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robosavvy / vive_ros

ROS package for publishing HTV VIVE device locations.
BSD 3-Clause "New" or "Revised" License
99 stars 73 forks source link

How to use image subscriber? #27

Open BRNKR opened 4 years ago

BRNKR commented 4 years ago

Hey,

the tracking is working fine. But i want to fuse an image into the HMD. When I comment out #define USE_IMAGE, the node crashes. Does anyone know a current setup under Ubuntu 18.04 that works?

Ubuntu 18.04 VR Server (v1600466902) SteamVR 1.14.16 ROS Melodic

Terminal output: term_out.txt

ishiguroJSK commented 4 years ago

Can you see the steamvr home or some game images through the HMD?

If so, how about running without any image subscription?

I think, this line looks fine, but any other problems occur in the rendering process... [ INFO] [1603726917.946537999]: Process ROS image[0] (640x480) with fov (600x600) to (1852x2056)

ishiguroJSK commented 4 years ago

And I'd like to confirm you are not running this node via remote terminal. X Error of failed request: BadWindow (invalid Window parameter)

BRNKR commented 4 years ago

@ishiguroJSK

Thank you for your quick response and for taking the time to solve my problem.

Is it necessary to set "AllowHMD" parameter for my nvidia driver? With this Option i can put a stereocamera feed on the googles. But when I start the vive_ros node it inits a openvr app which overwrites my second screen input (3D world).

Nvidia Driver 450.80.02.

================================================================ Output server_vr.launch without manually started SteamVR:

bash: /home/gyros/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu/libtinfo.so.5: no version information available (required by bash) VR Server (v1600466902)

================================================================ Output server_vr.launch after start of vive.launch:

[S_API] SteamAPI_Init(): SteamAPI_IsSteamRunning() did not locate a running instance of Steam. [S_API] SteamAPI_Init(): Loaded '/home/gyros/.local/share/Steam/linux64/steamclient.so' OK. [S_API FAIL] SteamAPI_Init() failed; create pipe failed.Setting breakpad minidump AppID = 250820 Forcing breakpad minidump interfaces to load Looking up breakpad interfaces from steamclient Calling BreakpadMiniDumpSystemInit [S_API] SteamAPI_Init(): SteamAPI_IsSteamRunning() did not locate a running instance of Steam. [S_API] SteamAPI_Init(): Loaded '/home/gyros/.local/share/Steam/linux64/steamclient.so' OK. [S_API FAIL] SteamAPI_Init() failed; create pipe failed./home/gyros/.local/share/Steam/steamapps/common/SteamVR/bin/linux64/vrmonitor: error while loading shared libraries: libQt5Multimedia.so.5: cannot open shared object file: No such file or directory Fontconfig warning: "/home/gyros/.local/share/Steam/steamapps/common/SteamVR/tools/steamvr_environments/game/core/panorama/fonts/conf.d/41-repl-os-win.conf", line 148: Having multiple values in isn't supported and may not work as expected Fontconfig warning: "/home/gyros/.local/share/Steam/steamapps/common/SteamVR/tools/steamvr_environments/game/core/panorama/fonts/conf.d/41-repl-os-win.conf", line 160: Having multiple values in isn't supported and may not work as expected [S_API FAIL] Tried to access Steam interface STEAMREMOTESTORAGE_INTERFACE_VERSION014 before SteamAPI_Init succeeded. /home/gyros/.local/share/Steam/steamapps/common/SteamVR/tools/steamvr_environments/game/steamtours.sh: line 94: 525 Segmentation fault (core dumped) ${STEAM_RUNTIME_PREFIX} ${GAME_DEBUGGER} "${GAMEROOT}"/${GAMEEXE} "$@"

================================================================

Extended LD_LIBRARY_PATH with qt folder included with steam Output server_vr.launch after start of vive.launch:

[S_API] SteamAPI_Init(): SteamAPI_IsSteamRunning() did not locate a running instance of Steam. [S_API] SteamAPI_Init(): Loaded '/home/gyros/.local/share/Steam/linux64/steamclient.so' OK. [S_API FAIL] SteamAPI_Init() failed; create pipe failed.Setting breakpad minidump AppID = 250820 Forcing breakpad minidump interfaces to load Looking up breakpad interfaces from steamclient Calling BreakpadMiniDumpSystemInit [S_API] SteamAPI_Init(): SteamAPI_IsSteamRunning() did not locate a running instance of Steam. [S_API] SteamAPI_Init(): Loaded '/home/gyros/.local/share/Steam/linux64/steamclient.so' OK. [S_API FAIL] SteamAPI_Init() failed; create pipe failed.Fontconfig warning: "/home/gyros/.local/share/Steam/steamapps/common/SteamVR/tools/steamvr_environments/game/core/panorama/fonts/conf.d/41-repl-os-win.conf", line 148: Having multiple values in isn't supported and may not work as expected Fontconfig warning: "/home/gyros/.local/share/Steam/steamapps/common/SteamVR/tools/steamvr_environments/game/core/panorama/fonts/conf.d/41-repl-os-win.conf", line 160: Having multiple values in isn't supported and may not work as expected [S_API FAIL] Tried to access Steam interface STEAMREMOTESTORAGE_INTERFACE_VERSION014 before SteamAPI_Init succeeded. /home/gyros/.local/share/Steam/steamapps/common/SteamVR/tools/steamvr_environments/game/steamtours.sh: line 94: 2228 Segmentation fault (core dumped) ${STEAM_RUNTIME_PREFIX} ${GAME_DEBUGGER} "${GAMEROOT}"/${GAMEEXE} "$@"

Output vive.launch (stripped)

++ cd /home/gyros/.local/share/Steam/steamapps/common/SteamVR/../runtime /home/gyros/.local/share/Steam/steamapps/common/SteamVR/bin/vrenv.sh: line 5: cd: /home/gyros/.local/share/Steam/steamapps/common/SteamVR/../runtime: No such file or directory

++ cd /home/gyros/.local/share/Steam/steamapps/common/SteamVR/../sdk /home/gyros/.local/share/Steam/steamapps/common/SteamVR/bin/vrenv.sh: line 6: cd: /home/gyros/.local/share/Steam/steamapps/common/SteamVR/../sdk: No such file or directory

libpng warning: iCCP: known incorrect sRGB profile CQVRMonitorHeadsetWarning(0x1d11740) does not have a property named "green_color" CQVRMonitorHeadsetWarning(0x1d11740) does not have a property named "red_color" Initialize() is failed!!! sh: 1: /home/gyros/.local/share/Steam/steamapps/common/SteamVR/tools/lighthouse/bin/linux64/vivetools-bv: not found

Using breakpad crash handler Setting breakpad minidump AppID = 250820 Forcing breakpad minidump interfaces to load Looking up breakpad interfaces from steamclient Calling BreakpadMiniDumpSystemInit Using breakpad crash handler Setting breakpad minidump AppID = 250820 Forcing breakpad minidump interfaces to load Looking up breakpad interfaces from steamclient Calling BreakpadMiniDumpSystemInit REQUIRED process [vive_node-1] has died! process has died [pid 1270, exit code -11, cmd /home/gyros/catkin_ws/src/vive_ros/scripts/find_steam_runtime.sh /home/gyros/catkin_ws/devel/lib/vive_ros/vive_node __name:=vive_node __log:=/home/gyros/.ros/log/78c4e844-1831-11eb-9808-a4bb6dd03c72/vive_node-1.log]. log file: /home/gyros/.ros/log/78c4e844-1831-11eb-9808-a4bb6dd03c72/vive_node-1*.log Initiating shutdown!

=============================================================

compiled with vulkan

same problems plus following:

Error opening SPIR-V file: Error opening SPIR-V file:

  • Unable to initialize Vulkan!
  • Unable to initialize Vulkan!
ishiguroJSK commented 4 years ago

How about just launching vive.launch without server_vr.launch? I think the SteamVR will be automatically launched. If the SteamVR is already running, may be you have to kill the process.

ishiguroJSK commented 4 years ago

In the server_vr.launch, the steam related paths are set manually. https://github.com/robosavvy/vive_ros/blob/0b55e8f43ff12749ad6f679d11b19ce1d3b35913/launch/server_vr.launch#L7

On the other hand, the vive.launch uses official path setting script, and I think this is more recommended way. https://github.com/robosavvy/vive_ros/blob/0b55e8f43ff12749ad6f679d11b19ce1d3b35913/launch/vive.launch#L7 find_steam_runtime.sh finds the official path setup script (because there are 2 pattern of the installation path of the script) https://github.com/robosavvy/vive_ros/blob/0b55e8f43ff12749ad6f679d11b19ce1d3b35913/scripts/find_steam_runtime.sh#L3-L4

I hope this will help you...

BRNKR commented 4 years ago

Nope. Not working.

Can you tell me your setup constellation?

ishiguroJSK commented 4 years ago

I can't log in my lab PC now, but I remember the Ubuntu was 16.04, and use OpenGL (not Vulkan), and OpenVR and SteamVR were the latest ones at the time, and without any extra LD_LIBRARY_PATH.

@knorth55 @haraduka Have you installed vive_ros in 18.04?

knorth55 commented 4 years ago

I run vive_ros with Kinetic and Melodic.

BRNKR commented 4 years ago

You guys rock. I will try both setups. @knorth55 Do you run it with image subscriber?

EDIT: i downloaded steamvr 1.6.10 with https://github.com/SteamRE/DepotDownloader because it is not possible to download older steamvr versions via steamcmd anymore.

i can not use nvidia driver 390 because i have a rtx6000 which is not supported with this old driver :( still crashes! new error:

/home/gyros/.local/share/Steam/steamapps/common/SteamVR/bin/linux64/vrdashboard: symbol lookup error: /home/gyros/.local/share/Steam/steamapps/common/SteamVR/bin/linux64/libv8.so: undefined symbol: _ZTVN6icu_5213UnicodeStringE

EDIT2:

The RTX6000 makes problems with the new driver >400 . With an Titan Xp and Driver 390 it is not crashing!

i am getting the small preview window with my published image topics, but it doesnt render anything inside of my HMD. Do i have to use the "AllowHMD" argument for my nvidia driver or not? it is activated now and i generate an own opencv window on the extended display (HMD) with an image for each eye. what a ghettofix

knorth55 commented 4 years ago

@knorth55 Do you run it with image subscriber?

Yes, ofcourse, and it works.

I found out that this package is pretty sensitive to nvidia driver version, so I have no idea if you can run this program with RTX6000. with Nvidia driver 390, you can try it, I hope. have you tried steamvr program from steam with your vive HMD? If you can get HMD display with normal steamvr program, everything should work fine.

BRNKR commented 4 years ago

@knorth55 my screen on HMD is baby blue when i start the node. HMD works with SteamVR Home for example. i tried current nvidia-driver-390.138 from apt-repo with an Titan Xp. Maybe the problem is, that the System has three Titan Xp installed.