Issues in setting up simulator on ububtu partition of a windows laptop (Behavior Controller died immediately)

[fwang17]

Hello,

We are trying to setup the simulator on a ubuntu 18.04 partition on a windows laptop.

But we are getting the following error that behavior controller exited with -11. The log file was not created. Any idea how to fix this error. On the other hand, when using a ROS melodic container on a Mac OS laptop, we behavior controller was started fine but we can't get pass the DISPLAY issue to show the simulator on MacOS XQuartz server. The openGL was not passed around correctly. We would appreciate any pointers to move us forward in either direction. We would like to setup the environment for the high school robotics teams to demo.

setting /run_id to 98ced508-2a1b-11ec-b7c7-ec5c68c5bdd1
process[rosout-1]: started with pid [3338]
started core service [/rosout]
process[joy_node-2]: started with pid [3345]
process[map_server-3]: started with pid [3346]
process[racecar/robot_state_publisher-4]: started with pid [3351]
process[f1tenth_simulator-5]: started with pid [3353]
process[mux_controller-6]: started with pid [3363]
process[behavior_controller-7]: started with pid [3366]
process[random_walker-8]: started with pid [3378]
process[keyboard-9]: started with pid [3379]
process[rviz-10]: started with pid [3382]
[ INFO] [1633905856.819248742]: rviz version 1.13.19
[ INFO] [1633905856.819306757]: compiled against Qt version 5.9.5
[ INFO] [1633905856.819338518]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1633905856.828141310]: Forcing OpenGl version 0.
[ WARN] [1633905856.862635851]: Couldn't set gain on joystick force feedback: Bad file descriptor
[ INFO] [1633905857.028326805]: Stereo is NOT SUPPORTED
[ INFO] [1633905857.028458090]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
[ INFO] [1633905857.028483845]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1633905857.033653769]: Simulator constructed.
[behavior_controller-7] process has died [pid 3366, exit code -11, cmd /home/bob/catkin_ws/devel/lib/f1tenth_simulator/behavior_controller __name:=behavior_controller __log:=/home/bob/.ros/log/98ced508-2a1b-11ec-b7c7-ec5c68c5bdd1/behavior_controller-7.log].
log file: /home/bob/.ros/log/98ced508-2a1b-11ec-b7c7-ec5c68c5bdd1/behavior_controller-7*.log
[ INFO] [1633905857.483136836]: Creating 1 swatches
QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)

Fang

[hzheng40]

What version of ROS are you using? This doesn't seem like an error from the simulator itself. It looks like a qt error so it might be an error from ROS/rviz itself.

On a side note, we're no longer maintaining this repo and it'll be archived soon. Going forward, this repo here will be the main simulation for f1tenth in ROS.

[fwang17]

We are using melodic. Is there a specific package version you are referring to? roslaunch is at 1.14.12 How did you tell it is an error from qt? were you able to resolve the issue before? Thanks. Fang

[hzheng40]

A quick google search on QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) shows that it's a qt error. I don't recall using qt code anywhere in the simulator so I suspect it was ROS itself.
I've never seen this error before.

[fwang17]

That error is independent of behavior controller dying, They were printed after the behavior controller process has died when simulator UI was up running. But we can't use keyboard to control since no behavior controller,

The main error here is the behavior controller died of exit code -11. Do you know how to resolve it? Thanks.

Fang

[hzheng40]

Signal 11 is just a common unix signal that means there's a segfault. Without any more information, I can't really determine what's going on. I personally don't have ubuntu 18.04 anymore so I tested the repo out in a melodic-bionic container (without rviz) and everything seems to work fine on startup.

Does the error happen when you perform some action? Or when you're publishing to some topic?

[fwang17]

the error happened very quickly after starting up. When we see the simulator UI up and then go to the terminal, the message is already there.

We installed the simulator on a ROS melodic dock container on MacOS. There is no error on the behavior controller either. Unfortunately, we can't get the simulator openGL display onto MacOS even though we could get ROS turtle sim display fine with XQuartz. Thought fixing the -11 error maybe faster than fixing the openGL. Looks like it is hard too. Sounds like it maybe dependent on the laptop hardware somehow. I saw another report of the same error in the forum but his colleagues have no issue by following the same steps.

I followed your link to the new repo. It supports MacOS by noVNC for intel graphics card. Does the new version have the tutorials like the older one?

Thanks, Fang

[hzheng40]

It's still a work in progress. We'll be updating the website/tutorials for the Spring semester.