ros-visualization/rviz

How do I switch the Linux graphics stack from GLX to EGL or how do I use rviz under EGL?

Closed this issue · 5 comments

cljidkx commented

I can't run RVIz in arm64.Debugging problems through GDB occurs in glXCreateContext().
The glXCreateContext() is on line 154 of src/rviz/ogre_helpers/render_system.cpp.

(gdb) p attribList 
$2 = {4, 5, 12, 16, 13, 8, 0}
(gdb) p display
$1 = (Display *) 0x5555b436c0
(gdb) p visual
$4 = (XVisualInfo *) 0x0
(gdb) n
154	  GLXContext context = glXCreateContext(display, visual, nullptr, 1);
(gdb) n

Thread 1 "rviz" received signal SIGSEGV, Segmentation fault.
0x0000007ff6459448 in glXCreateContext () from /usr/lib/aarch64-linux-gnu/libGLX.so.0

Environment

  • OS Version: Ubuntu 20.04
  • ROS Distro: Noetic
  • RViz, Qt, OGRE, OpenGl version as printed by rviz: 
    Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[ INFO] [1660098735.437995898]: rviz version 1.14.14
[ INFO] [1660098735.438106153]: compiled against Qt version 5.12.8
[ INFO] [1660098735.438121612]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1660098735.451337275]: Forcing OpenGl version 0.
Using Wayland-EGL
arm_release_ver of this libmali is 'g6p0-01eac0', rk_so_ver is '5'.
Using the 'xdg-shell' shell integration
Segmentation fault (core dumped)
  • If source build, which git commit?
    95189c1
rhaschke commented

Looks like the creation of the XVisualInfo failed. rviz is written for GLX. Can you run other glx programs, e.g. glxgears?

cljidkx commented

Unable to run glx programs.Because the system uses EGL, it cannot run GLX programs. EGL is an extension of OpenGL on the arm platform for the x window system, and its function is equivalent to the glx library under x86.
I find it depends on wayland because I can run rviz properly in X11 but not in wayland.
The chip is arm64 and both are EGL.

cljidkx commented

你有安装 XWayland 吗？ https://stackoverflow.com/questions/47788578/how-come-glx-based-applications-can-be-run-on-wayland-on-ubuntu

Yes, I installed xwayland, but I still can't run the GLX application. Are there any other dependencies missing from my system?

rhaschke commented

I don't know your system. Please use the rich resources of the internet to resolve your basic GLX problem first.
This is an issue tracker for rviz related problems only.