Closed Kakcalu13 closed 2 years ago
brolin-botsync
commented
2 years ago Hi @chapulina , I am also facing the exact same issue. I am trying to get gazebo running on docker but no success. I have an M1 mac and want to get this working soon. If you managed to get it working can you please help you here.
Kakcalu13
commented
2 years ago Hi @brolin-botsync,
Things are ready to provide, see here: https://github.com/osrf/homebrew-simulation/issues/1628
I have this M1 few weeks ago and I'm so addicted with this computer! Super fast! So, keep that in mind..I joined Mac world at the same time I got this M1.
Maybe you know how to do this. I will list them all below.
See here: https://github.com/srmainwaring/ign-rendering/wiki
I understand that this is outdated for M1 now.
When this wiki says,
cd /usr/local/Homebrew/Library/Taps/osrf/homebrew-simulation
It's for Mac with intel. This M1's location is now /opt/homebrew/Library/Taps/osrf/homebrew-simulation
Another thing, see here in Formula. https://github.com/osrf/homebrew-simulation/pull/1823
Full Formula file: https://github.com/osrf/homebrew-simulation/blob/a9302ef21aa59e7213adb97f7a7d532830120b2f/Formula/ogre2.2.rb
I tried this too, but didn't work. It could because I'm inexperience with this area. Do you know how to do this?
If you do know how to set them up, can you teach me how? Apparently, docker in container couldn't run gazebo on M1 due to chip difference even if you set container as linux. So, to reproduce this has to be on local first, right? If we can make it work on local, then we can find a way in container immediately. Let me know if it worked for you. Once it worked for you, tell us the secret too! ;)
I know this is a little too complicated but I think it's because of homebrew situation.
srmainwaring
commented
2 years ago @Kakcalu13 and @brolin-botsync - most of the changes required to support Ignition on macOS using Metal have now been merged into the main branches of various repos. The outstanding PR for macOS is in ignition-gazebo (this PR runs fine on macOS but there are some Linux/OpenGL threading compatibility issues to resolve for GPU enabled sensors). I believe that the formula for Ogre2.2 in osrf/simulation is also now up to date for Metal and should work on a M1 machine as a couple of the devs reviewing the changes for Metal support were using these machines. Correction: there is an open PR for the M1 patch to the ogre2.2 formula
I should update or remove the wiki notes you refer to above - they have mostly been superseded now.
For Metal support you should use the Garden branch and will need to build from source.
I'd be happy to help you both get a native installation of ignition gazebo running on macOS - it would help figure out what the platform specific installation notes should look like. Starting point is to install Garden and test that the examples in ignition-rendering are working with the ogre2 metal flags (e.g. ign-rendering/examples/build/ogre2demo ogre2 metal). If ogre2 metal rendering is running then you should be able to get the full Gazebo environment working.
I have not had much luck running ignition using virtualised versions of Ubuntu with accelerated graphics post Ignition Edifice. The main problem is a lack of OpenGL 4.3+ support in the hypervisor drivers. For example VMWare fusion will only support OpenGL 4.1 and that is not sufficient for Ogre2.2. I have not looked at running docker machines with hardware acceleration for a while, but suspect you may run into a similar issue there. Software rendering may work, but that will be an order of magnitude slower for interesting rendering environments.
Kakcalu13
commented
2 years ago Thank you so much for your time, @srmainwaring! This is actually helpful information!
I will update you with the status on virtualised version part after I'm able to run gazebo on native. This would be good way for us to work on it and share the result.
I've been trying to install Citadel/Fortress on M1 but I will start with Garden. I will keep you guys posted along with steps or issues.
srmainwaring
commented
2 years ago The key step is getting ignition-rendering (main branch) built and running the examples. Once you're at that stage ping me and I can walk you through the rest of the set up.
brolin-botsync
commented
2 years ago @Kakcalu13 I am at the same spot as you are. I bought a mac book just 2 days back. I am also new to the mac environment. Its like fish out of water. I am still finding my way around the OS. I am trying to run ROS and Gazebo using docker on the machine and I am finding it exhausting. Any help is appreciated from either you or @srmainwaring. I will also try the suggestion given by @srmainwaring. I will keep you posted on my improvements.
Kakcalu13
commented
2 years ago @brolin-botsync Join my boat, I have more space here. :P
I'm currently building one. Let us know on your end. I will post more information on my end
Kakcalu13
commented
2 years ago After spend like 10 minutes, I eventually realized I was in ign-rendering7 by default.
So here is what I ran after removed ign-rendering7 branch: 1) git clone -b main git@github.com:ignitionrobotics/ign-rendering.git 2) cd ign-rendering (following this link now) 3) mkdir examples/build 4) cd examples 5) cmake .. -DCMAKE_INSTALLPREFIX=build/ (and /build/)_ 6) make
This instantly gave me an error: CMakeError.log CMakeOutput.log
So I followed exact same as the link.
Same result.
but I didn't have this issue when I was using ign-rendering7 earlier (just saying ogre2demo is not found command)
So I assumed I might need to follow garden from the docs. This didn't go well either.
Did I started somewhere wrong?
Kakcalu13
commented
2 years ago git clone -b feature/ign-gazebo7-metal-demo git@github.com:srmainwaring/ign-gazebo.git seems it's more promising!
There are few errors which can be resolved on my own end. I just gotta download few things. I will post the result shortly!
srmainwaring
commented
2 years ago @Kakcalu13 not quite sure what the status of you build is. In your colcon workspace have you managed to build the main branch of ignition-rendering and dependencies using:
$ cd ~/ign_ws
$ colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/libAfter calling
$ cd ~/ign_ws
$ source ./install/setup.zshyou should then be able to run
$ cd ~/ign_ws/src/ign-rendering/examples/simple_demo
$ mkdir build && cd build
$ cmake ..
$ make -j4
$ ./simple_demo ogre2 metalYour cmake log files appear to be reporting missing Xcode framework libraries etc. This can happen if you upgrade Xcode or the command line tools or brew and don't do a proper clean of all of your build and install directories (i.e. the CMakeCache is stale and subsequent builds get corrupted).
srmainwaring
commented
2 years ago
git clone -b feature/ign-gazebo7-metal-demo git@github.com:srmainwaring/ign-gazebo.gitseems it's more promising!There are few errors which can be resolved on my own end. I just gotta download few things. I will post the result shortly!
ok - you're jumping straight to getting the ignition-gazebo metal PR built! I'd still recommend going step by step through the libraries, testing at each stage, as it will be easier to try figure out what's going wrong if gazebo doesn't run from the get go.
Kakcalu13
commented
2 years ago ok - you're jumping straight to getting the ignition-gazebo metal PR built! I'd still recommend going step by step through the libraries, testing at each stage, as it will be easier to try figure out what's going wrong if gazebo doesn't run from the get go.
Sorry! I just never had any luck with gazebo on M1. I'm dying to see what it look like on M1 since few weeks ago lol :'(
$ cd ~/ign_ws $ colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib
I think this is the problem here. I don't think I'm on the same page. First of all, I was following ign-rendering5 instead of latest. This is the result in previous messages. So scratch those messages.
So, I followed: here
instead of git clone https://github.com/ignitionrobotics/ign-rendering -b ign-rendering<#>
I ran git clone https://github.com/ignitionrobotics/ign-rendering -b main inside ~/workspace
Then I ran this line as you mentioned above:
colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib
This part didn't go through.
The error log:
station1@Station1s-Mac-mini ign-rendering % colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib
[0.813s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/usr/local/opt/dartsim@6.10.0' in the environment variable CMAKE_PREFIX_PATH doesn't exist
[0.813s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/usr/local/opt/qt@5' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> ignition-rendering7
--- stderr: ignition-rendering7
CMake Warning at /opt/homebrew/Cellar/cmake/3.22.3/share/cmake/Modules/CMakeFindDependencyMacro.cmake:47 (find_package):
By not providing "Findignition-common5-geospatial.cmake" in
CMAKE_MODULE_PATH this project has asked CMake to find a package
configuration file provided by "ignition-common5-geospatial", but CMake did
not find one.
Could not find a package configuration file provided by
"ignition-common5-geospatial" (requested version 5.0.0) with any of the
following names:
ignition-common5-geospatialConfig.cmake
ignition-common5-geospatial-config.cmake
Add the installation prefix of "ignition-common5-geospatial" to
CMAKE_PREFIX_PATH or set "ignition-common5-geospatial_DIR" to a directory
containing one of the above files. If "ignition-common5-geospatial"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
/Users/station1/workspace/install/lib/cmake/ignition-common5/ignition-common5-config.cmake:188 (find_dependency)
/Users/station1/workspace/install/share/cmake/ignition-cmake2/cmake2/IgnUtils.cmake:189 (find_package)
CMakeLists.txt:38 (ign_find_package)
CMake Warning at /Users/station1/workspace/install/share/cmake/ignition-cmake2/cmake2/IgnUtils.cmake:189 (find_package):
Found package configuration file:
/Users/station1/workspace/install/lib/cmake/ignition-common5/ignition-common5-config.cmake
but it set ignition-common5_FOUND to FALSE so package "ignition-common5" is
considered to be NOT FOUND. Reason given by package:
ignition-common5 could not be found because dependency
ignition-common5-geospatial could not be found.
Call Stack (most recent call first):
CMakeLists.txt:38 (ign_find_package)
CUDA_TOOLKIT_ROOT_DIR not found or specified
CMake Warning at /Users/station1/workspace/install/share/cmake/ignition-cmake2/cmake2/IgnConfigureBuild.cmake:55 (message):
CONFIGURATION WARNINGS:
-- Skipping component [optix]: Missing dependency [OptiX].
^~~~~ Set SKIP_optix=true in cmake to suppress this warning.
Call Stack (most recent call first):
CMakeLists.txt:172 (ign_configure_build)
CMake Error at /Users/station1/workspace/install/share/cmake/ignition-cmake2/cmake2/IgnConfigureBuild.cmake:59 (message):
-- BUILD ERRORS: These must be resolved before compiling.
Call Stack (most recent call first):
CMakeLists.txt:172 (ign_configure_build)
CMake Error at /Users/station1/workspace/install/share/cmake/ignition-cmake2/cmake2/IgnConfigureBuild.cmake:61 (message):
-- Missing dependency [ignition-common5] (Components: graphics, events,
geospatial)
Call Stack (most recent call first):
CMakeLists.txt:172 (ign_configure_build)
CMake Error at /Users/station1/workspace/install/share/cmake/ignition-cmake2/cmake2/IgnConfigureBuild.cmake:63 (message):
-- END BUILD ERRORS
Call Stack (most recent call first):
CMakeLists.txt:172 (ign_configure_build)
CMake Error at /Users/station1/workspace/install/share/cmake/ignition-cmake2/cmake2/IgnConfigureBuild.cmake:68 (message):
Errors encountered in build. Please see BUILD ERRORS above.
Call Stack (most recent call first):
CMakeLists.txt:172 (ign_configure_build)
---
Failed <<< ignition-rendering7 [1.25s, exited with code 1]
Summary: 0 packages finished [1.56s]
1 package failed: ignition-rendering7
1 package had stderr output: ignition-rendering7
Looks like you need to modify a couple of steps from the install instructions (or the env variables got wiped)
dart and qt5Modify the paths below for an M1 machine
# dartsim@6.10.0
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/dartsim@6.10.0
export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH}:/usr/local/opt/dartsim@6.10.0/lib:/usr/local/opt/octomap/local
export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/usr/local/opt/dartsim@6.10.0/lib/pkgconfig
# qt5
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/qt@5gdal which you'll need to install with brewbrew install gdalmain, but for some you'll want specific versions (i.e. ignition-msgs9, ign-transport12). $ cd ~/ign_ws/src/ign-common
$ git fetch
$ git pullcolcon graph by adding --packages-select <ign-library#> to the colcon build command above.Kakcalu13
commented
2 years ago Unfortunately, that didn't work :( I modified the path like this:
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/dartsim@6.10.0
export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH}:/opt/homebrew/opt/dartsim@6.10.0/lib:/opt/homebrew/opt/octomap/
export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/opt/homebrew/opt/dartsim@6.10.0/lib/pkgconfig
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/qt@5So, I decided to start all over and started from scratch: 1) /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)" (skipped brew install python3, python3 -m pip install vcstool, python3 -m pip install -U colcon-common-extensions because I already installed them) 2) mkdir -p ~/workspace/src 3) cd ~/workspace/src 4) wget https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-garden.yaml 5) vcs import < collection-garden.yaml 6) brew update 7) brew tap osrf/simulation 8) brew install xquartz 9) brew install assimp boost bullet cmake cppzmq dartsim@6.10.0 doxygen eigen fcl ffmpeg flann freeimage freetype gflags google-benchmark gts ipopt irrlicht jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph ossp-uuid ogre1.9 ogre2.2 pkg-config protobuf qt qwt rapidjson ruby tbb tinyxml tinyxml2 urdfdom zeromq 10)
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/dartsim@6.10.0
export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH}:/opt/homebrew/opt/dartsim@6.10.0/lib:/opt/homebrew/opt/octomap/
export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/opt/homebrew/opt/dartsim@6.10.0/lib/pkgconfig
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/qt@511) brew install gdal 12) $ cd ~/workspace/src/ign-common $ git fetch $ git pull 13) colcon graph
The output:
ignition-cmake2 + **************
ignition-tools + * . .**
ignition-plugin1 + * **.**
ignition-utils1 +**..***.*.**
ignition-math7 +****.******
ignition-common5 + ** ******
ignition-msgs9 +* * * ***
ignition-fuel_tools8 + *.
ignition-rendering7 + * **.
ignition-transport12 + * ***
sdformat13 + ***.
ignition-gui7 + **
ignition-physics6 + *.
ignition-sensors7 +*.
ignition-gazebo7 +*
ignition-launch6 +Lastly, cd ~/workspace then colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib
Returns error. :S
Failed <<< ignition-gui7 [4.55s, exited with code 2]
Aborted <<< ignition-sensors7 [4.63s]
Summary: 12 packages finished [27.6s]
1 package failed: ignition-gui7
1 package aborted: ignition-sensors7
12 packages had stderr output: ignition-cmake2 ignition-common5 ignition-fuel_tools8 ignition-gui7 ignition-math7 ignition-msgs9 ignition-physics6 ignition-plugin1 ignition-rendering7 ignition-sensors7 ignition-transport12 ignition-utils1
2 packages not processedI tried this 2 times. Eventually, I noticed that X-code isn't installed by default on M1. I'm not sure how much it impacts on everything.
SO after download the x-code, I re-do steps above and other message where I posted steps with cmake. Both of em didn't go through, still. The only thing it changed is how it halts the program really fast after I installed xcode.
my brain is fried so I'll try again in few hours or tomorrow.
This is EXACTLY how I see M1 right now
This is different from linux, tbh. As for m1, there is a lot of stuff involves with pathing, library and setting. Linux do have it, but they are more accessible in some way? Maybe I'm wrong on this. I will try again tomorrow anyway 😎
BTW, thank you so much for your time! I truly appreciate it so much! I hope I am able to do the same thing for you in future!
iche033
commented
2 years ago I think colcon should show some error msgs on why ign-gui failed.
Some differences I saw between your step 9 and mine are these libraries:
brew install qt@5 qwt-qt5 ffmpeg@4The paths setup in step 10 looks the same as mine. I had one extra export which I'm not sure if it's actually needed
export PKG_CONFIG_PATH=/opt/homebrew/opt/ffmpeg@4/lib/pkgconfigI noticed that X-code isn't installed by default on M1
You will need Xcode and the matching Command line tools (which need to be installed from the Apple developer downloads pages).
It looks like you managed to get ignition-rendering7 built. What was the outcome of building and running the examples simple_demo and ogre2demo?
Kakcalu13
commented
2 years ago Good morning, gazebo engineers! Round 2 for me!
brew install qt@5 qwt-qt5 ffmpeg@4export PKG_CONFIG_PATH=/opt/homebrew/opt/ffmpeg@4/lib/pkgconfig
I think those made my colcon build go smooth without getting halt immediately.
I think colcon should show some error msgs on why ign-gui failed.
colcon-buld-error.txt Here is the full log.
As for the ign-gui: it just says code2
fatal error: too many errors emitted, stopping now [-ferror-limit=]
20 errors generated.
make[2]: *** [include/ignition/gui/CMakeFiles/ignition-gui7.dir/__/__/
__/src/Helpers.cc.o] Error 1
make[1]: *** [include/ignition/gui/CMakeFiles/ignition-gui7.dir/all]
Error 2
make: *** [all] Error 2
make: INTERNAL: Exiting with 10 jobserver tokens available; should be
8!
---
Failed <<< ignition-gui7 [11.0s, exited with code 2]
Aborted <<< ignition-sensors7 [1min 9s]
Aborted <<< ignition-physics6 [3min 9s]
Summary: 11 packages finished [10min 7s]
1 package failed: ignition-gui7it's on the last page of log
It looks like you managed to get
ignition-rendering7built. What was the outcome of building and running the examplessimple_demoandogre2demo?
Ngl, this got me excited for a second lol
station1@Station1s-Mac-mini ~ % cd workspace
station1@Station1s-Mac-mini workspace % source ./install/setup.zsh
station1@Station1s-Mac-mini workspace % cd src/ign-rendering
station1@Station1s-Mac-mini ign-rendering % cd examples
station1@Station1s-Mac-mini examples % cd simple_demo
station1@Station1s-Mac-mini simple_demo % ls
CMakeLists.txt GlutWindow.cc GlutWindow.hh Main.cc
station1@Station1s-Mac-mini simple_demo % mkdir build && cd build
station1@Station1s-Mac-mini build % cmake ..
-- The C compiler identification is AppleClang 13.1.6.13160021
-- The CXX compiler identification is AppleClang 13.1.6.13160021
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for ignition-rendering7 -- found version 7.0.0~pre1
-- Searching for dependencies of ignition-rendering7
-- Looking for ignition-math7 -- found version 7.0.0~pre1
-- Searching for dependencies of ignition-math7
-- Looking for ignition-utils1 -- found version 1.3.0
-- Searching for dependencies of ignition-utils1
-- Searching for <ignition-math7> component [eigen3]
-- Looking for ignition-math7-eigen3 -- found version 7.0.0~pre1
-- Searching for dependencies of ignition-math7-eigen3
-- Looking for ignition-common5 -- found version 5.0.0~pre1
-- Searching for dependencies of ignition-common5
-- Looking for ignition-utils1 -- found version 1.3.0
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Found DL: TRUE
-- Found UUID: TRUE
-- Searching for <ignition-common5> component [graphics]
-- Looking for ignition-common5-graphics -- found version 5.0.0~pre1
-- Searching for dependencies of ignition-common5-graphics
-- Looking for ignition-math7 -- found version 7.0.0~pre1
-- Searching for <ignition-common5> component [events]
-- Looking for ignition-common5-events -- found version 5.0.0~pre1
-- Searching for dependencies of ignition-common5-events
-- Looking for ignition-math7 -- found version 7.0.0~pre1
-- Searching for <ignition-common5> component [geospatial]
-- Looking for ignition-common5-geospatial -- found version 5.0.0~pre1
-- Searching for dependencies of ignition-common5-geospatial
-- Looking for ignition-math7 -- found version 7.0.0~pre1
-- Looking for ignition-common5 -- found version 5.0.0~pre1
-- Looking for ignition-plugin1 -- found version 1.2.1
-- Searching for dependencies of ignition-plugin1
-- Searching for <ignition-plugin1> component [all]
-- Looking for all libraries of ignition-plugin1 -- found version 1.2.1
-- Looking for ignition-plugin1 -- found version 1.2.1
-- Looking for ignition-plugin1-loader -- found version 1.2.1
-- Searching for dependencies of ignition-plugin1-loader
-- Looking for ignition-plugin1-register -- found version 1.2.1
-- Searching for dependencies of ignition-plugin1-register
-- Looking for ignition-utils1 -- found version 1.3.0
-- Found PkgConfig: /opt/homebrew/bin/pkg-config (found version "0.29.2")
-- Checking for module 'glut'
-- No package 'glut' found
-- Found GLUT: /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/System/Library/Frameworks/GLUT.framework
-- Found OpenGL: /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/System/Library/Frameworks/OpenGL.framework
-- Configuring done
-- Generating done
-- Build files have been written to: /Users/station1/workspace/src/ign-rendering/examples/simple_demo/build
station1@Station1s-Mac-mini build % make -j4
[ 66%] Building CXX object CMakeFiles/simple_demo.dir/GlutWindow.cc.o
[ 66%] Building CXX object CMakeFiles/simple_demo.dir/Main.cc.o
[100%] Linking CXX executable simple_demo
[100%] Built target simple_demo
station1@Station1s-Mac-mini build % ./simple_demo ogre2 metal
[Msg] Loading plugin [ignition-rendering-ogre2]
Error while loading the library [/Users/station1/workspace/install/lib/ign-rendering-7/engine-plugins/libignition-rendering-ogre2.dylib]: dlopen(/Users/station1/workspace/install/lib/ign-rendering-7/engine-plugins/libignition-rendering-ogre2.dylib, 0x0005): Library not loaded: @rpath/libOgreMain.2.2.6.dylib
Referenced from: /opt/homebrew/Cellar/ogre2.2/2.2.6+20211021~312bf40_1/lib/libOgreHlmsPbs.2.2.6.dylib
Reason: tried: '/Users/station1/workspace/install/lib/libOgreMain.2.2.6.dylib' (no such file), '/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file)Library not loaded: @rpath/libOgreMain.2.2.6.dylib
Referenced from: /opt/homebrew/Cellar/ogre2.2/2.2.6+20211021~312bf40_1/lib/libOgreHlmsUnlit.2.2.6.dylib
Reason: tried: '/Users/station1/workspace/install/lib/libOgreMain.2.2.6.dylib' (no such file), '/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file)Library not loaded: @rpath/libOgreHlmsUnlit.2.2.6.dylib
Referenced from: /opt/homebrew/Cellar/ogre2.2/2.2.6+20211021~312bf40_1/lib/libOgreOverlay.2.2.6.dylib
Reason: tried: '/Users/station1/workspace/install/lib/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreHlmsUnlit.2.2.6.dylib' (no such file)
[Err] [RenderEngineManager.cc:470] Failed to load plugin [ignition-rendering-ogre2] : couldn't load library on path [/Users/station1/workspace/install/lib/ign-rendering-7/engine-plugins/libignition-rendering-ogre2.dylib].
Engine 'ogre2' is not supported
[Msg] Loading plugin [optix]
[Err] [RenderEngineManager.cc:461] Failed to load plugin [optix] : couldn't find shared library.
Engine 'optix' is not supported
[Err] [GlutWindow.cc:178] No cameras found. Scene will not be rendered
station1@Station1s-Mac-mini build % I think we are really really close in ign-rendering tho
Kakcalu13
commented
2 years ago This question came to my mind, which M1 did you have? M1 PRO, M1 max or just M1? I'm using just M1
srmainwaring
commented
2 years ago @Kakcalu13 can you try exporting the following before running the simple_demo:
export OGRE2_RESOURCE_PATH=/opt/homebrew/opt/ogre2.2/lib/OGRE-2.2/OGRE(double check I've got that path right). The failure is macOS not resolving an rpath. It's trying a couple of paths from CMAKE_PREFIX_PATH but none of them contain the correct location for the brew installed ogre2.2 libraries.
Kakcalu13
commented
2 years ago I had to re-do the steps due to experiment and tried another ways.
The error persists. FYI, colcon build failed too. Just letting you know.
station1@Station1s-Mac-mini build % ./simple_demo ogre2 metal
[Msg] Loading plugin [ignition-rendering-ogre2]
Error while loading the library [/Users/station1/workspace/install/lib/ign-rendering-7/engine-plugins/libignition-rendering-ogre2.dylib]: dlopen(/Users/station1/workspace/install/lib/ign-rendering-7/engine-plugins/libignition-rendering-ogre2.dylib, 0x0005): Library not loaded: @rpath/libOgreMain.2.2.6.dylib
Referenced from: /opt/homebrew/Cellar/ogre2.2/2.2.6+20211021~312bf40_1/lib/libOgreHlmsPbs.2.2.6.dylib
Reason: tried: '/Users/station1/workspace/install/lib/libOgreMain.2.2.6.dylib' (no such file), '/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file)Library not loaded: @rpath/libOgreMain.2.2.6.dylib
Referenced from: /opt/homebrew/Cellar/ogre2.2/2.2.6+20211021~312bf40_1/lib/libOgreHlmsUnlit.2.2.6.dylib
Reason: tried: '/Users/station1/workspace/install/lib/libOgreMain.2.2.6.dylib' (no such file), '/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file)Library not loaded: @rpath/libOgreHlmsUnlit.2.2.6.dylib
Referenced from: /opt/homebrew/Cellar/ogre2.2/2.2.6+20211021~312bf40_1/lib/libOgreOverlay.2.2.6.dylib
Reason: tried: '/Users/station1/workspace/install/lib/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreHlmsUnlit.2.2.6.dylib' (no such file)
[Err] [RenderEngineManager.cc:470] Failed to load plugin [ignition-rendering-ogre2] : couldn't load library on path [/Users/station1/workspace/install/lib/ign-rendering-7/engine-plugins/libignition-rendering-ogre2.dylib].
Engine 'ogre2' is not supported
[Msg] Loading plugin [optix]
[Err] [RenderEngineManager.cc:461] Failed to load plugin [optix] : couldn't find shared library.
Engine 'optix' is not supported
[Err] [GlutWindow.cc:178] No cameras found. Scene will not be rendered
station1@Station1s-Mac-mini build % I got this after I run this:
$ cd ~/workspace/src/ign-rendering/examples/simple_demo
$ mkdir build && cd build
$ cmake ..
$ make -j4
$ export OGRE2_RESOURCE_PATH=/opt/homebrew/opt/ogre2.2/lib/OGRE-2.2/OGRE
$ ./simple_demo ogre2 metalThose error seems like they needed colcon build first. Any suggestion? 😅
EDIT one: I had to delete the whole directory of workspace and re-do the workspace then start all over with all steps include iche033's input.
Kakcalu13
commented
2 years ago Hi,
I hope it's ok for me to bump this issue :P I'm kinda dying to try this on M1 👼
iche033
commented
2 years ago In addition to using the ogre2.2.rb patch in https://github.com/osrf/homebrew-simulation/pull/1823, can you try adding "-DCMAKE_MACOSX_RPATH=FALSE" here? Reinstall ogre 2.2. and see if that makes any difference
Kakcalu13
commented
2 years ago Hi @iche033!
Sorry for the late reply.
So, apparently I already left it on using your new fix. See here:
I ran brew install ogre2.2.rb
It returns error
station1@Station1s-Mini Formula % brew install ogre2.2.rb
Running `brew update --preinstall`...
==> Auto-updated Homebrew!
Updated 3 taps (osrf/simulation, homebrew/core and homebrew/cask).
==> New Formulae
cloudflare-quiche dagger gi-docgen
==> Updated Formulae
Updated 434 formulae.
==> New Casks
lapce simplemind
==> Updated Casks
Updated 261 casks.
Error: Failed to load cask: ogre2.2.rb
Cask 'ogre2.2' is unreadable: wrong constant name #<Class:0x000000014612a880>
Warning: Treating ogre2.2.rb as a formula.
Warning: osrf/simulation/ogre2.2 2.2.6+20211021~312bf40_1 is already installed and up-to-date.
To reinstall 2.2.6+20211021~312bf40_1, run:
brew reinstall ogre2.2
station1@Station1s-Mini Formula % -DCMAKE_MACOSX_RPATH=FALSE is already inside my colcon build. I was following the steps in few messages previous and noticed this so I tried again using like
colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib -DCMAKE_MACOSX_RPATH=FALSE and cmake .. -DCMAKE_MACOSX_RPATH=FALSE
First one returns the same thing but the second one...it's literally THIS close to open ign gazebo but then it crashed immediately.
The error log:
station1@Station1s-Mini build % ./simple_demo ogre2 metal
[Msg] Loading plugin [ignition-rendering-ogre2]
Error while loading the library [/Users/station1/workspace/install/lib/ign-rendering-7/engine-plugins/libignition-rendering-ogre2.dylib]: dlopen(/Users/station1/workspace/install/lib/ign-rendering-7/engine-plugins/libignition-rendering-ogre2.dylib, 0x0005): Library not loaded: @rpath/libOgreMain.2.2.6.dylib
Referenced from: /opt/homebrew/Cellar/ogre2.2/2.2.6+20211021~312bf40_1/lib/libOgreHlmsPbs.2.2.6.dylib
Reason: tried: '/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file)Library not loaded: @rpath/libOgreMain.2.2.6.dylib
Referenced from: /opt/homebrew/Cellar/ogre2.2/2.2.6+20211021~312bf40_1/lib/libOgreHlmsUnlit.2.2.6.dylib
Reason: tried: '/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreMain.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreMain.2.2.6.dylib' (no such file)Library not loaded: @rpath/libOgreHlmsUnlit.2.2.6.dylib
Referenced from: /opt/homebrew/Cellar/ogre2.2/2.2.6+20211021~312bf40_1/lib/libOgreOverlay.2.2.6.dylib
Reason: tried: '/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/dartsim@6.10.0/lib/libOgreHlmsUnlit.2.2.6.dylib' (no such file), '/opt/homebrew/opt/octomap//libOgreHlmsUnlit.2.2.6.dylib' (no such file)
[Err] [RenderEngineManager.cc:470] Failed to load plugin [ignition-rendering-ogre2] : couldn't load library on path [/Users/station1/workspace/install/lib/ign-rendering-7/engine-plugins/libignition-rendering-ogre2.dylib].
Engine 'ogre2' is not supported
[Msg] Loading plugin [optix]
[Err] [RenderEngineManager.cc:461] Failed to load plugin [optix] : couldn't find shared library.
Engine 'optix' is not supported
[Err] [GlutWindow.cc:178] No cameras found. Scene will not be rendered
station1@Station1s-Mini build %
Kakcalu13
commented
2 years ago WAIT!!!
just ./simple_demo do the trick but i can't do anything to it at all though..
station1@Station1s-Mini build % ./simple_demo
[Msg] Loading plugin [ignition-rendering-ogre]
[Msg] Loading plugin [optix]
[Err] [RenderEngineManager.cc:461] Failed to load plugin [optix] : couldn't find shared library.
Engine 'optix' is not supported
===============================
TAB - Switch render engines
ESC - Exit
===============================
^C
station1@Station1s-Mini build %Is this the one I was supposed to confirm?
iche033
commented
2 years ago -DCMAKE_MACOSX_RPATH=FALSE is already inside my colcon build.
yes you'll need that but what I mean is also adding it into ogre2.2.rb file here: https://github.com/osrf/homebrew-simulation/blob/86e9a94dbbb3aac7e6d9ddd26343e5c8363f1072/Formula/ogre2.2.rb#L68
running ./simple_demo launches the example with ogre1.x render engine. Good to see that it's working. On the other hand ./simple_demo ogre2 metal uses ogre2.2 which is the default rendering engine in ignition gazebo.
Kakcalu13
commented
2 years ago Oops, I was looking for ignition to be on website and then I found this.
Let me test it again, gimme 10 minutes or less
Kakcalu13
commented
2 years ago Seems like I already have it in my ogre2.2.rb.
See here:
I ran colcon build in the root of workspace (~/workspace)
See here:
colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib
which returns error.
See here:
was colcon build supposed to be in the root of workspace? Just wanted to confirm this.
BTW I still would love to have ign on m1! I even dream about it last night! lol
jasonbyun8
commented
2 years ago @srmainwaring @iche033 I got the ogre2 example working with my ignition-rendering7 & m1 mac;
I am unable to complete the colcon build though as the build of ign-physics6 fails.
Command failed: 2
'/Applications/Xcode.app/Contents/Developer/usr/bin/make'
See also
/Users/lapyx/ign-workspace/build/ignition-physics6/test/FAKE_INSTALL-prefix/src/FAKE_INSTALL-stamp/FAKE_INSTALL-build-*.log
make[2]: *** [test/FAKE_INSTALL-prefix/src/FAKE_INSTALL-stamp/FAKE_INSTALL-build] Error 1
make[1]: *** [test/CMakeFiles/FAKE_INSTALL.dir/all] Error 2
make: *** [all] Error 2
make: INTERNAL: Exiting with 12 jobserver tokens available; should be 10!
---
Failed <<< ignition-physics6 [53.3s, exited with code 2]
Summary: 13 packages finished [7min 58s]
1 package failed: ignition-physics6
14 packages had stderr output: ignition-cmake3 ignition-common5 ignition-fuel_tools8 ignition-gui7 ignition-math7 ignition-msgs9 ignition-physics6 ignition-plugin2 ignition-rendering7 ignition-sensors7 ignition-tools2 ignition-transport12 ignition-utils2 sdformat13
2 packages not processedHave you experienced any issue like this before?
Below is the colcon graph I got from the latest garden yaml file, and the log files are also attached.
(base) ➜ ign-workspace colcon graph
ignition-cmake3 + **************
ignition-tools2 + * ..**
ignition-utils2 +**.*******.**
ignition-math7 +****.*******
ignition-common5 + ** *******
ignition-msgs9 +* * ****
ignition-fuel_tools8 + *.
ignition-plugin2 + ***.**
ignition-transport12 + ****
sdformat13 +* **.
ignition-physics6 + *.
ignition-rendering7 +***.
ignition-gui7 + **
ignition-sensors7 +*.
ignition-gazebo7 +*
ignition-launch6 +FAKE_INSTALL-build-err.log FAKE_INSTALL-build-out.log
As you can read from the file, the error complains ld: library not found for -lTINYXML2_LIBRARY_/opt/homebrew/Cellar/tinyxml2/9.0.0/lib/libtinyxml2.dylib-NOTFOUND although I do have libtinyxml2.dylib in /opt/homebrew/Cellar/tinyxml2/9.0.0/lib/.
Could this be related to disabling SIP?
iche033
commented
2 years ago I was able to reproduce the issue with ign-physics. Could be due to recent changes in Garden.
This patch is probably not a proper fix but it got ign-physics to build on my mac M1 machine:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0645982..fc958e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,6 +63,8 @@ ign_find_package(EIGEN3 REQUIRED)
ign_find_package(sdformat13
REQUIRED_BY sdf dartsim tpe bullet)
+unset(TINYXML2_LIBRARIES)
+
#--------------------------------------
# Find dartsim for the dartsim plugin wrapper
ign_find_package(DARTI was able to reproduce the issue with ign-physics. Could be due to recent changes in Garden.
This patch is probably not a proper fix but it got ign-physics to build on my mac M1 machine:
diff --git a/CMakeLists.txt b/CMakeLists.txt index 0645982..fc958e8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -63,6 +63,8 @@ ign_find_package(EIGEN3 REQUIRED) ign_find_package(sdformat13 REQUIRED_BY sdf dartsim tpe bullet) +unset(TINYXML2_LIBRARIES) + #-------------------------------------- # Find dartsim for the dartsim plugin wrapper ign_find_package(DART
That worked!
I had more issues to be addressed though
src/ign-launch/src/vendor/backward.hpp
ign-garden-workspace/src/ign-launch/src/vendor/backward.hpp:3938:60: error: member reference type 'struct __darwin_mcontext64 *' is a pointer; did you mean to use '->'?
error_addr = reinterpret_cast<void *>(uctx->uc_mcontext.pc);
~~~~~~~~~~~~~~~~~^
->
ign-garden-workspace/src/ign-launch/src/vendor/backward.hpp:3938:61: error: no member named 'pc' in '__darwin_mcontext64'
error_addr = reinterpret_cast<void *>(uctx->uc_mcontext.pc);
~~~~~~~~~~~~~~~~~ ^
2 errors generated.I had to replace https://github.com/gazebosim/gz-launch/blob/8c78b6c937943ba1650e887c3a82dbfaea6c154f/src/vendor/backward.hpp#L3937
with
error_addr = reinterpret_cast<void *>(uctx->uc_mcontext.pc);error_addr = reinterpret_cast<void *>(uctx->uc_mcontext->__ss.__pc);
2. After the complete build the ignition gazebo could not find the libzmq.5.dylib.Library error for [ign-garden-workspace/install/lib/libignition-gazebo7-ign.7.0.0~pre1.dylib]: dlopen(ign-garden-workspace/install/lib/libignition-gazebo7-ign.7.0.0~pre1.dylib, 0x0009): Library not loaded: @rpath/libzmq.5.dylib Referenced from: ign-garden-workspace/install/lib/libignition-transport12.12.0.0~pre1.dylib Reason: tried: '/usr/local/lib/libzmq.5.dylib' (no such file), '/usr/lib/libzmq.5.dylib' (no such file)
I had to create a symlink of `libzeq.5.dylib` @`/usr/local/lib/` for that reason.There was an no member name error in src/ign-launch/src/vendor/backward.hpp
oh looks like that's also fixed upstream in the backward repo: https://github.com/bombela/backward-cpp/blob/master/backward.hpp#L4220-L4225.
tadteo
commented
2 years ago Is this solved? I'm having the same issues and I'm not able to run gazebo on docker in M1.
Error is always:
Error setting socket option (IP_MULTICAST_IF).
Error setting socket option (IP_MULTICAST_IF).
Did you set the environment variable IGN_IP with a correct IP address?
[172.19.0.2] seems an invalid local IP address.
Using 127.0.0.1 as hostname.
terminate called after throwing an instance of 'std::out_of_range'
what(): vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)
qemu: uncaught target signal 6 (Aborted) - core dumpedIs this solved? I'm having the same issues and I'm not able to run gazebo on docker in M1.
Error is always:
Error setting socket option (IP_MULTICAST_IF). Error setting socket option (IP_MULTICAST_IF). Did you set the environment variable IGN_IP with a correct IP address? [172.19.0.2] seems an invalid local IP address. Using 127.0.0.1 as hostname. terminate called after throwing an instance of 'std::out_of_range' what(): vector::_M_range_check: __n (which is 0) >= this->size() (which is 0) qemu: uncaught target signal 6 (Aborted) - core dumped
Hi Tadteo!
Not yet, but you can start with Garden though. See here: https://github.com/osrf/homebrew-simulation/issues/1628#issuecomment-1116958513
I still haven't had a chance to test it. Hopefully soon for me!
If it worked for you, feel free to post it. It's important to know that it worked for you so others can try it out too
Kakcalu13
commented
2 years ago Is this solved? I'm having the same issues and I'm not able to run gazebo on docker in M1.
Error is always:
Error setting socket option (IP_MULTICAST_IF). Error setting socket option (IP_MULTICAST_IF). Did you set the environment variable IGN_IP with a correct IP address? [172.19.0.2] seems an invalid local IP address. Using 127.0.0.1 as hostname. terminate called after throwing an instance of 'std::out_of_range' what(): vector::_M_range_check: __n (which is 0) >= this->size() (which is 0) qemu: uncaught target signal 6 (Aborted) - core dumped
After spend time with Gazebo on M1 using docker (Specifically using ubuntu 20.04 on docker)..I get the same output as above.
Full log:
Error setting socket option (IP_MULTICAST_IF).
Error setting socket option (IP_MULTICAST_IF).
Did you set the environment variable IGN_IP with a correct IP address?
[172.18.0.4] seems an invalid local IP address.
Using 127.0.0.1 as hostname.
terminate called after throwing an instance of 'std::out_of_range'
what(): vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)
Stack trace (most recent call last):
#31 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a6886f, in rb_vm_exec
#30 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a62130, in
#29 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a51405, in
#28 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a6adaa, in
#27 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a5e025, in
#26 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x40019bc1be, in
#25 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x40018fc5d2, in rb_protect
#24 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a759f0, in rb_yield
#23 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a6886f, in rb_vm_exec
#22 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a62130, in
#21 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a51405, in
#20 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a6adaa, in
#19 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a5e025, in
#18 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x40055ca714, in
#17 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a2f6d9, in rb_nogvl
#16 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x40055ca8fb, in
#15 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x40055ef409, in
#14 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x40055efff4, in
#13 Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo3-ign.so.3.12.0", at 0x40060527b3, in runServer
#12 Object "/lib/x86_64-linux-gnu/libignition-gazebo3.so.3", at 0x4006544622, in ignition::gazebo::v3::Server::Server(ignition::gazebo::v3::ServerConfig const&)
#11 Object "/lib/x86_64-linux-gnu/libignition-gazebo3.so.3", at 0x400654cd6a, in
#10 Object "/lib/x86_64-linux-gnu/libignition-transport8.so.8", at 0x4006964eeb, in ignition::transport::v8::Node::Node(ignition::transport::v8::NodeOptions const&)
#9 Object "/lib/x86_64-linux-gnu/libignition-transport8.so.8", at 0x400694466e, in
#8 Object "/lib/x86_64-linux-gnu/libignition-transport8.so.8", at 0x400697eaf4, in ignition::transport::v8::NodeShared::NodeShared()
#7 Object "/lib/x86_64-linux-gnu/libignition-transport8.so.8", at 0x400698dff9, in ignition::transport::v8::Discovery<ignition::transport::v8::MessagePublisher>::Discovery(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, bool)
#6 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x40056b93aa, in
#5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x40056c26a8, in __cxa_throw
#4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x40056c23f6, in std::terminate()
#3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x40056c238b, in
#2 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x40056b6910, in
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x4001bc5858, in abort
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x4001be618b, in gsignal
Aborted (Signal sent by tkill() 1305 0)
qemu: uncaught target signal 6 (Aborted) - core dumped
qt.qpa.xcb: could not connect to display
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.
Stack trace (most recent call last):
#31 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x40018fe2ed, in ruby_run_node
#30 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x40018f9490, in
#29 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a6886f, in rb_vm_exec
#28 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a62130, in
#27 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a51405, in
#26 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a6adaa, in
#25 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a5e025, in
#24 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x40019bc1be, in
#23 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x40018fc5d2, in rb_protect
#22 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a759f0, in rb_yield
#21 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a6886f, in rb_vm_exec
#20 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a62130, in
#19 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a51405, in
#18 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a6adaa, in
#17 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a5e025, in
#16 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x40055ca714, in
#15 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x4001a2f6d9, in rb_nogvl
#14 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x40055ca8fb, in
#13 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x40055ef409, in
#12 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x40055efff4, in
#11 Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo3-ign.so.3.12.0", at 0x400605218d, in runGui
#10 Object "/lib/x86_64-linux-gnu/libignition-gazebo3-gui.so.3", at 0x40061a4808, in ignition::gazebo::v3::gui::runGui(int&, char**, char const*)
#9 Object "/lib/x86_64-linux-gnu/libignition-gazebo3-gui.so.3", at 0x40061a2ef0, in ignition::gazebo::v3::gui::createGui(int&, char**, char const*, char const*, bool)
#8 Object "/lib/x86_64-linux-gnu/libignition-gui3.so.3", at 0x40076777c7, in ignition::gui::Application::Application(int&, char**, ignition::gui::WindowType)
#7 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x40081a4517, in QGuiApplication::QGuiApplication(int&, char**, int)
#6 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x40081a3542, in QGuiApplicationPrivate::init()
#5 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x4007392f54, in QCoreApplicationPrivate::init()
#4 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x40081a1707, in QGuiApplicationPrivate::createEventDispatcher()
#3 Object "/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x40081a07ad, in QGuiApplicationPrivate::createPlatformIntegration()
#2 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x400718baac, in QMessageLogger::fatal(char const*, ...) const
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x4001bc5858, in abort
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x4001be618b, in gsignal
Aborted (Signal sent by tkill() 1307 0)
qemu: uncaught target signal 6 (Aborted) - core dumpedI assume building from gazebo on local inside M1 would find the root cause in Ubuntu 20.04 Docker and solve the issue right away, but this seems like it is not the case anymore. It's mostly from the Ruby issue.
Kakcalu13
commented
2 years ago Created an issue since this seems more Ruby issue?
https://bugs.ruby-lang.org/issues/18807
Here is the reproduce to error immediately: ruby_issue_docker.zip
This is the docker that lets you load gazebo. I added ENTRYPOINT to show you the same result. This is the VNC.
Steps to see the issue from the shell only:
1. cd into that folder
2. docker compose -f bug_reproduce.yml build --no-cache
3. Wait for it complete which should be like 20 seconds or less
4. docker compose -f bug_reproduce.yml up
See the output of error.
To log in vnc by go to 127.0.0.1:6080/ on your preferred browser. You can open terminal from the start menu and see what it has. It's using ruby 2.7 by default due to apt install. I upgraded it to 3.1 and it doesn't do anything. Keep that in mind, you need to comment ENTRYPOINT ["/bin/sh", "-c", "ign gazebo -v 4 shapes.sdf"] out in Dockerfile so you can access to VNC. Once you are done with it, re-do the steps above.This zip focus on load gazebo using ign gazebo -v 4 shapes.sdf
I will post updates on here as well
srmainwaring
commented
2 years ago @Kakcalu13 wondering how to best progress with the macOS help here. There seem to be two different objectives in this issue and it might help to focus on one of them.
For item 1, we know it works for Intel based macs on Big Sur 11.6.2, and most likely Monterey (although I have not verified the latter). I am fairly sure a couple of the OSRF team have built Garden for a M1 machine and managed to get it working. You may need to use a couple of open PRs for gz-gui and gz-sim to get all the features.
For item 2, I am not aware of how to get hardware acceleration working on a mac with Docker for applications requiring OpenGL 4.2+ (Gazebo Sim or otherwise). The docker based hardware support is for devices with Nvidia graphics cards (so not applicable to modern macs), alternatively you can use software rendering (but it is very slow, and it seems like a sub-optimal use of a M1 machine to do that).
Which of 1 and 2 would you like to solve? If 1, we can probably help. If 2, then I think you need to verify that you have a method to get hardware accelerated GUI applications working with Docker on macOS, but would not recommend starting with Gazebo Sim, but choose a simpler application with fewer dependencies. I'd be very interested if you do get it working as I currently do not have a virtualised OpenGL 4.2+ environment for macOS and it would be extremely useful to have a solution for this.
Kakcalu13
commented
2 years ago My apologies. I realize this does seem like it have two objectives.
This issue is for the item 2 only as the item 1 is on https://github.com/osrf/homebrew-simulation/issues/1628. That issue focus on Gazebo Sim natively only.
The reason why we were talking about Gazebo Sim natively on here because if we were able to build from the source then we can certainly build it on Docker using network mode host. Unfortunately, it doesn't seem like it can be the case due to multiple issues and heavy slow outside of Gazebo situation.
Would you like me to close this and create an issue to focus on docker and hardware accelerated GUI applications only? Maybe it can make things more clear?
Side note, I will start with verify the method to get hardware accelerated GUI applications working with Docker on MacOS M1 now.
srmainwaring
commented
2 years ago Would you like me to close this and create an issue to focus on docker and hardware accelerated GUI applications only? Maybe it can make things more clear?
No - good to keep this open and thanks for clarifying.
The reason why we were talking about Gazebo Sim natively on here because if we were able to build from the source then we can certainly build it on Docker using network mode host.
I'm missing something here. How does building Gazebo natively on macOS help with building Gazebo on an Ubuntu Docker machine and vice-versa? I can see how a network mode host would let you share IP addresses between applications running natively on macOS with those running in a docker container - but the toolchains for building are completely different?
Side note, I will start with verify the method to get hardware accelerated GUI applications working with Docker on MacOS M1 now.
I really think this is the essential starting point.
Kakcalu13
commented
2 years ago I'm missing something here. How does building Gazebo natively on macOS help with building Gazebo on an Ubuntu Docker machine and vice-versa? I can see how a network mode host would let you share IP addresses between applications running natively on macOS with those running in a docker container - but the toolchains for building are completely different?
Because there's somewhere missing with the package. Unlike other machine, this M1 integrated GPU and CPU in one ~~same spot. So, the package somewhere MIGHT be denied. I came up several options to workaround:
1) Run M1 natively on docker instead of using ubuntu 20.04 image. (which is why we talked about running gazebo sim natively)
2) Run Ubuntu using a different arm (like amd64, arm64 or so) (This doesn't work well on m1)
3) Build from source from the step one (same as reason as first one) and run on Ubuntu Docker
The goal is to find whatever works on M1. Due to my lack of knowledge with how Gazebo are set up is also a severe factor to this. I thought that maybe if I know the toolchains for buildings on Ubuntu/M1, I would've found the solution despite if they are different. I hope this makes sense! 😓 UPDATE: This doesn't work like that.
I really think this is the essential starting point. Because once you have established you can run OpenGL accelerated applications you can use one of the canned OSRF docker images and a nightly build of Gazebo Sim (Garden) for Ubuntu Jammy: the rest is docker configuration.
I didn't know Garden on Docker is out now. Thanks!!! Still middle of OpenGL accelerated applications. I will post updates on here once I get it up
P.S.
if you have a LITTLE spare of time, do you know the answer for ign-gui on https://github.com/osrf/homebrew-simulation/issues/1628#issuecomment-1138561654? 👼 if no, all good!
srmainwaring
commented
2 years ago I didn't know Garden on Docker is out now.
I don't know about that. One of the ArduPilot devs used a nightly build of Garden on an Ubuntu Jammy machine, so I guess the packages are available if you wanted to roll your own docker file.
Kakcalu13
commented
2 years ago Unfortunately, I'm really out of ideas. Maybe this is good time for me to take a break for a bit then resume this in few days.
So, basically..I decided to check openGL on docker on ubuntu and ubuntu natively vs docker on m1 and m1 ubuntu.
Ubuntu natively:
OpenGL version string: 4.6 (Compatibility Profile) Mesa 21.2.6
20.04 focal ubuntu on Ubuntu:
M1 natively:
20.04 focal ubuntu on Ubuntu:
So, this led me to believe that both are exactly same which as it should be!
So I ran tests on M1/Ubuntu using glmark2 in docker on those OS respectively.
Both made the exact same result. See here:
As you can see that this is a simple test for acceleration GUI just fine.
So I tried the gui by git clone gui only and run examples from standalone/scene_provider. For some reason, it just didn't work with m1.
root@3cdc9c63ce25:/root/Desktop/gz-gui-ign-gui6/examples/standalone/scene_provider/build# cmake ..
CMake Error at CMakeLists.txt:5 (find_package):
By not providing "Findignition-msgs8.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"ignition-msgs8", but CMake did not find one.
Could not find a package configuration file provided by "ignition-msgs8"
with any of the following names:
ignition-msgs8Config.cmake
ignition-msgs8-config.cmake
Add the installation prefix of "ignition-msgs8" to CMAKE_PREFIX_PATH or set
"ignition-msgs8_DIR" to a directory containing one of the above files. If
"ignition-msgs8" provides a separate development package or SDK, be sure it
has been installed.
-- Configuring incomplete, errors occurred!
See also "/root/Desktop/gz-gui-ign-gui6/examples/standalone/scene_provider/build/CMakeFiles/CMakeOutput.log".It wouldn't work if you install sudo apt lib ignition-msgs8 either.
I could be wrong but I think maybe some packages are being denied during install..
Also,
According to Ruby issue I created this morning, Gazebo calls runGui in libignition-gazebo3-ign.so.3.12.0 through FFI. They mentioned that the parameters for runGui might have been broken by fiddle + libffi.
I need to look into somewhere to make sure everything in GUI is working properly. It's the GUI prevents the program to run.
I know I've said this already, but I strongly believe that GUI is the issue at this point. It is just that it seems there's some missing packages within GUI.
As for the Garden on docker. It sounds like it's all ready for Jammy, is that correct? DO you know if anyone with m1 managed to install it using Jammy? For some reason, I have no luck with Garden on docker either.
I honestly think my newbie knowledge on Mac contributes issue too. I'm a linux guy, I almost never use M1 until last February. Oh well, I will resume this later. 🖖
Kakcalu13
commented
2 years ago It's officially working, everyone!!!
See here on M1 where I spinned my robot:
ON M1! It's surprisingly faster and almost same speed as my local linux (it lags on docker on linux)
Here is the solution: I found out that Gazebo can run arm64 so I switched from vnc (amd64 by default) to arm64 and I swapped amd64 to arm64 on ros2 for the FOXY ros2/gazebo bridge.
Here is what I used for docker:
https://hub.docker.com/r/dorowu/ubuntu-desktop-lxde-vnc/tags
(I use dockerfile so it is FROM dorowu/ubuntu-desktop-lxde-vnc:focal-arm64)
That's it!!!
Looks like amd64 is NOT supported on Gazebo/M1. Arm64 is available on M1 only.
I believe we can build Gazebo using arm64 only
Thank you, everyone! This helped me a ton! Hope it helps you a lot too, guys! See you around in Gazebo community!
Environment
OS Version: macOS Monterey with Apple M1 chip using Docker (Ubuntu 20.04)
Source or binary build: Citadel binary build
If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.
GUI Bug
Full log after launch gazebo such as
ign gazebo --verboselog.txtRan
ign gazebo -v 3and it has the same as above. Ranign gazebo -v 4and it showed 4 extra blue line. Here log while it was inside middle log like above first log: log 2.txtI tried to do it locally and this results the exact same as this issue
So that leaves me two options: Pull gazebo from gazebo website and run docker using feagi.yml
So, I ran feagi.yml following this steps: 1) git clone git@github.com:feagi/feagi.git 2) cd feagi/docker 3) docker-compose -f feagi.yml build --no-cache 4) Once it's complete,
docker-compose -f feagi.yml up5) Open Browser (VNC) 6) Wait for it to complete colcon build so it can show you the gazebo. You should see the error instantly once Colon build ends.The error looks exact same as log.txt (That's actually where I copied all from)
So, that leaves me the last option. 1)
docker pull gazebo(This is from gazebo's docker hub) 2)docker run gazeboYou can see the error instantly too.The full log (I can't get more than that)
So this seems like IGN_IP issue, GPU and ogre altogether.
On Mac OS, open a terminal and type
system_profiler SPDisplaysDataType. Copy the output here.Description
ign gazeboAddition information: I ran --platform = linux/arm64 too or anything related to this command. Everything else worked except Gazebo.