EuRoC Forum

[Jonatan]

Hi ,
I have recently installed the system provided for the Track 1 of this Challenge, importing virtual machines into virtualBox from euroc_c2s1_20140818115515.ova file.

Once server is started i run client machine and i get this error (complete console output exported to CSV):

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message;severity;node;stamp;topics;location
"Starting the simulator failed failed: Traceback (most recent call last):
  File \"/opt/euroc_c2s1/bin/task_selector\", line 1350, in on_start_simulator
    no_start=(\"no_start\" in scene_desc[1:]),
  File \"/opt/euroc_c2s1/bin/task_selector\", line 429, in _start_simulator
    self._start_simulator_bh()
  File \"/opt/euroc_c2s1/bin/task_selector\", line 461, in _start_simulator_bh
    raise Exception(\"failed to start simulation server! please check console output!\")
Exception: failed to start simulation server! please check console output!
";"8";"/euroc_c2_demo_node";"1409766638.563000182";"/rosout";"/home/devel/euroc/gazebo/challenge2_sim/euroc_c2_plugin/ros/catkin_ws/src/euroc_c2_demos/src/euroc_c2_demo.cpp:main:118"


I have run both machines without as they com from the ova file, without modify anything.


Thanks!

[admin]

Hi,

It seems that you are working on challenge 2. Moved the topic here.

Best,
Bernd

[Peter Lehner]

Hello Jonatan,

Can you please check and add the output from the terminal in the 'simserv' virtual machine after you received this error from the simclient virtual machine?

Kind regards
- Peter

[Tobias Fromm]

Hi guys,

we seem to have the same problem as Jonatan with server messages like follows:

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Error [BulletPhysics.cc:495]  debug physics:  iters[50] sor[1.3] erp[0.2] cfm[0] split[1] split tol[-0.02]
process 'simulator' at pid 2073 terminated!
simulator stopped while starting up!
already stopped
Traceback (most recent call last):
  File "/opt/euroc_c2s1/bin/task_selector", line 1351, in on_start_simulator
    no_start=("no_start" in scene_desc[1:]),
  File "/opt/euroc_c2s1/bin/task_selector", line 429, in _start_simulator
    self._start_simulator_bh()
  File "/opt/euroc_c2s1/bin/task_selector", line 461, in _start_simulator_bh
    raise Exception("failed to start simulation server! please check console output!")


I'm not sure whether the Bullet error is actually an error since it appears on a different machine as well where the simulator is basically working.

In general, this seems to be a Gazebo issue since gzclient crashes with

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Illegal instruction (core dumped)

if I manually try to start gzserver and gzclient. Maybe someone has had this issue before?

Cheers,
Tobi

[andrej.babinec]

Hi,
I've got the same error message. I am using the native instalation on Ubuntu 12.04.
Here is the error message copyed from rqt_console:

Node: /euroc_c2_demo_node
Time: 10:41:19.158251247 (2014-09-08)
Severity: Error
Published Topics: /rosout

Starting the simulator failed failed: Traceback (most recent call last):
File "/opt/euroc_c2s1/bin/task_selector", line 1351, in on_start_simulator
no_start=("no_start" in scene_desc[1:]),
File "/opt/euroc_c2s1/bin/task_selector", line 429, in _start_simulator
self._start_simulator_bh()
File "/opt/euroc_c2s1/bin/task_selector", line 461, in _start_simulator_bh
raise Exception("failed to start simulation server! please check console output!")
Exception: failed to start simulation server! please check console output!


Location:
/home/devel/euroc/gazebo/challenge2_sim/euroc_c2_plugin/ros/catkin_ws/src/euroc_c2_demos/src/euroc_c2_demo.cpp:main:118

----------------------------------------------------------------------------------------------------

And if I manually try to start gzserver and gzclient an empty Gazebo starts (no crashes here).

Thank for help.
Andrej

[Peter Lehner]

Hi,

In order to get more debug information we need you to contact the support mailing list. We will provide scripts to test the gazebo server and client seperatly and generate core dumps if necessary.

Kind Regards
Peter Lehner

[Tobias Fromm]

Actually, what we found out is that when the VirtualBox Guest Add-Ins are installed and Hardware Acceleration is enabled, Gazebo starts. It throws some warnings about OpenGL functions which don't work, but it doesn't crash and glxgears works as well in the VM.
But then there is the problem that gzclient's GL output is completely distorted, i.e. "snow", which indicates still some issues with the GL display routing through the VM. So it seems more a VM OpenGL-related issue than Gazebo or the demo system per se. Any ideas?

[Peter Lehner]

As guest additions hardware 3D acceleration is an experimental feature in virtualbox it is hard to tell where the problem lies.
One thing worth trying might be to enforce software rendering of LibGL as mentioned here http://www.mesa3d.org/envvars.html.
To do this execute

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$ export LIBGL_ALWAYS_SOFTWARE=1

before running gazebo server.

[Peter Lehner]

Additionally here is the OpenGL version information of our working simguest VM from

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glxinfo | grep OpenGL

:

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OpenGL vendor string: VMware, Inc.
OpenGL renderer string: Gallium 0.4 on llvmpipe (LLVM 3.3, 128 bits)
OpenGL version string: 2.1 Mesa 9.2.1
OpenGL shading language version string: 1.30


[Tobias Fromm]

Weird, our simguest VMs (both for client and server) give

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OpenGL renderer string: Gallium 0.4 on llvmpipe (LLVM 3.3, 256 bits)

instead of 128 bits.
This seems to cause the problem since on a different machine we have 128 bits, there OpenGL works as expected. Do you have any idea how this may be caused?

Edit: export LIBGL_ALWAYS_SOFTWARE=1 didn't help.