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This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
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Issues with installation of the current version #444

Closed pauljurczak closed 4 years ago

pauljurczak commented 4 years ago

I had to reinstall my Ubuntu 18.04 and I encountered a few problems. The first one, I suspect is caused by Ubuntu 18.04 version of gcc being 7.5. I had this crash when I launched a test:

paul@desktop:~$ ign launch -v 4 cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
.....
[Msg] Loading plugin [ignition-rendering2-ogre2]
[Dbg] [EntityComponentManager.cc:627] Using components of type [4425034272867445569] / [ign_gazebo_components.Performer].
[Dbg] [EntityComponentManager.cc:627] Using components of type [11311330372155309806] / [ign_gazebo_components.PerformerLevels].
[Dbg] [SimulationRunner.cc:431] Exiting postupdate worker thread (2)

[Dbg] [SimulationRunner.cc:431] Exiting postupdate worker thread (0)

[Dbg] [SimulationRunner.cc:431] Exiting postupdate worker thread (6
[Dbg] [SimulationRunner.cc:431] [Dbg] [SimulationRunner.cc:431] Exiting postupdate worker thread ()[Dbg] [SimulationRunner.cc:431] [Dbg] [SimulationRunner.cc:431] )[Dbg] [SimulationRunner.cc:431] Exiting postupdate worker thread (15)Exiting postupdate worker thread ()[Dbg] [SimulationRunner.cc:431] 
3))
)
Exiting postupdate worker thread (4)

[Dbg] [SimulationRunner.cc:402] Creating PostUpdate worker threads: 12
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (2)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (3)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (4)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (5)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (6)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (7)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (8)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (9)
[Dbg] [SimulationRunner.cc:415] Creating postupdate worker thread (10)
[Dbg] [EntityComponentManager.cc:627] Using components of type [14423792621074650228] / [ign_gazebo_components.JointVelocityCmd].
[Dbg] [EntityComponentManager.cc:627] Using components of type [9436740692853731264] / [ign_gazebo_components.JointPosition].
[Dbg] [Sensors.cc:344] Initialization needed
Stack trace (most recent call last) in thread 32106:
#18   Object "", at 0xffffffffffffffff, in 
#17   Source "/build/glibc-OTsEL5/glibc-2.27/misc/../sysdeps/unix/sysv/linux/x86_64/clone.S", line 95, in  [0x7febf453d88e]
#16   Source "/build/glibc-OTsEL5/glibc-2.27/nptl/pthread_create.c", line 463, in start_thread [0x7febf42046da]
#15   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7febf0add6de, in std::error_code::default_error_condition() const
#14   Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-2/plugins/libignition-gazebo-sensors-system.so", at 0x7febbcedc4a6, in ignition::gazebo::v2::systems::SensorsPrivate::RenderThread()
#13   Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-2/plugins/libignition-gazebo-sensors-system.so", at 0x7febbcedaa10, in ignition::gazebo::v2::systems::SensorsPrivate::WaitForInit()
#12   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo2-rendering.so.2", at 0x7febbcc7668c, in ignition::gazebo::v2::RenderUtil::Init()
#11   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2.so.2", at 0x7febca3b2057, in ignition::rendering::v2::RenderEngineManager::Engine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<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&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#10   Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2.so.2", at 0x7febca3b1e42, in ignition::rendering::v2::RenderEngineManagerPrivate::Engine(std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, ignition::rendering::v2::RenderEngine*> >, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<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&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#9    Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2.so.2", at 0x7febca3bc39d, in ignition::rendering::v2::BaseRenderEngine::Load(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<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&)
#8    Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7feb8084faca, in ignition::rendering::v2::Ogre2RenderEngine::LoadImpl(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<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&)
#7    Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7feb8084f714, in ignition::rendering::v2::Ogre2RenderEngine::LoadAttempt()
#6    Object "/usr/lib/x86_64-linux-gnu/libignition-rendering2-ogre2.so", at 0x7feb8084b16b, in ignition::rendering::v2::Ogre2RenderEngine::LoadPlugins()
#5    Object "/usr/lib/x86_64-linux-gnu/libOgreMain.so.2.1.0", at 0x7feb73b4a312, in Ogre::Root::loadPlugin(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#4    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so", at 0x7feb68be9443, in dllStartPlugin
#3    Object "/usr/lib/x86_64-linux-gnu/libOgreMain.so.2.1.0", at 0x7feb73b4a0e5, in Ogre::Root::installPlugin(Ogre::Plugin*)
#2    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so", at 0x7feb68c00c4d, in Ogre::GL3PlusPixelFormatToShaderType::getPixelFormatType(Ogre::PixelFormat) const
#1    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so", at 0x7feb68c07360, in Ogre::GL3PlusRenderSystem::GL3PlusRenderSystem()
#0    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.1/OGRE/RenderSystem_GL3Plus.so", at 0x7feb68bde115, in Ogre::GLSLShaderManager::unregisterShaderFactory(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
Segmentation fault (Invalid permissions for mapped object [0x7febb85ac0d8])
Segmentation fault (core dumped)

I upgraded gcc and g++ to v8.4 and test is running fine but I see this error message:

paul@desktop:~$ ign launch -v 5 cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
.....
========

PARAMETERS
 * /X1/robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES

ROS_MASTER_URI=http://localhost:11311

No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete
[Dbg] [EntityComponentManager.cc:627] Using components of type [2251689575469537287] / [ign_gazebo_components.World].
[Dbg] [EntityComponentManager.cc:627] Using components of type [13994732549916512682] / [ign_gazebo_components.Name].
[Dbg] [EntityComponentManager.cc:627] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity].
[Dbg] [EntityComponentManager.cc:627] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField].
[Dbg] [EntityComponentManager.cc:627] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin].
[Dbg] [EntityComponentManager.cc:627] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind].
[Dbg] [EntityComponentManager.cc:627] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity].
[Dbg] [EntityComponentManager.cc:627] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed].
[Dbg] [EntityComponentManager.cc:627] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity].
[Dbg] [EntityComponentManager.cc:627] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene].
[Err] [LevelManager.cc:139] Could not find a plugin tag with name ignition::gazebo. Levels and distributed simulation will not work.

Perhaps the installation script should be updated to install gcc 8 and g++ 8?

nkoenig commented 4 years ago

What version of ign-gazebo do you have installed, and are you on the master branch of this repo?

pauljurczak commented 4 years ago

Yes, it was the master branch.

pauljurczak commented 4 years ago

BTW, I noticed the same error with the newest release. As far as I can tell, simulation works normally.

... shutting down processing monitor complete
[Dbg] [EntityComponentManager.cc:627] Using components of type [2251689575469537287] / [ign_gazebo_components.World].
[Dbg] [EntityComponentManager.cc:627] Using components of type [13994732549916512682] / [ign_gazebo_components.Name].
[Dbg] [EntityComponentManager.cc:627] Using components of type [12592746352568925681] / [ign_gazebo_components.Gravity].
[Dbg] [EntityComponentManager.cc:627] Using components of type [13224937992534617849] / [ign_gazebo_components.MagneticField].
[Dbg] [EntityComponentManager.cc:627] Using components of type [3630648173860223239] / [ign_gazebo_components.PhysicsEnginePlugin].
[Dbg] [EntityComponentManager.cc:627] Using components of type [8753193699724811771] / [ign_gazebo_components.Wind].
[Dbg] [EntityComponentManager.cc:627] Using components of type [12173050716021724529] / [ign_gazebo_components.WorldLinearVelocity].
[Dbg] [EntityComponentManager.cc:627] Using components of type [15943768124495574352] / [ign_gazebo_components.WorldLinearVelocitySeed].
[Dbg] [EntityComponentManager.cc:627] Using components of type [3297509811873971798] / [ign_gazebo_components.ParentEntity].
[Dbg] [EntityComponentManager.cc:627] Using components of type [17100615127981600159] / [ign_gazebo_components.Scene].
[Err] [LevelManager.cc:139] Could not find a plugin tag with name ignition::gazebo. Levels and distributed simulation will not work.
nkoenig commented 4 years ago

That last error

[Err] [LevelManager.cc:139] Could not find a plugin tag with name ignition::gazebo. Levels and distributed simulation will not work.

Was benign and has been fixed in pull request #550.

I wasn't able to reproduce the original error. I have gcc-7.5.0 installed on Ubuntu 18.04. I've followed the Catkin system setup, and can run ign launch -v 4 cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 without problems. Do you have the same setup?

pauljurczak commented 4 years ago

My current status is: 2020-08-11 Docker images are running fine, but I still see this error message.

paul@desktop:~/subt_testbed$ ./run.bash osrf/subt-virtual-testbed cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=EXPLORER_DS1_SENSOR_CONFIG_1 headless:=false
......
ROS_MASTER_URI=http://localhost:11311

No such file or directory: /home/developer/subt_ws/install/share/explorer_ds1_sensor_config_1/urdf/model.xacro
process[bridge_logger-4]: started with pid [135]
RLException: Invalid <param> tag: Cannot load command parameter [X1/robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '/home/developer/subt_ws/install/share/explorer_ds1_sensor_config_1/urdf/model.xacro', 'name:=X1']] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro '$(find explorer_ds1_sensor_config_1)/urdf/model.xacro' name:=$(arg name)" name="$(arg name)/robot_description"/>
The traceback for the exception was written to the log file
process[rostopic_stats_logger-5]: started with pid [159]
.......
[Err] [LevelManager.cc:139] Could not find a plugin tag with name ignition::gazebo. Levels and distributed simulation will not work.

The same with Docker Compose running Cloudsim:

sim_1        | [Err] [LevelManager.cc:139] Could not find a plugin tag with name ignition::gazebo. Levels and distributed simulation will not work.

It doesn't seem to affect functionality, so it is a low priority issue for me.

EDIT

I didn't notice that Suppress level plugin for cave qual #550 is much younger than Docker images, so this behavior is expected.

pauljurczak commented 4 years ago

Catkin build from master branch fails:

[ 77%] Building CXX object subt/subt_ign/CMakeFiles/validate_connections.dir/src/ConnectionValidatorPrivate.cc.o
In file included from /usr/include/yaml-cpp/node/iterator.h:13,
                 from /usr/include/yaml-cpp/node/impl.h:11,
                 from /usr/include/yaml-cpp/yaml.h:17,
                 from /home/paul/subt_ws/src/subt/subt_ign/src/GameLogicPlugin.cc:18:
/usr/include/yaml-cpp/node/detail/iterator.h: In member function ‘void YAML::detail::iterator_base<V>::increment()’:
/usr/include/yaml-cpp/node/detail/iterator.h:48:54: error: ‘next’ is not a member of ‘boost’
   void increment() { this->base_reference() = boost::next(this->base()); }
                                                      ^~~~
/usr/include/yaml-cpp/node/detail/iterator.h:48:54: note: suggested alternatives:
In file included from /usr/include/c++/8/bits/stl_algobase.h:66,
                 from /usr/include/c++/8/bits/char_traits.h:39,
                 from /usr/include/c++/8/ios:40,
                 from /usr/include/yaml-cpp/parser.h:10,
                 from /usr/include/yaml-cpp/yaml.h:10,
                 from /home/paul/subt_ws/src/subt/subt_ign/src/GameLogicPlugin.cc:18:
/usr/include/c++/8/bits/stl_iterator_base_funcs.h:213:5: note:   ‘std::next’
     next(_InputIterator __x, typename
     ^~~~
In file included from /usr/include/boost/mpl/next.hpp:17,
                 from /usr/include/boost/mpl/bind.hpp:25,
                 from /usr/include/boost/mpl/lambda.hpp:18,
                 from /usr/include/boost/mpl/apply.hpp:25,
                 from /usr/include/boost/iterator/iterator_facade.hpp:36,
                 from /usr/include/yaml-cpp/node/detail/node_iterator.h:12,
                 from /usr/include/yaml-cpp/node/detail/iterator.h:12,
                 from /usr/include/yaml-cpp/node/iterator.h:13,
                 from /usr/include/yaml-cpp/node/impl.h:11,
                 from /usr/include/yaml-cpp/yaml.h:17,
                 from /home/paul/subt_ws/src/subt/subt_ign/src/GameLogicPlugin.cc:18:
/usr/include/boost/mpl/next_prior.hpp:29:8: note:   ‘boost::mpl::next’
 struct next
        ^~~~
[ 78%] Building CXX object subt/subt_ign/CMakeFiles/ConnectionValidator.dir/src/ConnectionHelper.cc.o
[ 79%] Building CXX object subt/subt_ign/CMakeFiles/CommsBrokerPlugin.dir/src/VisibilityTable.cc.o
[ 79%] Building CXX object subt/subt_ign/CMakeFiles/ConnectionValidator.dir/src/SimpleDOTParser.cc.o
[ 79%] Building CXX object subt/subt_ign/CMakeFiles/validate_connections.dir/src/ConnectionHelper.cc.o
[ 80%] Linking CXX shared library /home/paul/subt_ws/devel/lib/libConnectionValidator.so
[ 80%] Building CXX object subt/subt_ign/CMakeFiles/CommsBrokerPlugin.dir/src/SimpleDOTParser.cc.o
[ 80%] Built target ConnectionValidator
Scanning dependencies of target VisibilityPlugin
[ 81%] Building CXX object subt/subt_ign/CMakeFiles/VisibilityPlugin.dir/src/VisibilityPlugin.cc.o
subt/subt_ign/CMakeFiles/GameLogicPlugin.dir/build.make:62: recipe for target 'subt/subt_ign/CMakeFiles/GameLogicPlugin.dir/src/GameLogicPlugin.cc.o' failed
make[2]: *** [subt/subt_ign/CMakeFiles/GameLogicPlugin.dir/src/GameLogicPlugin.cc.o] Error 1
CMakeFiles/Makefile2:4507: recipe for target 'subt/subt_ign/CMakeFiles/GameLogicPlugin.dir/all' failed
make[1]: *** [subt/subt_ign/CMakeFiles/GameLogicPlugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 82%] Building CXX object subt/subt_ign/CMakeFiles/VisibilityPlugin.dir/src/VisibilityTable.cc.o
[ 84%] Linking CXX shared library /home/paul/subt_ws/devel/lib/libCommsBrokerPlugin.so
[ 85%] Building CXX object subt/subt_ign/CMakeFiles/validate_connections.dir/src/SimpleDOTParser.cc.o
[ 85%] Built target CommsBrokerPlugin
[ 85%] Building CXX object subt/subt_ign/CMakeFiles/VisibilityPlugin.dir/src/SimpleDOTParser.cc.o
[ 85%] Linking CXX executable /home/paul/subt_ws/devel/lib/subt_ign/validate_connections
[ 85%] Built target validate_connections
[ 86%] Linking CXX shared library /home/paul/subt_ws/devel/lib/libVisibilityPlugin.so
[ 86%] Built target VisibilityPlugin
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make install -j4 -l4" failed
paul@extra:~/subt_ws$ g++ --version
g++ (Ubuntu 8.4.0-1ubuntu1~18.04) 8.4.0

I'm using g++ 8.4 because CUDA doesn't support g++ 7.5 any longer.

EDIT

I was wrong about g++ version. CUDA 10.2 works with g++ 7.3 on Ubuntu 18.04.

nkoenig commented 4 years ago

I'm not entirely sure why your catkin build would fail in the yaml library. You could try making sure that you've followed all the steps in catkin install. I would suspect that there is a bad install of some library on your system.

pauljurczak commented 4 years ago

It builds fine on another PC. The error was most likely caused by boost 1.72 installed alongside of boost 1.65.