No Sonar image data when running sonar_multibeam-run.rb

[ehratjon]

Hi Romulo,

When running the sonar_multibeam example, the sonar image isn't representing the given world, but only shows an empty noisy image.

The following output is generated in the console when running the command: jehrat@SonarMatrix:~/sonar_simulation/simulation/examples$ ruby sonar_multibeam-run.rb

WARN: integrating typelib plugin using the TYPELIB_RUBY_PLUGIN_PATH environment variable is deprecated
WARN: just put a file called typelib_plugin.rb into a subfolder from the RUBYLIB (e.g. base/typelib_plugin.rb)
WARN: offending dir: /home/jehrat/sonar_simulation/install/share/typelib/ruby
Bundles[INFO]: No bundle currently selected
OroGen[WARN]: subclasses is deprecated: in imaging_sonar_simulation: use task_context "Name", subclasses: "Parent" do .. end instead
OroGen[WARN]: subclasses is deprecated: in imaging_sonar_simulation: use task_context "Name", subclasses: "Parent" do .. end instead
OroGen[WARN]: subclasses is deprecated: in imaging_sonar_simulation: use task_context "Name", subclasses: "Parent" do .. end instead
WARNING: QApplication was not created in the main() thread.
Vizkit[WARN]: deprecation: use Async API to connect the port /sonar_multibeam.sonar_samples to a widget or code block
orocos.rb[WARN]: TaskContextProxy /sonar_multibeam is already initialized with different options.
listening to gazebo:ssiv_bahia:ssiv_mockup_bahia for ssiv_mockup_bahia
listening to gazebo:ssiv_bahia:seafloor for seafloor
PNG lib warning : iCCP: known incorrect sRGB profile
PNG lib warning : iCCP: known incorrect sRGB profile
PNG lib warning : iCCP: known incorrect sRGB profile
PNG lib warning : iCCP: known incorrect sRGB profile
FRAGMENT glCompileShader "" FAILED
FRAGMENT Shader "" infolog:
0:166(7): error: illegal use of reserved word `output'
0:166(7): error: syntax error, unexpected ERROR_TOK, expecting ',' or ';'

glLinkProgram "" FAILED
Program "" infolog:
error: linking with uncompiled/unspecialized shader
Warning: detected OpenGL error 'invalid operation' at After Renderer::compile
PNG lib warning : iCCP: known incorrect sRGB profile
PNG lib warning : iCCP: known incorrect sRGB profile
FRAGMENT glCompileShader "object_shader_fragment_shader" FAILED
FRAGMENT Shader "object_shader_fragment_shader" infolog:
0:117(104): error: could not implicitly convert operands to relational operator
0:117(104): error: RHS of `&&' must be scalar boolean
0:121(6): error: could not implicitly convert operands to relational operator
0:121(6): error: if-statement condition must be scalar boolean
0:128(2): error: value of type int cannot be assigned to variable of type float

glLinkProgram "object_shader" FAILED
Program "object_shader" infolog:
error: linking with uncompiled/unspecialized shader
Warning: detected OpenGL error 'invalid operation' at After Renderer::compile
/home/jehrat/sonar_simulation/gui/vizkit/lib/vizkit/vizkit_items.rb:270: warning: constant ::Fixnum is deprecated
/home/jehrat/sonar_simulation/gui/vizkit/lib/vizkit/vizkit_items.rb:270: warning: constant ::Fixnum is deprecated
/home/jehrat/sonar_simulation/gui/vizkit/lib/vizkit/vizkit_items.rb:270: warning: constant ::Fixnum is deprecated

I'm at my wit's end and would appreciate if you knew how to deal with this problem.

[jonatansw]

@ehratjon I have the very same issue, did you manage to solve this yet?

[1ADZX]

@ehratjon I have the very same issue, did you manage to solve this yet? Hello, have you ever met a similar problem with me? Question link: https://github.com/romulogcerqueira/sonar_ Simulation / issues / 18, or because I didn't use GPU? GPU is not configured on my computer

[romulogcerqueira]

The sonar simulator requires GPU to compute the virtual acoustic data. How are you testing the system (host machine)?

[jonatansw]

The sonar simulator requires GPU to compute the virtual acoustic data. How are you testing the system (host machine)?

I am running with an NVIDIA GeForce GTX 1060 Mobile (Alienware 13 R3)

[ehratjon]

Hi everyone, the problem for me was fixed, when I installed CUDA (https://developer.nvidia.com/cuda-downloads). Also I'm running the simulator on the host machine with a dedicated graphics card (GeForce GTX 770), so if you are trying to execute it on a Virtual Machine make sure that it has access to the GPU.