simulation doesn't launch with docker

[ican9595]

Hi everyone,

we followed your instructions to setup the docker containers and everything worked fine so far.
When we run ./start_competition_environment.sh container a and b are both starting but the gazebo simulation doesn't start.

Do you have any suggestions why this might be?

Thank you.

Best regards

Ibrahim

[ThijsRuigrok]

Hi Ibrahim,

What do you mean with "the simulaiton does not start"?
a. you do not see the gazebo simulation.
b. you see the gazebo simulation but it does not move.

if b, you can press the play button in the bottom of the gazebo screen, and the simulation will start.

[ThijsRuigrok]

@BenedictBauerHHN. Now I understand. Yes, please create a new issue.

[MoonWalkerAZ]

Hello @ThijsRuigrok , I have the similar problem that the simulation won't start. Command: echo $DISPLAY gives me :1. I have changed the dockercompose.yml file to - DISPLAY=:1 , but gazebo simulation won't start when I run: ./start_competition_environment.sh 1. I have even changed nvidia drives to X.org, but sadly my system is very unresponsive if I do that. I have a dual boot of Ubuntu 18.04.

Here is the log if I run docker logs fre_a_container_1

`xacro: in-order processing became default in ROS Melodic. You can drop the option.
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Wrn] [GuiIface.cc:199] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin 
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1622921809.914591982]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1622921809.916352669]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.19.0.2
[Wrn] [GuiIface.cc:297] Couldn't locate specified .ini. Creating file at "/root/.gazebo/gui.ini"
libGL error: No matching fbConfigs or visuals found
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: failed to load driver: swrast
X Error of failed request:  GLXBadContext
  Major opcode of failed request:  151 (GLX)
  Minor opcode of failed request:  6 (X_GLXIsDirect)
  Serial number of failed request:  29
  Current serial number in output stream:  28
X Error of failed request:  GLXBadContext
  Major opcode of failed request:  151 (GLX)
  Minor opcode of failed request:  6 (X_GLXIsDirect)
  Serial number of failed request:  29
  Current serial number in output stream:  28
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
terminate called recursively
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
[gazebo-7] process has died [pid 123, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -u --verbose -e ode /catkin/src/Virtual_Field_Robot_Event/virtual_maize_field/worlds/generated.world __name:=gazebo __log:=/root/.ros/log/50d1a932-c635-11eb-96f7-0242ac130002/gazebo-7.log].
log file: /root/.ros/log/50d1a932-c635-11eb-96f7-0242ac130002/gazebo-7*.log
Aborted (core dumped)
[gazebo_gui-8] process has died [pid 133, exit code 134, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient --verbose __name:=gazebo_gui __log:=/root/.ros/log/50d1a932-c635-11eb-96f7-0242ac130002/gazebo_gui-8.log].
log file: /root/.ros/log/50d1a932-c635-11eb-96f7-0242ac130002/gazebo_gui-8*.log
[WARN] [1622921822.950135, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.`

[ThijsRuigrok]

Are you sure switching to the X.org driver has been done successfully? To my understanding the X Error of failed request: GLXBadContext means that the docker file talks in a different "dialect" to the host GL system than expected. Using the X.org driver should solve this. If you can verify that the switch to the x.org driver was done correctly, and if you rebooted, this means that we have a new problem -_-'.

I will look into it. A quick, but less performing fix, would be to use the VMware virtual machine, and in the VMware run the docker containers. The VMware doesn't virtualize the GPU, reducing the performance, but also preventing you from experiencing these problems.

[MoonWalkerAZ]

I have tried switching to X.org driver, but the sistem becomes so laggy and unusable. If I switch to X.org I get :0 so this is correct. Sadly the simulation won't start.

Anyway I will try to test docker on a VMware or different computer.

[ThijsRuigrok]

You can also install gazebo and the virtual maize field directly on your computer. The performance should then be better, and hardware acceleration of you GPU should be easy then. The start_competition_environment.sh is primarily meant to test if all your robot code is correctly implemented in the container structure.