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srmainwaring / asv_wave_sim

This package contains plugins that support the simulation of waves and surface vessels in Gazebo.
GNU General Public License v3.0
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Issue running the Trochoid Waves model or Ocean Waves #135

Open ConnorDTaylor opened 1 year ago

ConnorDTaylor commented 1 year ago

Hi Rhys,

I have downloaded the new version of the wave sim and I encountered the following errors when I try to use the trochoid_waves wave model. I should note that the regular waves model works fine.

libEGL warning: egl: failed to create dri2 screen libEGL warning: egl: failed to create dri2 screen Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf]. Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf]. libEGL warning: egl: failed to create dri2 screen libEGL warning: egl: failed to create dri2 screen [GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set gz sim server: /usr/include/eigen3/Eigen/src/Core/DenseBase.h:261: void Eigen::DenseBase::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Ref<Eigen::Array<double, -1, -1> >; Eigen::Index = long int]: Assertion `rows == this->rows() && cols == this->cols() && "DenseBase::resize() does not actually allow one to resize."' failed. Stack trace (most recent call last) in thread 11477:

17 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in

16 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195de09ff, in

15 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195d4eb42, in

14 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fe191e062b2, in

13 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fe0dd0ab757, in gz::sim::v7::systems::SensorsPrivate::RenderThread()

12 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fe0dd0aa126, in gz::sim::v7::systems::SensorsPrivate::RunOnce()

11 Object "/lib/x86_64-linux-gnu/libgz-sim7-rendering.so.7", at 0x7fe0dcffd469, in gz::sim::v7::RenderUtil::Update()

10 Object "/lib/x86_64-linux-gnu/libgz-sim7-rendering.so.7", at 0x7fe0dd0130fc, in

9 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1-waves-visual-system.so", at 0x7fe0dc19136f, in gz::sim::v7::systems::WavesVisualPrivate::OnUpdate()

8 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0dc46950f, in gz::waves::OceanTilePrivate<gz::math::v7::Vector3 >::UpdateMesh(double, gz::common::Mesh*)

7 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0dc46a0c0, in gz::waves::OceanTilePrivate<gz::math::v7::Vector3 >::UpdateVertices(double)

6 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0dc4bcf35, in gz::waves::TrochoidIrregularWaveSimulation::DisplacementAndDerivAt(Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >) const

5 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0dc4bbb01, in gz::waves::TrochoidIrregularWaveSimulation::Impl::ElevationAt(Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >)

4 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195cf3e95, in __assert_fail

3 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195ce271a, in

2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195ce27f2, in abort

1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195cfc475, in raise

0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195d50a7c, in pthread_kill

Aborted (Signal sent by tkill() 11410 1000) gz sim gui: /usr/include/eigen3/Eigen/src/Core/DenseBase.h:261: void Eigen::DenseBase::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Ref<Eigen::Array<double, -1, -1> >; Eigen::Index = long int]: Assertion `rows == this->rows() && cols == this->cols() && "DenseBase::resize() does not actually allow one to resize."' failed. Stack trace (most recent call last) in thread 11641:

31 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195d4eb42, in

30 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1901beca0, in

29 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1901bdaf1, in QThread::exec()

28 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903aa75a, in QEventLoop::exec(QFlags)

27 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1904050b7, in QEventDispatcherGlib::processEvents(QFlags)

26 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7fe18df953e2, in g_main_context_iteration

25 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7fe18dfec6c7, in

24 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7fe18df97d3a, in g_main_context_dispatch

23 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe190405a66, in

22 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903aef26, in QCoreApplicationPrivate::sendPostedEvents(QObject, int, QThreadData)

21 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903abe39, in QCoreApplication::notifyInternal2(QObject, QEvent)

20 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7fe18fb05712, in QApplicationPrivate::notify_helper(QObject, QEvent)

19 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903d941d, in QObject::event(QEvent*)

18 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7fe1605566f8, in gz::gui::plugins::RenderThread::RenderNext(gz::gui::plugins::RenderSync*)

17 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7fe1605643c7, in gz::gui::plugins::RenderThreadRhiOpenGL::RenderNext(gz::gui::plugins::RenderSync*)

16 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7fe16055bb77, in gz::gui::plugins::GzRenderer::Render(gz::gui::plugins::RenderSync*)

15 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903abe39, in QCoreApplication::notifyInternal2(QObject, QEvent)

14 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7fe18fb05701, in QApplicationPrivate::notify_helper(QObject, QEvent)

13 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903abb99, in QCoreApplicationPrivate::sendThroughObjectEventFilters(QObject, QEvent)

12 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/gui/libGzSceneManager.so", at 0x7fe1580f2680, in gz::sim::v7::GzSceneManager::eventFilter(QObject, QEvent)

11 Object "/lib/x86_64-linux-gnu/libgz-sim7-rendering.so.7", at 0x7fe12949b469, in gz::sim::v7::RenderUtil::Update()

10 Object "/lib/x86_64-linux-gnu/libgz-sim7-rendering.so.7", at 0x7fe1294b10fc, in

9 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1-waves-visual-system.so", at 0x7fe084b3e36f, in gz::sim::v7::systems::WavesVisualPrivate::OnUpdate()

8 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0821db50f, in gz::waves::OceanTilePrivate<gz::math::v7::Vector3 >::UpdateMesh(double, gz::common::Mesh*)

7 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0821dc0c0, in gz::waves::OceanTilePrivate<gz::math::v7::Vector3 >::UpdateVertices(double)

6 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe08222ef35, in gz::waves::TrochoidIrregularWaveSimulation::DisplacementAndDerivAt(Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >) const

5 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe08222db01, in gz::waves::TrochoidIrregularWaveSimulation::Impl::ElevationAt(Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >)

4 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195cf3e95, in __assert_fail

3 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195ce271a, in

2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195ce27f2, in abort

1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195cfc475, in raise

0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195d50a7c, in pthread_kill

Aborted (Signal sent by tkill() 11411 1000)

Then I get these errors when I try to use the ocean waves model (weirdly enough the "waves" model works properly.) libEGL warning: egl: failed to create dri2 screen libEGL warning: egl: failed to create dri2 screen libEGL warning: egl: failed to create dri2 screen [GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set libEGL warning: egl: failed to create dri2 screen Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf]. Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf]. Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf]. Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf]. [GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set terminate called after throwing an instance of 'Ogre::ItemIdentityException' what(): OGRE EXCEPTION(4:ItemIdentityException): A texture with name 'HeightMapTex(6)' already exists. (Real tex name: 'HeightMapTex(6)') in TextureGpuManager::createTexture at ./OgreMain/src/OgreTextureGpuManager.cpp (line 385) Stack trace (most recent call last) in thread 11897:

10 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in

9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a11d9ff, in

8 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a08bb42, in

7 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f68444c099d, in

6 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f68444bef90, in qTerminate()

5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f68461152b6, in std::terminate()

4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f684611524b, in

3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f6846109bbd, in

2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a01f7f2, in abort

1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a039475, in raise

0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a08da7c, in pthread_kill

Aborted (Signal sent by tkill() 11716 1000)

I havent modified these scripts in any way, so I am not sure why they wouldn't work.

Cheers,

Connor

mvanlobensels commented 5 months ago

I have the same issues, only sinusoidal and FFT work.