Hi Michal,
this is one issue we have seen quite consistently with ati cards.  Can you
try installing the latest driver from ATI and try again?  I don't have the
hardware to test it here.  So far, we have successfully run Gazebo/Ogre
mostly with nvidia cards/drivers (see
http://www.ros.org/wiki/simulator_gazebo/SystemRequirements)

as usual, patches are welcome.

best,
John

On Mar 9, 2010 9:15 AM, <Michal.Stolba@cis.strath.ac.uk> wrote:

Hi,

I'm trying to run the pr2 simulation in gazebo, but when I run:

roslaunch gazebo empty_world.launch (which launches gazebo just fine)

and

roslaunch pr2_gazebo pr2.launch

the last command spits out a lot of warnings such as:
[rospack] warning: couldn't find dependency [message_notifier] of [follower]
[rospack] warning: couldn't find dependency [wavefront] of [2dnav_erratic]
[rospack] warning: couldn't find dependency [wavefront] of [2dnav_stage]
[rospack] warning: couldn't find dependency [teleop_anti_collision] of
[2dnav_texas]
[rospack] warning: couldn't find dependency [nodelet] of [pcl]
[rospack] warning: couldn't find dependency [message_notifier] of [pr2_ik]
[rospack] warning: couldn't find dependency [experimental_controllers] of
[pr2_ik]
[rospack] warning: couldn't find dependency [robot_actions] of
[sbpl_door_planner_action]
[rospack] warning: couldn't find dependency [pr2_robot_actions] of
[sbpl_door_planner_action]
[rospack] warning: couldn't find dependency [message_notifier] of
[sbpl_arm_planner_node]
[rospack] warning: couldn't find dependency [robot_voxelizer] of
[sbpl_arm_planner_node]
[rospack] warning: couldn't find dependency [message_notifier] of
[or_robot_self_filter]
[rospack] warning: couldn't find dependency [experimental_controllers] of
[wheel_odometry_calibration]
[rospack] warning: couldn't find dependency [robot_actions] of
[pr2_laser_tilt_actions]
[rospack] warning: couldn't find dependency
[approximate_time_synchronizer] of [dp_ptu47_pan_tilt_stage]
[rospack] warning: couldn't find dependency
[approximate_time_synchronizer] of [dp_ptu47_pan_tilt_stage]
[rospack] warning: couldn't find dependency [qpOASES] of [multibooster]
[rospack] warning: couldn't find dependency [message_notifier] of
[people_package]
[rospack] warning: couldn't find dependency [deprecated_msgs] of
[people_package]
[rospack] warning: couldn't find dependency [robot_actions] of
[people_package]
[rospack] warning: couldn't find dependency [pr2_robot_actions] of
[people_package]
[rospack] warning: couldn't find dependency [topic_synchronizer] of
[people_package]
[rospack] warning: couldn't find dependency [topic_synchronizer2] of
[people_package]
[rospack] warning: couldn't find dependency [color_calib] of
[people_package]
[rospack] warning: couldn't find dependency [message_sequencing] of
[people_package]
[rospack] warning: couldn't find dependency [person_following_planner] of
[people_package]
[rospack] warning: couldn't find dependency [message_notifier] of
[leg_detector]
[rospack] warning: couldn't find dependency [deprecated_msgs] of
[leg_detector]
[rospack] warning: couldn't find dependency [topic_synchronizer] of
[leg_detector]
[rospack] warning: couldn't find dependency [message_sequencing] of
[leg_detector]
[rospack] warning: couldn't find dependency [message_notifier] of [filter]
[rospack] warning: couldn't find dependency [deprecated_msgs] of [filter]
[rospack] warning: couldn't find dependency [topic_synchronizer] of [filter]
[rospack] warning: couldn't find dependency [topic_synchronizer2] of
[filter]
[rospack] warning: couldn't find dependency [message_sequencing] of [filter]
[rospack] warning: couldn't find dependency [topic_synchronizer] of
[people_aware_nav]
[rospack] warning: couldn't find dependency [robot_actions] of
[people_aware_nav]
[rospack] warning: couldn't find dependency [deprecated_msgs] of [follower]
[rospack] warning: couldn't find dependency [robot_actions] of [follower]
[rospack] warning: couldn't find dependency [pr2_robot_actions] of
[follower]
[rospack] warning: couldn't find dependency [person_following_planner] of
[follower]
[rospack] warning: couldn't find dependency [message_notifier] of [follower]
[rospack] warning: couldn't find dependency [wavefront] of [2dnav_erratic]
[rospack] warning: couldn't find dependency [wavefront] of [2dnav_stage]

and gazebo crashes with following error:

BAYER_BGGR8 not supported, using default Ogre::PF_R8G8B8
BAYER_BGGR8 not supported, using default Ogre::PF_R8G8B8
[ INFO] 431.963999997: trigger_mode trigger_mode streaming
terminate called after throwing an instance of 'Ogre::RenderingAPIException'
 what():  OGRE EXCEPTION(3:RenderingAPIException): Zero sized texture
surface on texture high_def_sensor_RttTex face 0 mipmap 0. Probably, the
GL driver refused to create the texture. in
GLTexture::_createSurfaceList at OgreGLTexture.cpp (line 405)

I thought it might be because of bad opengl support, so I had a new card
installed:

openGL Renderer: ATI Radeon 9600 Series
OpenGL Version: 2.1.8087 Release

But the problem persists.

What could be wrong? Am I missing some important package? Any hints?

Thank you very much,

Michal Stolba


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