Problem with 3D-Lidar in Headless mode in VirtualBox

[osrf-migration]

Original report (archived issue) by Sophisticated Engineering (Bitbucket: sopheng).

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I found a way to do some tests on a Notebook without a NVIDIA- / Cuda-Graphics card by using the Headless mode in a VirtualBox virtual machine. Unfortunately not all configurations work. It seems that Configurations with 3D-Lidar are not working.
Using the configuration X2_SENSOR_CONFIG_6 with command

ign launch -v 4 urban_circuit.ign worldName:=simple_urban_01 headless:=true robotName1:=X2n1 robotConfig1:=X2_SENSOR_CONFIG_6

(using a catkin-workspace installation) results in the abort:

‌

[Msg] Loaded level [48]
[Msg] Loaded level [49]
[Msg] Publishing laser scans on [world/simple_urban_01/model/X2n1/link/base_link/sensor/front_laser/scan]
terminate called after throwing an instance of 'Ogre::RenderingAPIException'
  what():  OGRE EXCEPTION(3:RenderingAPIException): Zero sized texture surface on texture X2n1::base_link::front_laser_samplerTex face 0 mipmap 0. The GL driver probably refused to create the texture. in GL3PlusTexture::_createSurfaceList at /var/lib/jenkins/workspace/ogre-2.1-debbuilder/repo/RenderSystems/GL3Plus/src/OgreGL3PlusTexture.cpp (line 516)
Stack trace (most recent call last) in thread 4697:
#24   Object "", at 0xffffffffffffffff, in 
#23   Source "/build/glibc-OTsEL5/glibc-2.27/misc/../sysdeps/unix/sysv/linux/x86_64/clone.S", line 95, in  [0x7fb58ed3b88e]
#22   Source "/build/glibc-OTsEL5/glibc-2.27/nptl/pthread_create.c", line 463, in start_thread [0x7fb58ea026da]
#21   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb58b2d366e, in std::error_code::default_error_condition() const
#20   Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-2/plugins/libignition-gazebo-sensors-system.so", at 0x7fb55a57f46f, in ignition::gazebo::v2::systems::SensorsPrivate::RenderThread()
#19   Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-2/plugins/libignition-gazebo-sensors-system.so", at 0x7fb55a57f2c4, in ignition::gazebo::v2::systems::SensorsPrivate::RunOnce()
#18   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2.so.2", at 0x7fb56b170b1b, in ignition::rendering::v2::BaseScene::PreRender()
#17   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7fb54296cf65, in ignition::rendering::v2::BaseVisual<ignition::rendering::v2::Ogre2Node>::PreRender()
#16   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7fb54296e931, in ignition::rendering::v2::BaseVisual<ignition::rendering::v2::Ogre2Node>::PreRenderChildren()
#15   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7fb54296cf65, in ignition::rendering::v2::BaseVisual<ignition::rendering::v2::Ogre2Node>::PreRender()
#14   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7fb54296e931, in ignition::rendering::v2::BaseVisual<ignition::rendering::v2::Ogre2Node>::PreRenderChildren()
#13   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7fb54296cf65, in ignition::rendering::v2::BaseVisual<ignition::rendering::v2::Ogre2Node>::PreRender()
#12   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7fb54296e931, in ignition::rendering::v2::BaseVisual<ignition::rendering::v2::Ogre2Node>::PreRenderChildren()
#11   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7fb54297d560, in ignition::rendering::v2::Ogre2GpuRays::CreateGpuRaysTextures()
#10   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7fb54297cc66, in ignition::rendering::v2::Ogre2GpuRays::CreateSampleTexture()
#9    Object "/usr/lib/x86_64-linux-gnu/libOgreMain.so.2.1.0", at 0x7fb54221aa64, in Ogre::TextureManager::createManual(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Ogre::TextureType, unsigned int, unsigned int, unsigned int, int, Ogre::PixelFormat, int, Ogre::ManualResourceLoader*, bool, unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool)
#8    Object "/usr/lib/x86_64-linux-gnu/libOgreMain.so.2.1.0", at 0x7fb54221654c, in Ogre::Texture::createInternalResources()
#7    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so", at 0x7fb5281724b7, in Ogre::GL3PlusTexture::createInternalResourcesImpl()
#6    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so", at 0x7fb528171eed, in Ogre::GL3PlusTexture::_createSurfaceList()
#5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb58b2a8d23, in __cxa_throw
#4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb58b2a8af0, in std::terminate()
#3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb58b2a8ab5, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
#2    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fb58b2a2956, in 
#1    Source "/build/glibc-OTsEL5/glibc-2.27/stdlib/abort.c", line 79, in __GI_abort [0x7fb58ec5a800]
#0    Source "/build/glibc-OTsEL5/glibc-2.27/signal/../sysdeps/unix/sysv/linux/raise.c", line 51, in __GI_raise [0x7fb58ec58e97]
Aborted (Signal sent by tkill() 4599 1000)
Aborted (core dumped)

Using the config X2_SENSOR_CONFIG_4 or X2_SENSOR_CONFIG_5 is running. And one can also see movement in rviz.

Does anybody has an idea how the problem with X2_SENSOR_CONFIG_6 can be fixed?

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[osrf-migration]

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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• changed kind from "bug" to "enhancement"

[osrf-migration]

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

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I do not know anything about this configuration but I would guess that it is the “GPU ray” we had to modify a year ago when running on non-GPU machine. Yes, and it may be no longer supported.

[osrf-migration]

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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• set assignee_account_id to "557058:10b01d41-a2e9-4a41-a907-e6e2f03b6cd5"
• set assignee to "iche033 (Bitbucket: iche033, GitHub: iche033)"

[osrf-migration]

Original comment by Sophisticated Engineering (Bitbucket: sopheng).

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@Martin, that Sounds reasonable.

If the 3D-Lidar needs a GPU, it will be a problem to run it in VitrualBox.

[osrf-migration]

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

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You would need to replace all instances of gpu_ray with cpu_ray to run without a discrete GPU although I'm not sure cpu_ray generation is supported anymore.

The recommended setup (https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/system_requirements) includes a discrete GPU.

[osrf-migration]

Original comment by Sophisticated Engineering (Bitbucket: sopheng).

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Thank you very mych for the hint. I will give it a try.

[osrf-migration]

Original comment by Sophisticated Engineering (Bitbucket: sopheng).

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• changed state from "new" to "closed"

Using ray instead of gpu_ray (not cpu_ray) avoided the error. So -> closed

Unfortunately the 3DLidar data were not diplayed (published). But that is another problem.

[osrf-migration]

Original comment by Zbyněk Winkler (Bitbucket: Zbyněk Winkler (robotika)).

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A year ago we tried cpu_ray out of necessity but the results were significantly different from gpu_ray. After that experience we just got computers with nvidia gpus in order to have one less thing to worry about (since there are enough others to deal with).

[osrf-migration]

Original comment by Steven Gray (Bitbucket: stgray).

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GPU ray returns hits on the visual model, while cpu ray uses the collision geometry. http://answers.gazebosim.org/question/19529/what-is-the-different-between-sdfs-gpu_ray-sensor-and-ray-sensor/

[osrf-migration]

Original comment by Ian Chen (Bitbucket: Ian Chen).

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I remember seeing errors complaining that the gl texture format used by gpu ray sensor is not supported when testing on a machine that did not have a discrete gpu card.

The fix is likely to involve breaking changes in ign-rendering and ign-sensors so it may not make it into urban circuit. cc Alfredo Bencomo (bencomo)