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ROS 3D Robot Visualizer
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python Rviz binding not running on GPU on Orange pi 5 (RK3588S GPU Mali 610) #1821

Closed programmeddeath1 closed 2 months ago

programmeddeath1 commented 2 months ago

Hiii

I am trying to run a pyqt application which uses RVIZ on an orangepi SBC which has a GPU Mali 610.

When starting the app which loads the 3D model on start it gives the following warnings - libGL error: failed to create dri screen libGL error: failed to load driver: rockchip [ INFO] [1714028941.896605237]: Stereo is NOT SUPPORTED [ INFO] [1714028941.896694679]: OpenGL device: llvmpipe (LLVM 12.0.0, 128 bits) [ INFO] [1714028941.896733974]: OpenGl version: 3.1 (GLSL 1.4). libGL error: failed to create dri screen libGL error: failed to load driver: rockchip The app does load properly, the pyqt application itself does run smoothly, but when i run certain motions on the simulator, it seems to be lagging a lot. I ran LIBGL_DEBUG=verbose python3 main.py and it gives the following detailed error - file

The code where the warning shows up is as below -

    self.RVIZ_FRAME = rviz.VisualizationFrame()
    self.reader = rviz.YamlConfigReader()
    self.rviz_config = rviz.Config()
    self.reader.readFile( self.rviz_config, robot_simulation_file )

    print("Starts here")
    self.framerviz = self.RVIZ_FRAME
    self.framerviz.setSplashPath( "" )
    self.framerviz.initialize()
    print("initialized")
    self.framerviz.load( self.rviz_config )
    self.setWindowTitle( self.rviz_config.mapGetChild( "Title" ).getValue() )
    print("Loaded")

What do i need to enable the gpu driver usage or improve the rendering, any help would be appreciated.

Your environment

rhaschke commented 2 months ago

As far as I understand, the rendering works, but is slow, which means that OpenGL is using software rendering only (also indicated by OpenGL device: llvmpipe). Can you run other OpenGL apps, e.g. glxgears from the mesa-utils package?

programmeddeath1 commented 2 months ago

I ran glxgears, it opens and shows around 500FPS avg. but the above warnings remain 

libGL error: failed to create dri screen
libGL error: failed to load driver: rockchip
libGL error: failed to create dri screen
libGL error: failed to load driver: rockchip
2139 frames in 5.0 seconds = 427.701 FPS
2660 frames in 5.0 seconds = 531.885 FPS
2693 frames in 5.0 seconds = 538.575 FPS
2568 frames in 5.0 seconds = 513.598 FPS

The detailed error shown during rviz python binding load is https://github.com/programmeddeath1/webhost/blob/master/libgl_error_rviz.txt

The orangepi sbc has panfrost drivers for the mali G610 GPU

I am drawing certain components on the rviz urdf of a delta robot during run time in a parallel thread, the simulation works very smoothly on my laptop. Could there be any optimizations needed to be done for ARM devices for running the simulation?

How do I make rviz know which gpu drivers to load?

rhaschke commented 2 months ago

This is not a problem of rviz, but of your driver configuration. rviz doesn't load low-level hardware drivers, it just interacts with those drivers through OpenGL. Thus, if you have issues with OpenGL apps, like glxgears as well, first fix your driver setup. There are some issue reports available on the web, e.g. https://askubuntu.com/questions/1493949/ubuntu-20-04-image-given-by-ornangepi-giving-error-while-running-rviz

Closing here, as this is not an rviz issue.

programmeddeath1 commented 2 months ago

Hi, do you know if the python bindings work the same in rviz2? if so whether I could plan a simpler migration to ubuntu 22 with ros2 humble?

The gpu driver support for the ubuntu 20 version is not that great for these SBC boards even from their official forums. I had first gone through the askubuntu answer you have posted, and the solution refers to a download page which hasn't been updated since 2017.

I'm trying to get the gpu drivers to work by trying more things but want to know if you are aware of whether the rviz2 development has matured to the level the ros1 rviz is currently at, or whether if its usable for a production setup?

rhaschke commented 2 months ago

Your problem isn't rviz, but the GPU driver. Hence, you will face similar problems with rviz2. I don't know the state of the python bindings of rviz2. Sorry.

programmeddeath1 commented 2 months ago

no actually, I am running on a docker of 20.04 inside ubuntu 22.04. The orangepi sbc has versions 22.04 and 24.04 released with proper gpu driver support. There I ran glxgears also outside the docker, they work properly and are synchronized with the monitor frame rate and do not give the above rockchip driver error.

So in their 22.04 os, glxgears loads the drivers properly - ```LIBGL_DEBUG=verbose glxgears libGL: Can't open configuration file /etc/drirc: No such file or directory. libGL: Can't open configuration file /home/greenox/.drirc: No such file or directory. libGL: using driver rockchip for 4 libGL: Can't open configuration file /etc/drirc: No such file or directory. libGL: Can't open configuration file /home/greenox/.drirc: No such file or directory. libGL: MESA-LOADER: device is not located on the PCI bus libGL: using driver rockchip for 4 libGL: MESA-LOADER: dlopen(/usr/lib/aarch64-linux-gnu/dri/rockchip_dri.so) libGL: Can't open configuration file /etc/drirc: No such file or directory. libGL: Can't open configuration file /home/greenox/.drirc: No such file or directory. libGL: Can't open configuration file /etc/drirc: No such file or directory. libGL: Can't open configuration file /home/greenox/.drirc: No such file or directory. drmOpenDevice: node name is /dev/dri/renderD128 drmOpenDevice: open result is 6, (OK) drmOpenDevice: node name is /dev/dri/renderD129 drmOpenDevice: open result is 6, (OK) drmOpenDevice: node name is /dev/dri/renderD130 drmOpenDevice: node name is /dev/dri/renderD131 drmOpenDevice: node name is /dev/dri/renderD132 drmOpenDevice: node name is /dev/dri/renderD133 drmOpenDevice: node name is /dev/dri/renderD134 drmOpenDevice: node name is /dev/dri/renderD135 drmOpenDevice: node name is /dev/dri/renderD136 drmOpenDevice: node name is /dev/dri/renderD137 drmOpenDevice: node name is /dev/dri/renderD138 drmOpenDevice: node name is /dev/dri/renderD139 drmOpenDevice: node name is /dev/dri/renderD140 drmOpenDevice: node name is /dev/dri/renderD141 drmOpenDevice: node name is /dev/dri/renderD142 drmOpenDevice: node name is /dev/dri/renderD143 libGL: Can't open configuration file /etc/drirc: No such file or directory. libGL: Can't open configuration file /home/greenox/.drirc: No such file or directory. libGL: Using DRI3 for screen 0 Running synchronized to the vertical refresh. The framerate should be approximately the same as the monitor refresh rate. 304 frames in 5.0 seconds = 60.710 FPS 295 frames in 5.0 seconds = 58.919 FPS 300 frames in 5.0 seconds = 59.877 FPS 299 frames in 5.0 seconds = 59.737 FPS 300 frames in 5.0 seconds = 59.883 FPS

I had faced a lot of dependency issues trying to build ros1 from source on ubuntu 22 so dropped that idea for now,

Okay I understand will try and explore more, thank you for your guidance!

rhaschke commented 2 months ago

Good, that the driver issues are resolved in Ubuntu 22.04. If ROS2 is an option, I suggest trying it first. I have built ROS1 .deb packages for Ubuntu 22.04 successfully: https://ros.packages.techfak.net Maybe you can draw some inspiration from my corresponding github action: https://github.com/ubi-agni/ros-builder-action

programmeddeath1 commented 2 months ago

That looks mighty helpful. I will give it a try once before going for ROS2, since a ROS2 migration of my entire codebase would be a longer task and I still have doubts about the robustness of micro-ros because I have an MCU that needs to be controlled, and rviz2 python binding issue is still open in their github.