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osrf / vrx

Virtual RobotX (VRX) resources.
Apache License 2.0
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Adding Ogre rendering support (Waves shaders issues) #736

Open Dat-Bois opened 1 year ago

Dat-Bois commented 1 year ago

Describe the bug Ogre2 is giving significant issues when rendering, probably due to my VM and OpenGL GPU passthrough support with Gazebo. Running with Ogre as my rendering engine for other sample Gazebo environments seems to fix the rendering issues and use Gazebo as expected with GPU acceleration. However, using the shaders in the VRX project for the GerstnerWaves causes Gazebo to crash. I thought it was versioning between 330 and 150 for the GLSL files but I'm not sure anymore.

Expected behavior Gazebo GUI loads/opens.

To Reproduce List the steps to reproduce the problem:

  1. Run " ros2 launch vrx_gz competition.launch.py world:=sydney_regatta extra_gz_args:='--render-engine ogre' "
  2. See error

System Configuration: Tell us about your system.

Error Log

[ruby $(which gz) sim-1] gz sim server: ./OgreMain/src/OgreGpuProgramParams.cpp:1105: void Ogre::GpuProgramParameters::_writeRawConstants(size_t, const int*, size_t): Assertion `physicalIndex + count <= mIntConstants.size()' failed.
[ruby $(which gz) sim-1] Stack trace (most recent call last) in thread 37472:
[ruby $(which gz) sim-1] #25   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[ruby $(which gz) sim-1] #24   Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa9835d1b, in 
[ruby $(which gz) sim-1] #23   Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa97cd5c7, in 
[ruby $(which gz) sim-1] #22   Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffffa57b31fb, in 
[ruby $(which gz) sim-1] #21   Object "/usr/lib/aarch64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0xffff7d2bda77, in gz::sim::v7::systems::SensorsPrivate::RenderThread()
[ruby $(which gz) sim-1] #20   Object "/usr/lib/aarch64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0xffff7d2bccf3, in gz::sim::v7::systems::SensorsPrivate::RunOnce()
[ruby $(which gz) sim-1] #19   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fefed2b, in gz::rendering::v7::OgreScene::PreRender()
[ruby $(which gz) sim-1] #18   Object "/lib/aarch64-linux-gnu/libgz-rendering7.so.7", at 0xffff7cfa80ef, in gz::rendering::v7::BaseScene::PreRender()
[ruby $(which gz) sim-1] #17   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe67727, in 
[ruby $(which gz) sim-1] #16   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe7056f, in 
[ruby $(which gz) sim-1] #15   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe67727, in 
[ruby $(which gz) sim-1] #14   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe7056f, in 
[ruby $(which gz) sim-1] #13   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe67727, in 
[ruby $(which gz) sim-1] #12   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe7056f, in 
[ruby $(which gz) sim-1] #11   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe6d5d3, in 
[ruby $(which gz) sim-1] #10   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fec4077, in 
[ruby $(which gz) sim-1] #9    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fec8d0b, in 
[ruby $(which gz) sim-1] #8    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5febcb7b, in gz::rendering::v7::OgreMaterial::UpdateShaderParams()
[ruby $(which gz) sim-1] #7    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5febc86f, in gz::rendering::v7::OgreMaterial::UpdateShaderParams(std::shared_ptr<gz::rendering::v7::ShaderParams const>, Ogre::SharedPtr<Ogre::GpuProgramParameters>)
[ruby $(which gz) sim-1] #6    Object "/lib/aarch64-linux-gnu/libOgreMain.so.1.9.0", at 0xffff5fa24127, in Ogre::GpuProgramParameters::_writeRawConstant(unsigned long, int)
[ruby $(which gz) sim-1] #5    Object "/lib/aarch64-linux-gnu/libOgreMain.so.1.9.0", at 0xffff5fa24107, in Ogre::GpuProgramParameters::_writeRawConstants(unsigned long, int const*, unsigned long)
[ruby $(which gz) sim-1] #4    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa978403f, in __assert_fail
[ruby $(which gz) sim-1] #3    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa9783fcf, in 
[ruby $(which gz) sim-1] #2    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa977712f, in abort
[ruby $(which gz) sim-1] #1    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa978a67b, in raise
[ruby $(which gz) sim-1] #0    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa97cf200, in 
[ruby $(which gz) sim-1] Aborted (Signal sent by tkill() 37432 1000)
[ruby $(which gz) sim-1] gz sim gui: ./OgreMain/src/OgreGpuProgramParams.cpp:1105: void Ogre::GpuProgramParameters::_writeRawConstants(size_t, const int*, size_t): Assertion `physicalIndex + count <= mIntConstants.size()' failed.
[ruby $(which gz) sim-1] Stack trace (most recent call last) in thread 37588:
[ruby $(which gz) sim-1] #31   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa25cb523, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
[ruby $(which gz) sim-1] #30   Object "/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffffa13e2f13, in g_main_context_iteration
[ruby $(which gz) sim-1] #29   Object "/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffffa143aeab, in 
[ruby $(which gz) sim-1] #28   Object "/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffffa13e5a6f, in g_main_context_dispatch
[ruby $(which gz) sim-1] #27   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa25cc057, in 
[ruby $(which gz) sim-1] #26   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa256ff87, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
[ruby $(which gz) sim-1] #25   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa256cb8f, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[ruby $(which gz) sim-1] #24   Object "/lib/aarch64-linux-gnu/libQt5Widgets.so.5", at 0xffffa3a12abf, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[ruby $(which gz) sim-1] #23   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa259cfd3, in QObject::event(QEvent*)
[ruby $(which gz) sim-1] #22   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff68f64923, in gz::gui::plugins::RenderThread::RenderNext(gz::gui::plugins::RenderSync*)
[ruby $(which gz) sim-1] #21   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff68f73f63, in gz::gui::plugins::RenderThreadRhiOpenGL::RenderNext(gz::gui::plugins::RenderSync*)
[ruby $(which gz) sim-1] #20   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff68f69193, in gz::gui::plugins::GzRenderer::Render(gz::gui::plugins::RenderSync*)
[ruby $(which gz) sim-1] #19   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4e2e2b, in 
[ruby $(which gz) sim-1] #18   Object "/lib/aarch64-linux-gnu/libgz-rendering7.so.7", at 0xffff685d80ef, in gz::rendering::v7::BaseScene::PreRender()
[ruby $(which gz) sim-1] #17   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4c7727, in 
[ruby $(which gz) sim-1] #16   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4d056f, in 
[ruby $(which gz) sim-1] #15   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4c7727, in 
[ruby $(which gz) sim-1] #14   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4d056f, in 
[ruby $(which gz) sim-1] #13   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4c7727, in 
[ruby $(which gz) sim-1] #12   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4d056f, in 
[ruby $(which gz) sim-1] #11   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4cd5d3, in 
[ruby $(which gz) sim-1] #10   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b524077, in 
[ruby $(which gz) sim-1] #9    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b528d0b, in 
[ruby $(which gz) sim-1] #8    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b51cb7b, in gz::rendering::v7::OgreMaterial::UpdateShaderParams()
[ruby $(which gz) sim-1] #7    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b51c86f, in gz::rendering::v7::OgreMaterial::UpdateShaderParams(std::shared_ptr<gz::rendering::v7::ShaderParams const>, Ogre::SharedPtr<Ogre::GpuProgramParameters>)
[ruby $(which gz) sim-1] #6    Object "/lib/aarch64-linux-gnu/libOgreMain.so.1.9.0", at 0xffff2b014127, in Ogre::GpuProgramParameters::_writeRawConstant(unsigned long, int)
[ruby $(which gz) sim-1] #5    Object "/lib/aarch64-linux-gnu/libOgreMain.so.1.9.0", at 0xffff2b014107, in Ogre::GpuProgramParameters::_writeRawConstants(unsigned long, int const*, unsigned long)
[ruby $(which gz) sim-1] #4    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa978403f, in __assert_fail
[ruby $(which gz) sim-1] #3    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa9783fcf, in 
[ruby $(which gz) sim-1] #2    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa977712f, in abort
[ruby $(which gz) sim-1] #1    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa978a67b, in raise
[ruby $(which gz) sim-1] #0    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa97cf200, in 
[ruby $(which gz) sim-1] Aborted (Signal sent by tkill() 37433 1000)
[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 37392]

Additional notes I understand that I am creating an issue for an unsupported configuration (ARM64), but adding support can be incredibly useful given how many students may be using Apple M-series Macs. I am concurrently developing a guide on how to setup VRX with GPU support for this configuration and will publish it once I iron out the kinks (and figure this out).

matthiaskiller commented 1 year ago

@Dat-Bois I have the same issue. Have you figured it already out? :) Thanks!