rqt plugin crhashes static map rviz
Dear all,
I have created a rqt plugin in python. When I run the application rqt and then I invoke the launch file within my plugin.py and then I tick the static map option in Rviz, I get the following error:
[ WARN] [1394792185.671328003]: Failed to create full-size map texture, likely because your graphics card does not support textures of size > 2048. Downsampling to [2048 x 2048]...
terminate called after throwing an instance of 'Ogre::RenderingAPIException'
what(): OGRE EXCEPTION(3:RenderingAPIException): Zero sized texture surface on texture MapTexture0Downsampled face 0 mipmap 0. Probably, the GL driver refused to create the texture. in GLTexture::_createSurfaceList at /build/buildd/ogre-1.7.4/RenderSystems/GL/src/OgreGLTexture.cpp (line 406)
Aborted (core dumped)
But the funny thing is that, if I run Rviz separately from the plugin with the command rosrun rviz rviz and then I run map server command and then I tick the static map in Rviz. I have no error and the map is uploaded into Rviz.
To be sincere I have no clue what is triggering this error.
I will appreciate any help.
The code is just down here
from __future__ import division
import os
import rospy
import sys
import rospkg
import subprocess
from actionlib_msgs.msg import GoalID
from PyQt4 import QtCore, QtGui
from rosgraph import rosenv
from rqt_gui_py.plugin import Plugin
from python_qt_binding import loadUi
from python_qt_binding.QtGui import QWidget, QKeySequence, QShortcut, QFileDialog, QIcon, QDialog, QStandardItem
from rqt_msg.messages_widget import MessagesWidget
from python_qt_binding.QtCore import Qt, QTimer, Slot, QModelIndex, Signal
import roslaunch
from roslaunch.core import RLException
#from rqt_py_common import rosaction
class AWCPlugin(Plugin):
def __init__(self, context):
super(AWCPlugin, self).__init__(context)
self.setObjectName('AWCPlugin')
self._publisher = None
self._rospack = rospkg.RosPack()
self._widget = QWidget() # MessagesWidget(rosaction.MODE_ACTION)
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_awc'), 'resource', 'awc_gui.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('AWCPlugin')
# self._widget.setWindowTitle('AWC')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# self._widget.start.pressed.connect(self._on_start_clicked)
self._widget.restart.pressed.connect(self._on_restart_clicked)
self._widget.autonomous.pressed.connect(self._handle_autonomous)
self._widget.joystick.pressed.connect(self._handle_joystick)
#self._widget.stop_joystick.pressed.connect(self._on_stop_joystick_clicked)
self._widget.stop.pressed.connect(self._on_stop_pressed)
self._widget.semi_autonomous.clicked[bool].connect(self._handle_semi_autonomous)
# self._widget.stopautonomous.pressed.connect(self._on_stop_autonomous)
global joystick_flag, start_flag,re_start_flag, autonomous_flag,semiautonomous_flag,runner_start,stop_flag
joystick_flag = 0
start_flag = 0
re_start_flag = 0
autonomous_flag = 0
semiautonomous_flag = 0
stop_flag = 0
#runner_start = 0
@Slot(str)
def _handle_autonomous(self):
global start_flag,joystick_flag,autonomous_flag,runner_start,start_flag
if autonomous_flag == 0:
self._widget.textEdit.setText("<font size = '30' color ='red'>AUTONOMOUS</font>")
self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
launchfile_name = 'patrolbot_navigation.launch'
folder_name_launchfile = 'launch'
pkg_name = 'awc_navigation'
# try:
#launchfile = os.path.join(rospkg.RosPack().get_path(pkg_name), folder_name_launchfile, launchfile_name)
#print( launchfile)
args = roslaunch.rlutil.resolve_launch_arguments([pkg_name, launchfile_name])
rospy.loginfo("Starting task: %s"%args)
runner_start = roslaunch.parent.ROSLaunchParent(rospy.get_param("/run_id"), args)
runner_start.start()
#start_flag = 0
autonomous_flag =1
#re_start_flag = 1
#return start_flag
# except IndexError as e:
# raise RLException('IndexError: {}'.format(e.message))
if autonomous_flag == 1:
self._widget.textEdit.setText("<font size = '30' color ='red'>AUTONOMOUS </font>")
self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
# if start_flag == 0:
# self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>PRESS START</font>")
# self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
if joystick_flag == 1:
runner_joystick.shutdown()
joystick_flag = 0
# def _on_start_clicked(self):
# global start_flag,re_start_flag,runner_start, start_flag
#self._widget.textEdit.setText('Start')
#self._widget.textEdit.setStyleSheet("background-color: blue");
# if start_flag == 0:
# self._widget.textEdit.setText("<font size = '30' color ='red'>START</font>")
# self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
# launchfile_name = 'start.launch'
# folder_name_launchfile = 'launch'
# pkg_name = 'awc_navigation'
# try:
#launchfile = os.path.join(rospkg.RosPack().get_path(pkg_name), folder_name_launchfile, launchfile_name)
#print( launchfile)
# args = roslaunch.rlutil.resolve_launch_arguments([pkg_name, launchfile_name])
# rospy.loginfo("Starting task: %s"%args)
# runner_start = roslaunch.parent.ROSLaunchParent(rospy.get_param("/run_id"), args)
# runner_start.start()
# start_flag = 1
#re_start_flag = 1
#return start_flag
# except IndexError as e:
# raise RLException('IndexError: {}'.format(e.message))
# if start_flag == 1:
# self._widget.textEdit.setText("<font size = '30' color ='red'>START </font>")
# self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
def _on_restart_clicked(self):
global start_flag,re_start_flag,runner_start,joystick_flag,autonomous_flag,stop_flag
if autonomous_flag == 1 or joystick_flag == 1 or stop_flag == 1:
self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>RE START</font>")
self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
runner_start.shutdown()
launchfile_name = 'patrolbot_navigation.launch'
folder_name_launchfile = 'launch'
pkg_name = 'awc_navigation'
#try:
#launchfile = os.path.join(rospkg.RosPack().get_path(pkg_name), folder_name_launchfile, launchfile_name)
#print( launchfile)
args = roslaunch.rlutil.resolve_launch_arguments([pkg_name, launchfile_name])
rospy.loginfo("Starting task: %s"%args)
runner_start = roslaunch.parent.ROSLaunchParent(rospy.get_param("/run_id"), args)
runner_start.start()
#start_flag = 0
autonomous_flag =1
stop_flag = 0;
#re_start_flag = 1
#return start_flag
#except IndexError as e:
# raise RLException('IndexError: {}'.format(e.message))
def _on_stop_pressed(self):
#self._widget.x_linear_slider.setValue(0)
#self._widget.textEdit.setText('Stop')
global runner_start, runner_joystick, start_flag,joystick_flag,autonomous_flag,stop_flag
#if start_flag == 0:
# self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>PRESS START</font>")
# self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
if autonomous_flag == 1:
self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>STOP</font>")
self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
#try:
nav_abort_pub = rospy.Publisher("move_base/cancel", GoalID)
abort_msg = GoalID()
nav_abort_pub.publish(abort_msg)
# autonomous_flag = 0
#print("We got here")
#subprocess.Popen("rostopic pub movbase/cancel actionlib_msgs/GoalID '{}'")
#except IndexError as e:
# raise RLException('IndexError: {}'.format(e.message))
#if start_flag == 1:
# self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>STOP</font>")
# self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
# runner_start.shutdown()
# start_flag = 0
if joystick_flag == 1:
self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>STOP</font>")
self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
runner_joystick.shutdown()
joystick_flag = 0
stop_flag = 1;
# def _on_stop_autonomous(self):
# global autonomous_flag
# self._widget.textEdit.setText("<font size = '5' color ='red' style='text-align:center'>STOP AUTONOMOUS</font>")
# self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
# if autonomous_flag == 1:
# try:
# nav_abort_pub = rospy.Publisher("move_base/cancel", GoalID)
# abort_msg = GoalID()
# nav_abort_pub.publish(abort_msg)
# autonomous_flag = 0
#print("We got here")
#subprocess.Popen("rostopic pub movbase/cancel actionlib_msgs/GoalID '{}'")
# except IndexError as e:
# raise RLException('IndexError: {}'.format(e.message))
#def _on_restart_pressed(self):
# if joystick_flag == 1 or autonomous_flag ==1:
# self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>STOP</font>")
# self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
# runner_start.shutdown()
# start_flag = 0
def _handle_semi_autonomous(self):
global start_flag,joystick_flag,semiautonomous_flag
if semiautonomous_flag == 0:
self._widget.textEdit.setText("<font size = '5' color ='red' style='text-align:center'>SEMIAUTONOMOUS</font>")
self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
# filename = QFileDialog.getOpenFileName(self._widget, self.tr('Load from File'), "/home/acp/patrol_ws/sandbox/patrol_navigation/maps", self.tr("maps (*.pgm)"))
#if filename[0] != '':
# try:
# handle = open(filename[0])
# except IOError as e:
# qWarning(str(e))
# return
# self._datamodel.load_from_file(handle)
# handle.close()
#def _on_stop_joystick_clicked(self):
# global joystick_flag
# if joystick_flag == 1:
# self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>STOP JOYSTICK</font>")
# self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
# runner_joystick.shutdown()
# joystick_flag = 0
def _handle_joystick(self):
global start_flag,joystick_flag,autonomous_flag,runner_joystick
# if start_flag == 0:
# self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>PRESS START</font>")
# self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
if autonomous_flag == 0:
self._widget.textEdit.setText("<font size = '4' color ='red' style='text-align:center'>JOYSTICK</font>")
self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
launchfile_name = 'patrolbot_navigation.launch'
folder_name_launchfile = 'launch'
pkg_name = 'awc_navigation'
#try:
#launchfile = os.path.join(rospkg.RosPack().get_path(pkg_name), folder_name_launchfile, launchfile_name)
#print( launchfile)
args = roslaunch.rlutil.resolve_launch_arguments([pkg_name, launchfile_name])
rospy.loginfo("Starting task: %s"%args)
runner_start = roslaunch.parent.ROSLaunchParent(rospy.get_param("/run_id"), args)
runner_start.start()
#start_flag = 0
autonomous_flag =1
#re_start_flag = 1
#return start_flag
#except IndexError as e:
# raise RLException('IndexError: {}'.format(e.message))
launchfile_name = 'joystick.launch'
folder_name_launchfile = 'launch'
pkg_name = 'awc_navigation'
#try:
#launchfile = os.path.join(rospkg.RosPack().get_path(pkg_name), folder_name_launchfile, launchfile_name)
#print( launchfile)
args = roslaunch.rlutil.resolve_launch_arguments([pkg_name, launchfile_name])
rospy.loginfo("Starting task: %s"%args)
runner_joystick = roslaunch.parent.ROSLaunchParent(rospy.get_param("/run_id"), args)
runner_joystick.start()
joystick_flag = 1
#return joystick_flag
#except IndexError as e:
# raise RLException('IndexError: {}'.format(e.message))
if joystick_flag == 1:
self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>JOYSTICK</font>")
self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
if joystick_flag == 0:
self._widget.textEdit.setText("<font size = '30' color ='red' style='text-align:center'>JOYSTICK</font>")
self._widget.textEdit.setAlignment(QtCore.Qt.AlignCenter)
launchfile_name = 'joystick.launch'
folder_name_launchfile = 'launch'
pkg_name = 'awc_navigation'
#try:
#launchfile = os.path.join(rospkg.RosPack().get_path(pkg_name), folder_name_launchfile, launchfile_name)
#print( launchfile)
args = roslaunch.rlutil.resolve_launch_arguments([pkg_name, launchfile_name])
rospy.loginfo("Starting task: %s"%args)
runner_joystick = roslaunch.parent.ROSLaunchParent(rospy.get_param("/run_id"), args)
runner_joystick.start()
joystick_flag = 1
#return joystick_flag
#except IndexError as e:
# raise RLException('IndexError: {}'.format(e.message))
def shutdown_plugin(self):
pass
#self._widget.cleanup_browsers_on_close()
def save_settings(self, plugin_settings, instance_settings):
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# v = instance_settings.value(k)
pass
Asked by acp on 2014-03-14 01:25:04 UTC
Comments
Can you show your code in plugin.py?
Asked by ZdenekM on 2014-03-14 03:24:00 UTC
The code is just up here, the funny thing is that it was working well.
Asked by acp on 2014-03-14 05:14:00 UTC
Souns like the launchfile you're launching is publishing a huge map. You can do "rostopic echo /map --noarr" and watch the output when you run your plugin to see the exact size.
Asked by jbinney on 2014-03-14 13:03:30 UTC
Well, I get this map size width: 1984 height: 1984 Then I get another error: terminate called after throwing an instance of 'Ogre::InternalErrorException' what(): OGRE EXCEPTION(7:InternalErrorException): Cannot create GL vertex buffer in GLHardwareVertexBuffer::GLHardwareVertexBuffer at /build/buildd/ogre-1.7.4/RenderSystems/GL/src/OgreGLHardwareVertexBuffer.cpp (line 46)
Asked by acp on 2014-03-16 03:18:59 UTC
The funny thing is that it works quite well when I launch the application in a launch file outside the rqt plugin GUI.
I have installed rosserial following this site, http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup maybe that installation somehow screw up my rqt plugin
Asked by acp on 2014-03-16 03:25:12 UTC