Gazebo headless over ssh

asked 2018-12-12 08:40:34 -0600

Baumboon gravatar image

updated 2018-12-12 08:55:26 -0600

Hello guys,

Here my systems: Clients (Ubuntu16.04 or WIN10 with putty and Xming ) Server : Ubuntu 16.04 I have following problem: I want to run my simulation on pc with remote. I have to run a lot of runs for a lot of image data...

I have a launch file and world file on Server and i want to start is remotely. I made a question couple days before there i used no x11 forwarding. I got an answer to use x11 forwarding . I done this but i got into another issues...

When i start gazebo headless with launch file :

roslaunch newTurtlebot.launch

I get the following :


 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /opt/ros/kinetic/...
 * /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
 * /depthimage_to_laserscan/range_min: 0.45
 * /depthimage_to_laserscan/scan_height: 10
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    depthimage_to_laserscan (depthimage_to_laserscan/depthimage_to_laserscan)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    laserscan_nodelet_manager (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_turtlebot_model (gazebo_ros/spawn_model)


process[gazebo-1]: started with pid [1040]
process[gazebo_gui-2]: started with pid [1047]
process[spawn_turtlebot_model-3]: started with pid [1055]
process[mobile_base_nodelet_manager-4]: started with pid [1059]
process[cmd_vel_mux-5]: started with pid [1060]
process[bumper2pointcloud-6]: started with pid [1061]
process[robot_state_publisher-7]: started with pid [1062]
process[laserscan_nodelet_manager-8]: started with pid [1076]
process[depthimage_to_laserscan-9]: started with pid [1083]
[ INFO] [1544617958.670005692]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1544617958.670604047]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
debug3: receive packet: type 90
debug1: client_input_channel_open: ctype x11 rchan 3 win 65536 max 16384
debug1: client_request_x11: request from 44754
debug2: fd 8 setting TCP_NODELAY
debug2: fd 8 setting O_NONBLOCK
debug3: fd 8 is O_NONBLOCK
debug1: channel 1: new [x11]
debug1: confirm x11
debug3: send packet: type 91
[gazebo-1] process has died [pid 1040, exit code 255, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/usr/turtlebot_project/ __name:=gazebo __log:=/home/usr/.ros/log/082a1574-fe06-11e8-b44c-d8cb8a119b1a/gazebo-1.log].
log file: /home/sc2/.ros/log/082a1574-fe06-11e8-b44c-d8cb8a119b1a/gazebo-1*.log
[mobile_base_nodelet_manager-4] process has finished cleanly
log file: /home/sc2/.ros/log/082a1574-fe06-11e8-b44c-d8cb8a119b1a/mobile_base_nodelet_manager-4*.log
X Error of failed request:  BadMatch (invalid parameter attributes)
  Major opcode of failed request:  143 (GLX)
  Minor opcode of failed request:  5 (X_GLXMakeCurrent)
  Serial number of failed request:  19
  Current serial number in output stream:  19
terminate called after throwing an instance of 'boost::exception_detail::clone_i             mpl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
debug3: receive packet: type 96
debug2: channel 1: rcvd eof
debug2: channel 1: output open -> drain
debug2: channel 1: obuf empty
debug2: channel 1: close_write
debug2: channel 1: output drain -> closed
debug1: channel 1: FORCE input drain
debug2: channel 1: ibuf empty
debug2: channel 1: send eof
debug3: send packet: type 96
debug2: channel 1: input drain -> closed
debug2: channel 1: send close
debug3: send packet: type 97
debug3: channel 1: will not send data after close
Aborted (core ...
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edit : i deleted the post before cause i thought the problem was solved ( 2 times gazebo started correctly ) but until now i could not reconstruct this scenario...

Baumboon gravatar imageBaumboon ( 2018-12-12 08:41:51 -0600 )edit