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Solution for: simulation of Falling Boxes not rendering

The debugging process:

1- Ensured that manual installation of eclipse software was done

1.1 see http://code.google.com/p/rtm-ros-robotics/wiki/ROS_English#Setup_Eclipse

1.2 Also check trouble shooting list. See http://code.google.com/p/rtm-ros-robotics /wiki/ROS_English#Troubleshooting

1.3 When installing GEF SDK 3.6.2 these errors ok sam@Mecha:~/prog/rtm-ros-robotics/rtm-ros-robotics/rtmros_common/openhrp3$ rosrun openhrp3 eclipse.sh I: Injected update sites

   * (Eclipse:3261): CRITICAL *: murrine_style_draw_box: assertion `height >= -1' 
   failed
   * (Eclipse:3261): CRITICAL *: murrine_style_draw_box: assertion `height >= -1'
   failed
   * (Eclipse:3261): CRITICAL *: murrine_style_draw_box: assertion `height >= -1'
   failed
   * (Eclipse:3261): CRITICAL *: murrine_style_draw_box: assertion `height >= -1'
   failed
   * (Eclipse:3261): CRITICAL *: murrine_style_draw_box: assertion `height >= -1' 
   failed
   * (Eclipse:3261): CRITICAL *: murrine_style_draw_box: assertion `height >= -1'
   failed

1.4 Did the following command sam@Mecha:~$ roscd rtmros_common; svn up

  U hrpsys/launch/hrp4c.launch U hrpsys/Makefile.hrpsys-base Conflict discovered 
  in 'hrpsys/index.rst'. Select: (p) postpone, (df) diff-full, (e) edit, (mc)  
  mine-conflict, (tc) theirs-conflict, (s) show all options: 
  (Select the tc option.)

2- Ran sam@Mecha:~$ glxgears

Error: couldn't get an RGB, Double-buffered visual If you meant to select a
glxgears project .xml file, I didn't see one available (now we know something is wrong with the display driver)

3- Used System->Preferences->Screensaver->GLMatrix to verify that GLMatrix would not render

4- Ran: sudo apt-get install --reinstall l freeglut3-dev build-essential libx11-dev libxmu-dev libxi-dev libgl1-mesa-glx libglu1-mesa libglu1-mesa-dev (to ensure the mesa software was installed properly)

Ran: sam@Mecha:~$ glxgears

Error: couldn't get an RGB, Double-buffered visual

Also ran: sam@Mecha:~$ glxinfo | grep '^direct rendering:'

Error: couldn't find RGB GLX visual or fbconfig

(problem is not mesa software)

5- Ran: export LIBGL_ALWAYS_INDIRECT=1

then glxgears WORKS! but the simulation still does not work and GLMatrix screensaver still doesn't work. Newer versions of the GLX library favor direct software rendering over accelerated indirect rendering

6- To see who the libGL files I ran:

sam@Mecha:~$ ls -al /usr/lib/libGL*

-rw-r--r-- 1 root root 487480 2010-01-17 00:07 /usr/lib/libGLEW.a

lrwxrwxrwx 1 root root 16 2012-05-23 17:03 /usr/lib/libGLEW.so ->libGLEW.so.1.5.2

lrwxrwxrwx 1 root root 16 2012-05-23 17:03 /usr/lib/libGLEW.so.1.5 ->libGLEW.so.1.5.2

-rw-r--r-- 1 root root 358456 2010-01-17 00:07 /usr/lib/libGLEW.so.1.5.2

-rw-r--r-- 1 root root 654 2011-07-29 03:02 /usr/lib/libGL.la

lrwxrwxrwx 1 root root 13 2012-05-26 10:23 /usr/lib/libGL.so -> mesa/libGL.so

lrwxrwxrwx 1 root root 15 2011-07-29 03:02 /usr/lib/libGL.so.1 ->libGL.so.275.21

-rwxr-xr-x 1 root root 1023120 2011-07-29 03:02 /usr/lib/libGL.so.275.21

-rw-r--r-- 1 root root 929838 2010-04-28 23:54 /usr/lib/libGLU.a

lrwxrwxrwx 1 root root 11 2012-05-26 10:23 /usr/lib/libGLU.so -> libGLU.so.1

lrwxrwxrwx 1 root root 20 2012-05-26 01:55 /usr/lib/libGLU.so.1 ->libGLU.so.1.3.070701

-rw-r--r-- 1 root root 461488 2010-04-28 23:54 /usr/lib/libGLU.so.1.3.070701

When the files were displayed only two were displayed in light green font:

/usr/lib/libGL.so.1 -> libGL.so.275.21 (this one is a symbolic link)

/usr/lib/libGL.so.275.21

These files have the version number of a proprietary installation of an NVidia display driver

7- I ran :

sam@Mecha:~$ dpkg -S libGL.so.275.21 (finds owner of package)

The result stated that the package did not exist. So now we know the Nvidia installation is invalid, so we can ignore it and proceed to install the NVidia binary X.Org driver (version 185) display driver available in the Ubuntu Software Center.

8- Ran: glxgears...and it worked.

GLMatrix screensaver... and it worked

OpenHRP Falling Boxes simulation....and it worked

They all worked, but were running slowly.

9- To see if OpenGL is using direct rendering or indirect rendering I ran:

sam@Mecha:~$ glxinfo | grep -i render

direct rendering: No (If you want to find out why, try setting LIBGL_DEBUG=verbose) OpenGL renderer string: GeForce GTS 450/PCI/SSE2

So, now we know we are using indirect rendering instead of direct rendering. If the OpenGL renderer string says "software" in it, then their drivers are not installed properly, even if direct rendering shows "Yes". Direct rendering is better because the rendering is faster.

10- Rebooted the computer.....and then ran:

sam@Mecha:~$ glxinfo | grep -i render

direct rendering: Yes OpenGL renderer string: unknown board/PCI/SSE2 GL_KTX_buffer_region, GL_NV_blend_square, GL_NV_conditional_render, GL_NVX_conditional_render, GL_NVX_gpu_memory_info,

11- Everything then worked properly and all was solved.