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Gazebo on headless simulation server

asked 2014-02-04 03:43:18 -0600

ZdenekM gravatar image

updated 2014-02-19 05:49:43 -0600

Hello,

is there possibility to run Gazebo on headless server? I would like to setup complete ROS development server including Gazebo. The machine has graphic card with no OpenGL support. There is MESA so, for instance it's possible to run glxgears remotely (ssh -X). But Gazebo crashes with (RViZ also crashes):

X Error of failed request:  GLXBadDrawable
  Major opcode of failed request:  153 (GLX)
  Minor opcode of failed request:  5 (X_GLXMakeCurrent)
  Serial number of failed request:  31
  Current serial number in output stream:  31

It's possible to run gzserver like this:

user@server:~$ xvfb-run gzserver
Gazebo multi-robot simulator, version 1.9.3
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:12002
Msg Publicized address: xyz
Error [RenderEngine.cc:641] Unable to create glx visual
Warning [RenderEngine.cc:92] Unable to create X window. Rendering will be disabled

...but it would require installation of ROS/Gazebo also on client's machine which I would like to avoid and moreover it disables rendering (I can't use DepthCameraSensor). Any experience / tips will be highly appreciated :-)

UPDATE:

On server, I installed libgl1-mesa-swx11 (instead of libgl1-mesa-dri) and now it works somehow - it's possible to run gzserver on server or gazebo through X tunneling (this is painfully slow). Using webclient is probably a way to go.

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answered 2014-02-06 10:42:43 -0600

Jose Luis Rivero gravatar image

I believe that this has appeared in the past several times. Let me provide several references, hopefully they can help you:

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Many thanks, I will check those links.

ZdenekM gravatar imageZdenekM ( 2014-02-10 03:23:30 -0600 )edit
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answered 2014-02-04 06:32:35 -0600

I think you can try to use the web client. In this way you could connect to the server in your browser without a gazebo installation on client side.

http://gazebosim.org/wiki/Gzweb

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Thanks for hint. I didn't know there something like this.

ZdenekM gravatar imageZdenekM ( 2014-02-04 06:58:26 -0600 )edit
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Asked: 2014-02-04 03:43:18 -0600

Seen: 4,738 times

Last updated: Feb 19 '14