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YARP - Yet Another Robot Platform
http://www.yarp.it
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Unable to start yarpview on Xavier #3102

Open S-Dafarra opened 6 months ago

S-Dafarra commented 6 months ago

Describe the bug I wanted to run yarpview on the screen of the ergoCub robot, which is connected to a Xavier board. I tried to launch it from ssh with the following command

yarpview

but I had the error

qt.qpa.xcb: could not connect to display 
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.

Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.

Aborted (core dumped)

Then I tried with

DISPLAY=:0 yarpview

and I had

QQmlApplicationEngine failed to load component
qrc:/qml/QtYARPView/main.qml:11 plugin cannot be loaded for module "robotology.yarp.view": Cannot load library /usr/local/src/robot/robotology-superbuild/build/install/lib/qt5/qml/robotology/yarp/view/libQtYARPViewPlugin.so: (/lib/aarch64-linux-gnu/libgomp.so.1: cannot allocate memory in static TLS block)

Then with 

DISPLAY=:0 LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1 yarpview

and I had

qt.glx: qglx_findConfig: Failed to finding matching FBConfig for QSurfaceFormat(version 2.0, options QFlags<QSurfaceFormat::FormatOption>(), depthBufferSize -1, redBufferSize 1, greenBufferSize 1, blueBufferSize 1, alphaBufferSize -1, stencilBufferSize -1, samples -1, swapBehavior QSurfaceFormat::SingleBuffer, swapInterval 1, colorSpace QSurfaceFormat::DefaultColorSpace, profile  QSurfaceFormat::NoProfile)
qt.glx: qglx_findConfig: Failed to finding matching FBConfig for QSurfaceFormat(version 2.0, options QFlags<QSurfaceFormat::FormatOption>(), depthBufferSize -1, redBufferSize 1, greenBufferSize 1, blueBufferSize 1, alphaBufferSize -1, stencilBufferSize -1, samples -1, swapBehavior QSurfaceFormat::SingleBuffer, swapInterval 1, colorSpace QSurfaceFormat::DefaultColorSpace, profile  QSurfaceFormat::NoProfile)
qt.glx: qglx_findConfig: Failed to finding matching FBConfig for QSurfaceFormat(version 2.0, options QFlags<QSurfaceFormat::FormatOption>(), depthBufferSize -1, redBufferSize 1, greenBufferSize 1, blueBufferSize 1, alphaBufferSize -1, stencilBufferSize -1, samples -1, swapBehavior QSurfaceFormat::SingleBuffer, swapInterval 1, colorSpace QSurfaceFormat::DefaultColorSpace, profile  QSurfaceFormat::NoProfile)
Could not initialize GLX
Aborted (core dumped)

Finally with

QT_XCB_GL_INTEGRATION=none DISPLAY=:0 LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1 yarpview

yarpview starts on the screen. Nonetheless, if I try to connect to a fake frame grabber, the visualization remains black. Interestingly, the statistics are updated, so I imagine that the image is received.

Under the suggestion of @randaz81, I installed mesa-utils and run DISPLAY=:0 glxgears. This works nicely.

To Reproduce Steps to reproduce the behavior: Run

QT_XCB_GL_INTEGRATION=none DISPLAY=:0 LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1 yarpview

and in another terminal 

yarpdev --device fakeFrameGrabber --name /grabber --mode grid

and in a third one

yarp connect /grabber /yarpview/img:i

Expected behavior yarpview should visualize the image

Configuration (please complete the following information):

Additional context Add any other context about the problem here.

cc @traversaro @Nicogene @randaz81 @carloscp3009

traversaro commented 6 months ago

If you have conda on the machine, it would be interesting to see if the yarpview installed by the yarp conda binary package instead works.

martinaxgloria commented 4 months ago

Hi everyone, I faced the same issue with the Orin NX when trying to launch the yarpview. The solution proposed:

Finally with

QT_XCB_GL_INTEGRATION=none DISPLAY=:0 LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1 yarpview

worked also for me but when I connected the yarpview to another yarp port, I always saw a black screen.

@S-Dafarra did you try with conda packages?

cc @Nicogene @randaz81

S-Dafarra commented 4 months ago

worked also for me but when I connected the yarpview to another yarp port, I always saw a black screen.

I ended up in the same issue

@S-Dafarra did you try with conda packages?

No, I did not