It looks like you are getting some sort of graphics error. What type of GPU
do you have? Is it on this list:
http://www.ros.org/wiki/simulator_gazebo/SystemRequirements ?

<http://www.ros.org/wiki/simulator_gazebo/SystemRequirements>- Eric

On Thu, Sep 9, 2010 at 11:10 PM, 甄灵 <zhenlin86@gmail.com> wrote:

> Dear all:
>
>     I am learning "motion_planning_environment/Tutorials/Making collision
> maps from self-filtered tilting laser data" in the address of "
> http://www.ros.org/wiki/motion_planning_environment/Tutorials/Making%20collision%20maps%20from%20self-filtered%20tilting%20laser%20data".
> And my work environment is Ubuntu 9.10 with 32bit.
> When I type "roslaunch pr2_arm_navigation_tutorials
> pr2_floorobj_world.launch",and the simulation window crashes. And it gets
> the errors as following:
> ============================error=========================================
> starting new master (master configured for auto start)
> process[master]: started with pid [9932]
> ROS_MASTER_URI=http://ubuntu:11311/
>
> setting /run_id to 8c73b5ca-bc87-11df-a116-001b2408559f
> process[rosout-1]: started with pid [9945]
> started core service [/rosout]
> process[gazebo-2]: started with pid [9948]
> process[pr2_gazebo_model-3]: started with pid [9949]
> process[robot_state_publisher-4]: started with pid [9950]
> process[pr2_mechanism_diagnostics-5]: started with pid [9951]
> process[fake_joint_calibration-6]: started with pid [9952]
> process[wide_stereo_proc-7]: started with pid [9953]
> process[narrow_stereo_proc-8]: started with pid [9954]
> process[narrow_stereo_textured_proc-9]: started with pid [9955]
> process[image_proc-10]: started with pid [9956]
> process[image_proc-11]: started with pid [9957]
> process[diag_agg-12]: started with pid [9958]
> process[pr2_dashboard_aggregator-13]: started with pid [9959]
> process[robot_pose_ekf-14]: started with pid [9960]
> process[base_hokuyo_node-15]: started with pid [9963]
> process[tilt_hokuyo_node-16]: started with pid [9966]
> process[camera_synchronizer_node-17]: started with pid [9967]
> process[default_controllers_spawner-18]: started with pid [9968]
> process[gripper_action_node-19]: started with pid [9969]
> process[gripper_action_node-20]: started with pid [9970]
> process[point_head_action-21]: started with pid [9971]
> process[position_joint_action_node-22]: started with pid [9973]
> Gazebo multi-robot simulator, version 0.10.0
>
> Part of the Player/Stage Project [http://playerstage.sourceforge.net].
> Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
> Released under the GNU General Public License.
>
> [ INFO] [1284087632.728199813]: Starting to spin camera_synchronizer at 0
> Hz...
> loading model xml from ros parameter
> attempting to spawn robot in simulation
> waiting for service spawn_urdf_model
> XRequest.136: BadDrawable (invalid Pixmap or Window parameter) 0x4400002
> do_wait: drmWaitVBlank returned -1, IRQs don't seem to be working
> correctly.
> Try adjusting the vblank_mode configuration parameter.
> Service call failed: transport error completing service call: unable to
> receive data from sender, check sender's logs for details
> spawning success None
> [gazebo-2] process has died [pid 9948, exit code -11].
> log files:
> /home/jolin/.ros/log/8c73b5ca-bc87-11df-a116-001b2408559f/gazebo-2*.log
>
> ==============================end of
> errors========================================
> What should I do to solve this problem? Thanks in advanced!
>
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>