment by Ajay Tanwani (Bitbucket: aktanwani).

set assignee_account_id to "557058:f56c822f-f75c-4665-80f9-6e7764893b9c"
set assignee to "jacquelinekay (Bitbucket: jacquelinekay)"

osrf-migration commented 9 years ago

Original comment by Ian McMahon (Bitbucket: IanTheEngineer).

That last bit:

Sometimes, the simulator launches with the robot fine but I am not able to move the robot.

[ERROR] [1433495983.497998746, 81.685000000]: Could not stop controller 'right_joint_velocity_controller' since it is not running

[ERROR] [1433495983.498204438, 81.685000000]: Failed to switch controllers

was caused by a behavior change is ros_control's controller switching, and how Baxter attempted to switch - Issue https://github.com/RethinkRobotics/baxter_simulator/issues/49. This was fixed in the following Pull Request: https://github.com/RethinkRobotics/baxter_simulator/pull/50 Sorry for the private repo, I'm working toward open sourcing it...

osrf-migration commented 9 years ago

Original comment by Jackie K (Bitbucket: jacquelinekay).

Hey @IanTheEngineer, good to see you on Bitbucket! It's good to hear that you're working on open sourcing the Baxter simulator, I think it's a tool that would be widely used by researchers in labs without the resources to get a physical robot. Let me know of anything I can do to support that effort.

Have any of the Rethink developers noticed problems with Intel graphics cards specifically running the Baxter simulator?

It's a known issue that Gazebo's support for graphics cards besides Nvidia is poor. It would be helpful for us to get more data on the issue about failures, though.

osrf-migration commented 9 years ago

Original comment by Ajay Tanwani (Bitbucket: aktanwani).

Thanks Ian,

I confirm that I am not facing the 'switch controllers' problem anymore. The simulator works when it is able to launch.

However, the simulator is still not launching reliably due to the first reported problem.

osrf-migration commented 9 years ago

Original comment by Ian McMahon (Bitbucket: IanTheEngineer).

Most of the Rethink developers use Linux computers with dedicated graphics cards, and we've noticed NVidia to work the best with Gazebo. I've had a few QA engineers report crashes with baxter_simulator that I've attributed to using low end AMD graphics cards.

Unfortunately, I have no datapoints for Integrated Intel graphics. I've held off buying laptops with Intel graphics specifically because I was skeptical of how they would work with Gazebo. If they were robustly supported, that'd open up a much wider range of Linux laptops for ROS developers to choose.

Thanks for offering to help the open sourcing effort of baxter_simulator. Robustness of simulation and end effector modeling is currently what's holding things back. I'll get in touch with you directly about this, the more eyeballs on this code, the better :)

osrf-migration commented 9 years ago

Original comment by Jose Luis Rivero (Bitbucket: Jose Luis Rivero, GitHub: j-rivero).

Thanks @aktanwani for the detailed description of the problem. I usually do my tests with an Intel integrated graphic card (Intel HD4000 vs yours an HD5500) and most of the times it can work well. Some other questions:

It would be highly interesting to give the simulation a try in newer gazebo versions, like 4.x or 5.x.
It is gazebo failing on some other worlds, or only when trying to run the Baxter?
Is there any open repository that I can use to reproduce the problem?

osrf-migration commented 9 years ago

Original comment by Ian McMahon (Bitbucket: IanTheEngineer).

Hi Jose. I've added your github account to the baxter_simulator repository. Let me know if there is any one else at OSRF that needs access.

osrf-migration commented 9 years ago

Original comment by Ajay Tanwani (Bitbucket: aktanwani).

set attachment to "drcsimdebug.txt"

Hello Jose,

Thanks Ian for the help. Jose, could you try running the simulator ?

Before going to the new versions, I am able to launch gazebo and run some basic tutorials including adding noise to sensor model and visualizing gazebo topics. But I am not able to say launch the DRC Simulator. I follow the binary installation here: http://gazebosim.org/tutorials?tut=drcsim_install&cat=drcsim

Using: roslaunch drcsim_gazebo atlas.launch , the program gets stuck after loading some processes. The dump is attached.

One thing, I had to switch to UXA from SNA with my Intel graphics card on Thinkpad t450s as the graphics were very unstable with the latter (disappearing characters). It does drop the graphics quality in day-to-day usage but makes the graphics stable. See comment 36 on the thread here: https://bugs.launchpad.net/xserver-xorg-video-intel/+bug/1432194

Let me know if you need more information.

osrf-migration commented 9 years ago

Original comment by Ajay Tanwani (Bitbucket: aktanwani).

changed assignee_account_id from "557058:f56c822f-f75c-4665-80f9-6e7764893b9c" to "557058:155a32e2-420c-4d50-98e0-0e722f63f906"
changed assignee from "jacquelinekay (Bitbucket: jacquelinekay)" to "jrivero (Bitbucket: jrivero, GitHub: j-rivero)"

osrf-migration commented 9 years ago

Original comment by Jose Luis Rivero (Bitbucket: Jose Luis Rivero, GitHub: j-rivero).

My laptop uses an Intel HD4000 (Ubuntu Trusty) and it is able to run the atlas command fine, with a RTF (real time factor) between 0.30 and 0.50 with no action.

Thanks Ian for the access to the repo and congrats for the good installation instructions, I have Baxter simulation working in just 5 minutes.

Ajay, some ideas:

Could you use roslaunch drcsim_gazebo atlas.launchextra_gazebo_args:="--verbose" and see if we have some useful information?
Could you attach your lsmod and /var/log/Xorg.0.log? I'm going to attach mine, maybe we can see something different.
I'm using SNA, no problem so far. I can give a try to UXA tomorrow and see if it fails.

osrf-migration commented 9 years ago

Original comment by Jose Luis Rivero (Bitbucket: Jose Luis Rivero, GitHub: j-rivero).

set attachment to "Xorg.0.log"

Working Xorg.0.log

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

set version to "all"

gazebosim / gazebo-classic

gazebo crashing with Intel graphics card while running baxter simulator #1628