Re: [ros-users] gazebo crashes when trying to run pr2

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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