How to run moveit/descartes on the odroid xu4 (OpenGl ES)

asked 2018-03-23 18:27:39 -0500

Chibike gravatar image

updated 2018-03-24 02:49:33 -0500

gvdhoorn gravatar image

Hi,

I am working on a project, which requires trajectory planning of an industrial arm (ABB IRB 120 using the IRC5 Compact Controller). My tests execute properly on my computer (Lenovo Yoga 8Gb Ram, Core i5, ROS Kinetic, Ubuntu 16.04 LTS), but fail to execute on the Odroid XU4.

Test

roslaunch artbot_trajectories artbot.launch

Observations

  1. Throws an error after attempting to load the robot model 'abb_irb120'
  2. Complains about X11 Visual, MESA LOADER, and libGL
    • Unable to find an X11 visual which matches EGL config 9
    • Could not initialize OpenGL for RasterGLSurface, reverting to RasterSurface
    • MESA-LOADER: failed to retrieve device information
    • libGL error: unable to load driver: exynos_dri.so

Expected Results

  1. Launches RVIZ with the standard demo GUI
  2. No Errors

Supporting Files workspace: link text required_packages: abb_driver, artbot_trajectories, descartes (all included in workspace) ros version: kinetic moveit version: kinetic os version: ubuntu mate 16.04 : link text ubuntu-16.04.3-4.14-mate-odroid-xu4-20171212.img.xz 2017-12-15 09:16 1.3G

Tags ODROID-XU4, ABB, moveit, descartes, opengl, opengl.es, ubuntu-16.04

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Comments

Two observations:

  1. this may not have been apparent, but both MoveIt and Descartes do not require a UI, only RViz does. The issues you are having are with the latter, not the former.
  2. don't "paraphrase" errors, it just complicates things. Copy-paste them verbatim and format them properly
gvdhoorn gravatar image gvdhoorn  ( 2018-03-24 02:47:39 -0500 )edit

Also: I've removed your email address: we like to keep the discussion here on this site, so there's no need for it, and secondly you expose your address to spam harvesters.

gvdhoorn gravatar image gvdhoorn  ( 2018-03-24 02:49:18 -0500 )edit

My first suggestion would be to see if you can run RViz by itself, so something like:

  1. terminal 1: roscore
  2. terminal 2: rosrun rviz rviz

if that also doesn't work, that's the problem.

At this time I suspect that you don't have 3D acceleration setup correctly. That would not be a ..

gvdhoorn gravatar image gvdhoorn  ( 2018-03-24 02:50:52 -0500 )edit

.. ROS issue, but a system configuration one.

gvdhoorn gravatar image gvdhoorn  ( 2018-03-24 02:51:05 -0500 )edit

I am sorry, I had to paraphrase the errors. I did this because I cannot copy the warnings from the device. However, I provided a link to screenshots of the entire log ( https://www.dropbox.com/sh/f9r8gvx1d1...

Chibike gravatar image Chibike  ( 2018-03-24 10:32:38 -0500 )edit

rviz starts but still throws similar x11 visual warnings.

I would verify my 3D acceleration and X11 setup.

Thank you.

Chibike gravatar image Chibike  ( 2018-03-24 10:32:48 -0500 )edit