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X11 Forwarding and ROS Visualization Tools

asked 2012-02-15 07:15:27 -0600

osuairt gravatar image

Hi all,

I have a setup where I would prefer to be able to run my ROS setup remotely. When using X11 forwarding, on Rviz or the Turtlebot Gazebo simulator I get the following.

terminate called after throwing an instance of 'Ogre::RenderingAPIException'
  what():  OGRE EXCEPTION(3:RenderingAPIException): Couldn`t open X display localhost:10.0 in GLXGLSupport::getGLDisplay at /tmp/buildd/ros-electric-visualization-common-1.6.2/debian/ros-electric-visualization-common/opt/ros/electric/stacks/visualization_common/ogre/build/ogre_src_v1-7-3/RenderSystems/GL/src/GLX/OgreGLXGLSupport.cpp (line 788)
[gazebo-1] process has died [pid 5289, exit code -6].

Can anyone explain what this error means, and suggest where I could start looking to fix it?


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answered 2012-02-15 17:24:48 -0600

ahendrix gravatar image

Ogre and OpenGL in general doesn't play well with X forwarding. ROS is inherently network-aware, so you should instead set ROS_MASTER_URI appropriately on your workstation and run rviz locally.

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That is really too bad. I am looking for a solution where rendering is done remotely.

osuairt gravatar image osuairt  ( 2012-02-21 01:58:14 -0600 )edit

wviz: might provide the solution you're looking for.

ahendrix gravatar image ahendrix  ( 2012-02-21 18:10:48 -0600 )edit

answered 2019-08-01 09:37:03 -0600

kaalessi gravatar image

I recently set up X11 forwarding, and RVIZ just seemed to just work. The server is running Ubuntu and the client used Widnows and Putty. I did notice that the frame rate shown in RVIZ for my Velodyne Puck was significantly lower when using X11 forwarding. I also tested rqt_image_viewer and also had success. Maybe an update to X11 was all that was needed.

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answered 2012-06-19 07:59:01 -0600

Nan Jiang gravatar image

I saw that you are looking for a remote rendering solution for Gazebo, which is a problem I just solved recently. The point is that you need to set up a X server on the remote machine and forward 3D rendering quests to it, otherwise 3D rendering is forwarded to your local machine by default. The only consequence is that you will not see any graphical interface on your local machine.

If you have a monitor on the remote machine, things are quite easy. If not... there is still some small trick you can apply to overcome the difficulty. Tell me if you need more information.

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Really helpful. There is ALWAYS someone who needs "more information"...

Xaser gravatar image Xaser  ( 2017-06-15 13:02:08 -0600 )edit

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Asked: 2012-02-15 07:15:27 -0600

Seen: 1,713 times

Last updated: Jun 19 '12