This is the same issue as
https://code.ros.org/discuss/ros-users/browse_frm/month/2010-02/337

Can you try the patch John sent and see if it works?

John, this exception really needs to be caught and the texture automatically
downres'd.  There are a *lot* of cards that do not support textures > 2048
on a side.

Josh

On Tue, Mar 9, 2010 at 10:03 AM, John Hsu <johnhsu@willowgarage.com> wrote:

> 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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