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osrf / ros2_test_cases

Tracking of tests to be performed on a ROS 2 release
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Executables in gz vendor packages #1559

Closed knmcguire closed 2 weeks ago

knmcguire commented 2 weeks ago

Copied from https://github.com/osrf/ros2_test_cases/issues/1274

You will need to install the desktop-full or simulation variants before running this test.

Configuration

Process

Check gz sim -v4 shapes.sdf

# StdIn - terminal 1
gz sim -v4 shapes.sdf
knmcguire commented 2 weeks ago

By request of @azeey I've installed desktop full on a raspberry pi with Ubuntu 24.04 installed and tried out gazebo. The gui does start up but it crashes and I get a system error that ruby has crashed.

I've attached a text file with the crash here:

gazebo_crash_raspberrypi_log.txt

clalancette commented 2 weeks ago

I've attached a text file with the crash here:

Does rviz2 work on this setup? Because it looks like Gazebo failed to create the rendering window.

knmcguire commented 2 weeks ago

Ah no it doesn't indeed. Let me try that fix from earlier

knmcguire commented 2 weeks ago

No dice!

QT_QPA_PLATFORM=xcb gz sim -v4 shapes.sdf still fails to open the rendering window.

Rviz2 still works with QT_QPA_PLATFORM=xcb rviz2

I'll debug it further. Seeing some opengl related errors as well

knmcguire commented 2 weeks ago

So, it seems that Gazebo needs at least OpenGl 3.3, and raspberry pi ubuntu only support up to 3.1

$ glxinfo | grep -i 'opengl version'
OpenGL version string: 3.1 Mesa 24.0.5-1ubuntu1

When I look at the gazebo troubleshooter, it says I can check the ogre2.log:

ogre2crash.txt

20:48:06: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./.obj-aarch64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
knmcguire commented 2 weeks ago

fwew, Had to test out several combinations of all the tips of the troubleshooter, but this was the winner:

LIBGL_ALWAYS_SOFTWARE=1 QT_QPA_PLATFORM=xcb gz sim -v 4 shapes.sdf

See the screenshot here image

Poor RP5 had to work hard on that and the sim could only run 60% speed with difficulty, but it runs!

ahcorde commented 2 weeks ago

Thank you for testing