osrf/vrx

Adding Ogre rendering support (Waves shaders issues)

Opened this issue · 1 comments

Dat-Bois commented

Describe the bug
Ogre2 is giving significant issues when rendering, probably due to my VM and OpenGL GPU passthrough support with Gazebo. Running with Ogre as my rendering engine for other sample Gazebo environments seems to fix the rendering issues and use Gazebo as expected with GPU acceleration. However, using the shaders in the VRX project for the GerstnerWaves causes Gazebo to crash. I thought it was versioning between 330 and 150 for the GLSL files but I'm not sure anymore.

Expected behavior
Gazebo GUI loads/opens.

To Reproduce
List the steps to reproduce the problem:

  1. Run " ros2 launch vrx_gz competition.launch.py world:=sydney_regatta extra_gz_args:='--render-engine ogre' "
  2. See error

System Configuration:
Tell us about your system.

  • OS: Ubuntu 22.04 ARM64 (VMware Fusion)
  • ROS Version: ROS 2, Humble
  • Gazebo Version: Gazebo Garden Sim 7.0.0
  • Graphics Card: Integrated (Apple M2 Pro 19 GPU core)
  • Are you using VRX or VRX Classic? VRX

Error Log

[ruby $(which gz) sim-1] gz sim server: ./OgreMain/src/OgreGpuProgramParams.cpp:1105: void Ogre::GpuProgramParameters::_writeRawConstants(size_t, const int*, size_t): Assertion `physicalIndex + count <= mIntConstants.size()' failed.
[ruby $(which gz) sim-1] Stack trace (most recent call last) in thread 37472:
[ruby $(which gz) sim-1] #25   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[ruby $(which gz) sim-1] #24   Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa9835d1b, in 
[ruby $(which gz) sim-1] #23   Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa97cd5c7, in 
[ruby $(which gz) sim-1] #22   Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffffa57b31fb, in 
[ruby $(which gz) sim-1] #21   Object "/usr/lib/aarch64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0xffff7d2bda77, in gz::sim::v7::systems::SensorsPrivate::RenderThread()
[ruby $(which gz) sim-1] #20   Object "/usr/lib/aarch64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0xffff7d2bccf3, in gz::sim::v7::systems::SensorsPrivate::RunOnce()
[ruby $(which gz) sim-1] #19   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fefed2b, in gz::rendering::v7::OgreScene::PreRender()
[ruby $(which gz) sim-1] #18   Object "/lib/aarch64-linux-gnu/libgz-rendering7.so.7", at 0xffff7cfa80ef, in gz::rendering::v7::BaseScene::PreRender()
[ruby $(which gz) sim-1] #17   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe67727, in 
[ruby $(which gz) sim-1] #16   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe7056f, in 
[ruby $(which gz) sim-1] #15   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe67727, in 
[ruby $(which gz) sim-1] #14   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe7056f, in 
[ruby $(which gz) sim-1] #13   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe67727, in 
[ruby $(which gz) sim-1] #12   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe7056f, in 
[ruby $(which gz) sim-1] #11   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fe6d5d3, in 
[ruby $(which gz) sim-1] #10   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fec4077, in 
[ruby $(which gz) sim-1] #9    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5fec8d0b, in 
[ruby $(which gz) sim-1] #8    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5febcb7b, in gz::rendering::v7::OgreMaterial::UpdateShaderParams()
[ruby $(which gz) sim-1] #7    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff5febc86f, in gz::rendering::v7::OgreMaterial::UpdateShaderParams(std::shared_ptr<gz::rendering::v7::ShaderParams const>, Ogre::SharedPtr<Ogre::GpuProgramParameters>)
[ruby $(which gz) sim-1] #6    Object "/lib/aarch64-linux-gnu/libOgreMain.so.1.9.0", at 0xffff5fa24127, in Ogre::GpuProgramParameters::_writeRawConstant(unsigned long, int)
[ruby $(which gz) sim-1] #5    Object "/lib/aarch64-linux-gnu/libOgreMain.so.1.9.0", at 0xffff5fa24107, in Ogre::GpuProgramParameters::_writeRawConstants(unsigned long, int const*, unsigned long)
[ruby $(which gz) sim-1] #4    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa978403f, in __assert_fail
[ruby $(which gz) sim-1] #3    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa9783fcf, in 
[ruby $(which gz) sim-1] #2    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa977712f, in abort
[ruby $(which gz) sim-1] #1    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa978a67b, in raise
[ruby $(which gz) sim-1] #0    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa97cf200, in 
[ruby $(which gz) sim-1] Aborted (Signal sent by tkill() 37432 1000)
[ruby $(which gz) sim-1] gz sim gui: ./OgreMain/src/OgreGpuProgramParams.cpp:1105: void Ogre::GpuProgramParameters::_writeRawConstants(size_t, const int*, size_t): Assertion `physicalIndex + count <= mIntConstants.size()' failed.
[ruby $(which gz) sim-1] Stack trace (most recent call last) in thread 37588:
[ruby $(which gz) sim-1] #31   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa25cb523, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
[ruby $(which gz) sim-1] #30   Object "/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffffa13e2f13, in g_main_context_iteration
[ruby $(which gz) sim-1] #29   Object "/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffffa143aeab, in 
[ruby $(which gz) sim-1] #28   Object "/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffffa13e5a6f, in g_main_context_dispatch
[ruby $(which gz) sim-1] #27   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa25cc057, in 
[ruby $(which gz) sim-1] #26   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa256ff87, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
[ruby $(which gz) sim-1] #25   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa256cb8f, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[ruby $(which gz) sim-1] #24   Object "/lib/aarch64-linux-gnu/libQt5Widgets.so.5", at 0xffffa3a12abf, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[ruby $(which gz) sim-1] #23   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffffa259cfd3, in QObject::event(QEvent*)
[ruby $(which gz) sim-1] #22   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff68f64923, in gz::gui::plugins::RenderThread::RenderNext(gz::gui::plugins::RenderSync*)
[ruby $(which gz) sim-1] #21   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff68f73f63, in gz::gui::plugins::RenderThreadRhiOpenGL::RenderNext(gz::gui::plugins::RenderSync*)
[ruby $(which gz) sim-1] #20   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff68f69193, in gz::gui::plugins::GzRenderer::Render(gz::gui::plugins::RenderSync*)
[ruby $(which gz) sim-1] #19   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4e2e2b, in 
[ruby $(which gz) sim-1] #18   Object "/lib/aarch64-linux-gnu/libgz-rendering7.so.7", at 0xffff685d80ef, in gz::rendering::v7::BaseScene::PreRender()
[ruby $(which gz) sim-1] #17   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4c7727, in 
[ruby $(which gz) sim-1] #16   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4d056f, in 
[ruby $(which gz) sim-1] #15   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4c7727, in 
[ruby $(which gz) sim-1] #14   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4d056f, in 
[ruby $(which gz) sim-1] #13   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4c7727, in 
[ruby $(which gz) sim-1] #12   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4d056f, in 
[ruby $(which gz) sim-1] #11   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b4cd5d3, in 
[ruby $(which gz) sim-1] #10   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b524077, in 
[ruby $(which gz) sim-1] #9    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b528d0b, in 
[ruby $(which gz) sim-1] #8    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b51cb7b, in gz::rendering::v7::OgreMaterial::UpdateShaderParams()
[ruby $(which gz) sim-1] #7    Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre.so", at 0xffff2b51c86f, in gz::rendering::v7::OgreMaterial::UpdateShaderParams(std::shared_ptr<gz::rendering::v7::ShaderParams const>, Ogre::SharedPtr<Ogre::GpuProgramParameters>)
[ruby $(which gz) sim-1] #6    Object "/lib/aarch64-linux-gnu/libOgreMain.so.1.9.0", at 0xffff2b014127, in Ogre::GpuProgramParameters::_writeRawConstant(unsigned long, int)
[ruby $(which gz) sim-1] #5    Object "/lib/aarch64-linux-gnu/libOgreMain.so.1.9.0", at 0xffff2b014107, in Ogre::GpuProgramParameters::_writeRawConstants(unsigned long, int const*, unsigned long)
[ruby $(which gz) sim-1] #4    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa978403f, in __assert_fail
[ruby $(which gz) sim-1] #3    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa9783fcf, in 
[ruby $(which gz) sim-1] #2    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa977712f, in abort
[ruby $(which gz) sim-1] #1    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa978a67b, in raise
[ruby $(which gz) sim-1] #0    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa97cf200, in 
[ruby $(which gz) sim-1] Aborted (Signal sent by tkill() 37433 1000)
[INFO] [ruby $(which gz) sim-1]: process has finished cleanly [pid 37392]

Additional notes
I understand that I am creating an issue for an unsupported configuration (ARM64), but adding support can be incredibly useful given how many students may be using Apple M-series Macs. I am concurrently developing a guide on how to setup VRX with GPU support for this configuration and will publish it once I iron out the kinks (and figure this out).

matthiaskiller commented

@Dat-Bois I have the same issue. Have you figured it already out? :)
Thanks!