IndexError: list index out of range [Only when running with ROS2]

[AjinJayan]

I am running 6dpose estimation inference script, it runs successfully without any errors when executed as a standalone Python script. By when running with ros2, ie., calling script inside ros2 node, the following error occurs. This error is happening at the pose refinement stage where it renders scene.

The error occurs at the line "used_program.draw("triangles", model.index_buffer)" inside renderer.py. I also tried changing app backends and gl backends, but same error

WARNING: OpenGL version could not be determined, which might be a sign that OpenGL is not loaded correctly.
2024-09-09 14:01:55,310 - WARNING - OpenGL version could not be determined, which might be a sign that OpenGL is not loaded correctly.
Traceback (most recent call last):
File "/home/rack/Workspace/projects/xrm/install/xrm_perception_iris/lib/xrm_perception_iris/perception.server.v2.py", line 283, in
main()
File "/home/rack/Workspace/projects/xrm/install/xrm_perception_iris/lib/xrm_perception_iris/perception.server.v2.py", line 273, in main
executor.spin()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 294, in spin
self.spin_once()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 794, in spin_once
self._spin_once_impl(timeout_sec)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 791, in _spin_once_impl
future.result()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 94, in result
raise self.exception()
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in call
self._handler.send(None)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 437, in handler
await call_coroutine(entity, arg)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 391, in _execute_service
response = await await_or_execute(srv.callback, request, srv.srv_type.Response())
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
return callback(*args)
File "/home/rack/Workspace/projects/xrm/install/xrm_perception_iris/lib/xrm_perception_iris/perception.server.v2.py", line 239, in srv_task_callback
self.perception.inference_call(request)
File "/home/rack/Workspace/projects/xrm/install/xrm_perception_iris/local/lib/python3.10/dist-packages/xrm_perception_iris/pipeline/pipeline_v2/init.py", line 85, in inference_call
self.pipeline.inference_call()
File "/home/rack/Workspace/projects/xrm/install/xrm_perception_iris/local/lib/python3.10/dist-packages/xrm_perception_iris/pipeline/pipeline_v2/pipeline.py", line 139, in inference_call
self.gdrnpp1.inference(self.data.color.copy(), self.data.depth.copy(), target_obj )
File "/home/rack/Workspace/projects/xrm/install/xrm_perception_modules/local/lib/python3.10/dist-packages/xrm_perception_modules/models/gdrnpp/get6dpose.py", line 64, in inference
poses = self.gdrn_predictor.postprocessing(data_dict, out_dict)
File "/home/rack/Workspace/projects/xrm/install/xrm_perception_modules/local/lib/python3.10/dist-packages/xrm_perception_modules/models/gdrnpp/predictor_gdrn.py", line 216, in postprocessing
self.process_depth_refine(data_dict, out_dict)
File "/home/rack/Workspace/projects/xrm/install/xrm_perception_modules/local/lib/python3.10/dist-packages/xrm_perception_modules/models/gdrnpp/predictor_gdrn.py", line 281, in process_depth_refine
self.ren.draw_model(
_**File "/home/rack/Workspace/projects/3rdparty/gdrnpp_ws/gdrnpp/lib/render_vispy/renderer.py", line 407, in draw_model
used_program.draw("triangles", model.index_buffer)
File "/home/rack/.pyenv/versions/gdrnpp/lib/python3.10/site-packages/vispy/gloo/program.py", line 543, in draw
canvas.context.flush_commands()
File "/home/rack/.pyenv/versions/gdrnpp/lib/python3.10/site-packages/vispy/gloo/context.py", line 172, in flush_commands
self.glir.flush(self.shared.parser)
File "/home/rack/.pyenv/versions/gdrnpp/lib/python3.10/site-packages/vispy/gloo/glir.py", line 584, in flush
self._shared.flush(parser)
File "/home/rack/.pyenv/versions/gdrnpp/lib/python3.10/site-packages/vispy/gloo/glir.py", line 506, in flush
parser.parse(self._filter(self.clear(), parser))
File "/home/rack/.pyenv/versions/gdrnpp/lib/python3.10/site-packages/vispy/gloo/glir.py", line 824, in parse
self._parse(command)
File "/home/rack/.pyenv/versions/gdrnpp/lib/python3.10/site-packages/vispy/gloo/glir.py", line 798, in _parse
ob.attach(*args)
File "/home/rack/.pyenv/versions/gdrnpp/lib/python3.10/site-packages/vispy/gloo/glir.py", line 1803, in attach
self.deactivate()
File "/home/rack/.pyenv/versions/gdrnpp/lib/python3.10/site-packages/vispy/gloo/glir.py", line 1774, in deactivate
gl.glBindFramebuffer(gl.GL_FRAMEBUFFER, stack[-1])
IndexError: list index out of range**_
The following exception was never retrieved: cannot use Destroyable because destruction was requested
[ros2run]: Process exited with failure 1

[djhoese]

I am running 6dpose estimation inference script, it runs successfully without any errors when executed as a standalone Python script. By when running with ros2, ie., calling script inside ros2 node, the following error occurs.

I don't know what "6dpose estimation inference" is. Does it matter for this issue? I don't know what "ros2" is. The warning at the top says that the OpenGL version couldn't be determined and then you're getting a low level OpenGL error. It is likely that your OpenGL/video driver isn't properly installed or configured on this machine.

[djhoese]

It also looks like you are mixing 3 or more different python environments. Is that intentional?

/home/rack/.pyenv/versions/gdrnpp/lib/python3.10/
/home/rack/Workspace/projects/3rdparty/
/home/rack/Workspace/projects/xrm/
/opt/ros/humble/local/lib/python3.10/

Or I guess the Workspace ones are just "editable" installs of those packages?

[AjinJayan]

yes, workspace are for the editable installs.

[djhoese]

My original questions still stand. I don't know what "ros2" is, but it looks like OpenGL is not properly configured.

[AjinJayan]

Running as a standalone script using with python virtual environment no such low level warning is showing. I don't why OpenGL warning is showing when running with ROS2. Is it because of two python environments?

And also want to now how to configure OpenGL properly.

[djhoese]

What is ROS2? Please answer the question.

OpenGL shouldn't be affected by your python environments. It has something to do with how OpenGL is installed on this system (likely as part of your video drivers or other system-level libraries).

[AmanSriv97]

ROS 2 (Robot Operating System 2) is a flexible framework for building robotic applications. It provides a set of tools and libraries that handle common tasks like communication, hardware abstraction, and software management, allowing developers to focus on the unique aspects of their robotic projects.

[djhoese]

Thank you @AmanSriv97. So the next question would be, does it provide any video/graphics functionality? How does it compare to a more "standard" linux system?

@AjinJayan Do you have a display attached to the ROS2 system? If not, are you creating a fake/virtual display for vispy to write/draw to?

[AjinJayan]

ROS2 offers strong integration for video and graphics, primarily for robotics-focused tasks, using OpenCV, RViz2, Gazebo, and image transport libraries, but is more specialized than general Linux systems which have broader multimedia applications.

RViz2: RViz2 is a powerful tool for visualizing sensor data and robot states in 3D. It can visualize camera feeds, laser scans, point clouds, robot models (URDF), and other graphical data published on ROS2 topics.

Gazebo (Ignition Gazebo): Gazebo is a 3D robotics simulator that is tightly integrated with ROS2. It simulates physical interactions, sensor data, and robot behavior in realistic 3D environments.

Most ROS2 operations (e.g., running nodes, launching files, publishing/subscribing to topics) occur in the terminal or through background processes. These operations don’t require or use a graphical display. The display isn’t needed unless you explicitly invoke tools like RViz2 or rqt, which are for visualization or graphical user interaction.

For the second Query: Yes, a display is attached to the system.

[AmanSriv97]

ROS2 typically runs on a standard Linux system, such as Ubuntu. It does not have its own graphics or video subsystem; instead, it uses whatever graphical system is available on the host machine (Linux).

It relies on the host's system to provide OpenGL or similar libraries for graphics acceleration.

[djhoese]

ROS2 typically runs on a standard Linux system

Oh, so this operating system is not an operating system and likely has very little to do with the issues encountered here. Right?

@AjinJayan Could you please provide the output of running:

python -c "import vispy; print(vispy.sys_info())"

[AjinJayan]

(gdrnpp) rack@rack-tcs:~$ python -c "import vispy; print(vispy.sys_info())"
Platform: Linux-6.8.0-45-generic-x86_64-with-glibc2.35
Python:   3.10.12 (main, Jul 16 2024, 18:01:04) [GCC 11.4.0]
NumPy:    1.23.5
Backend:  PyQt5
pyqt4:    None
pyqt5:    ('PyQt5', '5.15.0', '5.15.0')
pyqt6:    None
pyside:   None
pyside2:  None
pyside6:  None
pyglet:   pyglet 2.0.17
glfw:     glfw 2.7.0
sdl2:     None
wx:       None
egl:      EGL 1.5 NVIDIA: OpenGL_ES OpenGL
osmesa:   OSMesa
tkinter:  None
jupyter_rfb: None
_test:    None

GL version:  '4.6.0 NVIDIA 535.183.01'
MAX_TEXTURE_SIZE: 32768
Extensions: 'GL_AMD_multi_draw_indirect GL_AMD_seamless_cubemap_per_texture GL_AMD_vertex_shader_viewport_index GL_AMD_vertex_shader_layer GL_ARB_arrays_of_arrays GL_ARB_base_instance GL_ARB_bindless_texture GL_ARB_blend_func_extended GL_ARB_buffer_storage GL_ARB_cl_event GL_ARB_clear_buffer_object GL_ARB_clear_texture GL_ARB_clip_control GL_ARB_color_buffer_float GL_ARB_compatibility GL_ARB_compressed_texture_pixel_storage GL_ARB_conservative_depth GL_ARB_compute_shader GL_ARB_compute_variable_group_size GL_ARB_conditional_render_inverted GL_ARB_copy_buffer GL_ARB_copy_image GL_ARB_cull_distance GL_ARB_debug_output GL_ARB_depth_buffer_float GL_ARB_depth_clamp GL_ARB_depth_texture GL_ARB_derivative_control GL_ARB_direct_state_access GL_ARB_draw_buffers GL_ARB_draw_buffers_blend GL_ARB_draw_indirect GL_ARB_draw_elements_base_vertex GL_ARB_draw_instanced GL_ARB_enhanced_layouts GL_ARB_ES2_compatibility GL_ARB_ES3_compatibility GL_ARB_ES3_1_compatibility GL_ARB_ES3_2_compatibility GL_ARB_explicit_attrib_location GL_ARB_explicit_uniform_location GL_ARB_fragment_coord_conventions GL_ARB_fragment_layer_viewport GL_ARB_fragment_program GL_ARB_fragment_program_shadow GL_ARB_fragment_shader GL_ARB_fragment_shader_interlock GL_ARB_framebuffer_no_attachments GL_ARB_framebuffer_object GL_ARB_framebuffer_sRGB GL_ARB_geometry_shader4 GL_ARB_get_program_binary GL_ARB_get_texture_sub_image GL_ARB_gl_spirv GL_ARB_gpu_shader5 GL_ARB_gpu_shader_fp64 GL_ARB_gpu_shader_int64 GL_ARB_half_float_pixel GL_ARB_half_float_vertex GL_ARB_imaging GL_ARB_indirect_parameters GL_ARB_instanced_arrays GL_ARB_internalformat_query GL_ARB_internalformat_query2 GL_ARB_invalidate_subdata GL_ARB_map_buffer_alignment GL_ARB_map_buffer_range GL_ARB_multi_bind GL_ARB_multi_draw_indirect GL_ARB_multisample GL_ARB_multitexture GL_ARB_occlusion_query GL_ARB_occlusion_query2 GL_ARB_parallel_shader_compile GL_ARB_pipeline_statistics_query GL_ARB_pixel_buffer_object GL_ARB_point_parameters 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GL_NVX_gpu_memory_info GL_NVX_nvenc_interop GL_NV_shader_thread_group GL_NV_shader_thread_shuffle GL_KHR_blend_equation_advanced GL_KHR_blend_equation_advanced_coherent GL_OVR_multiview GL_OVR_multiview2 GL_SGIS_generate_mipmap GL_SGIS_texture_lod GL_SGIX_depth_texture GL_SGIX_shadow GL_SUN_slice_accum '

[djhoese]

Side note: I've updated your comment to format the output as a literal.

It looks like that ran fine so it must not be OpenGL. Can you narrow down your code to a minimal reproducible example?

[aganders3]

it runs successfully without any errors when executed as a standalone Python script. By when running with ros2, ie., calling script inside ros2 node, the following error occurs

@AjinJayan just to make sure: you mentioned that it runs fine as a standalone script. Is the output you shared of print(vispy.sys_info()) from execution as a standalone script or from inside a ros2 node? To me it looks like you ran that from the CLI but maybe that's a ros2 shell or something.

[AjinJayan]

when using "egl" as backend, output of print(vispy.sys_info()) is as follows. When using other backends like "glfw" the output is one which I have shared earlier.

Platform: Linux-6.8.0-47-generic-x86_64-with-glibc2.35 Python: 3.10.12 (main, Jul 16 2024, 18:01:04) [GCC 11.4.0] NumPy: 1.23.5 Backend: egl pyqt4: None pyqt5: None pyqt6: None pyside: None pyside2: None pyside6: ('PySide6', '6.8.0.1', '6.8.0') pyglet: pyglet 2.0.17 glfw: glfw 2.7.0 sdl2: None wx: None egl: EGL 1.5 NVIDIA: OpenGL_ES OpenGL osmesa: OSMesa tkinter: None jupyter_rfb: None _test: None

App info-gathering error: Traceback (most recent call last): File "/home/rack/.pyenv/versions/3.10.12/envs/gdrnpp/lib/python3.10/site-packages/vispy/util/config.py", line 429, in sys_info canvas = Canvas('Test', (10, 10), show=False, app=app) File "/home/rack/.pyenv/versions/3.10.12/envs/gdrnpp/lib/python3.10/site-packages/vispy/app/canvas.py", line 211, in init self.create_native() File "/home/rack/.pyenv/versions/3.10.12/envs/gdrnpp/lib/python3.10/site-packages/vispy/app/canvas.py", line 228, in create_native self._app.backend_module.CanvasBackend(self, **self._backend_kwargs) File "/home/rack/.pyenv/versions/3.10.12/envs/gdrnpp/lib/python3.10/site-packages/vispy/app/backends/_egl.py", line 173, in init self._vispy_canvas.set_current() File "/home/rack/.pyenv/versions/3.10.12/envs/gdrnpp/lib/python3.10/site-packages/vispy/app/canvas.py", line 412, in set_current self._backend._vispy_set_current() File "/home/rack/.pyenv/versions/3.10.12/envs/gdrnpp/lib/python3.10/site-packages/vispy/app/backends/_egl.py", line 204, in _vispy_set_current egl.eglMakeCurrent(_EGL_DISPLAY, self._surface, self._surface, File "/home/rack/.pyenv/versions/3.10.12/envs/gdrnpp/lib/python3.10/site-packages/vispy/ext/egl.py", line 355, in eglMakeCurrent raise RuntimeError('Could not make the context current.') RuntimeError: Could not make the context current.

. . .

File "/home/rack/.pyenv/versions/3.10.12/envs/gdrnpp/lib/python3.10/site-packages/vispy/gloo/gl/init.py", line 204, in check_error raise err RuntimeError: OpenGL got errors (Check before draw): GL_INVALID_ENUM

[djhoese]

These are on the same system? I'm a little confused how two different Qt libraries were found (pyqt5 in one, pyside6 in the other)?