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V-Rep with Groovy

asked 2013-02-14 14:24:36 -0500

philotuxo gravatar image

updated 2014-01-28 17:15:15 -0500

ngrennan gravatar image

Hello,

I've been having difficulty in using V-Rep with ROS Groovy properly. While the publishers and subscribers work generally with no problems, image related publishers cause the V-Rep simulator crash, e.g. when the scene "rosTopicPublisherAndSubscriber" is run.

I tried to rebuild the ros plugin (libv_repExtRos.so) in the stack that comes with the simulator. What may be the cause?

The log is as follows:

$ ./vrep.sh 
Add-on script 'vrepAddOnScript-addOnScriptDemo.lua' was loaded.
Simulator launched.
Plugin 'BubbleRob': loading...
Plugin 'BubbleRob': load succeeded.
Plugin 'Collada': loading...
Plugin 'Collada': load succeeded.
Plugin 'K3': loading...
Plugin 'K3': load succeeded.
Plugin 'Mtb': loading...
Plugin 'Mtb': load succeeded.
Plugin 'ReflexxesTypeIV': loading...
Plugin 'ReflexxesTypeIV': load succeeded.
Plugin 'RemoteApi': loading...
Plugin 'RemoteApi': load succeeded.
Plugin 'Ros': loading...
Plugin 'Ros': load succeeded.
Plugin 'SimpleFilter': loading...
Plugin 'SimpleFilter': load succeeded.
Plugin 'Urdf': loading...
Plugin 'Urdf': load succeeded.
failed to load symbols, rosdep will not function properly
Cannot import rospkg, rosdep will not function properly
ERROR:root:code for hash md5 was not found.
Traceback (most recent call last):
  File "/usr/lib/python2.7/hashlib.py", line 139, in <module>
    globals()[__func_name] = __get_hash(__func_name)
  File "/usr/lib/python2.7/hashlib.py", line 91, in __get_builtin_constructor
    raise ValueError('unsupported hash type ' + name)
ValueError: unsupported hash type md5
ERROR:root:code for hash sha1 was not found.
Traceback (most recent call last):
  File "/usr/lib/python2.7/hashlib.py", line 139, in <module>
    globals()[__func_name] = __get_hash(__func_name)
  File "/usr/lib/python2.7/hashlib.py", line 91, in __get_builtin_constructor
    raise ValueError('unsupported hash type ' + name)
ValueError: unsupported hash type sha1
ERROR:root:code for hash sha224 was not found.
Traceback (most recent call last):
  File "/usr/lib/python2.7/hashlib.py", line 139, in <module>
    globals()[__func_name] = __get_hash(__func_name)
  File "/usr/lib/python2.7/hashlib.py", line 91, in __get_builtin_constructor
    raise ValueError('unsupported hash type ' + name)
ValueError: unsupported hash type sha224
ERROR:root:code for hash sha256 was not found.
Traceback (most recent call last):
  File "/usr/lib/python2.7/hashlib.py", line 139, in <module>
    globals()[__func_name] = __get_hash(__func_name)
  File "/usr/lib/python2.7/hashlib.py", line 91, in __get_builtin_constructor
    raise ValueError('unsupported hash type ' + name)
ValueError: unsupported hash type sha256
ERROR:root:code for hash sha384 was not found.
Traceback (most recent call last):
  File "/usr/lib/python2.7/hashlib.py", line 139, in <module>
    globals()[__func_name] = __get_hash(__func_name)
  File "/usr/lib/python2.7/hashlib.py", line 91, in __get_builtin_constructor
    raise ValueError('unsupported hash type ' + name)
ValueError: unsupported hash type sha384
ERROR:root:code for hash sha512 was not found.
Traceback (most recent call last):
  File "/usr/lib/python2.7/hashlib.py", line 139, in <module>
    globals()[__func_name] = __get_hash(__func_name)
  File "/usr/lib/python2.7/hashlib.py", line 91, in __get_builtin_constructor
    raise ValueError('unsupported hash type ' + name)
ValueError: unsupported hash type sha512
Traceback (most recent call last):
  File "/usr/lib/pymodules/python2.7/rosdep2/rospack.py", line 39, in <module>
    from .main import _get_default_RosdepLookup
  File "/usr/lib/pymodules/python2.7/rosdep2/main.py", line 50, in <module>
    from .lookup import ...
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Comments

I couldn't diagnose the bug, so I had to downgrade to precise & fuerte, since I have work to do on the simulator.

philotuxo gravatar image philotuxo  ( 2013-02-17 01:11:50 -0500 )edit

2 Answers

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answered 2013-03-18 10:37:57 -0500

23pointsNorth gravatar image

updated 2013-03-18 10:39:56 -0500

I had the same problem. It doesn't like image_transport. If you are not interested in compressing the video stream, switch back to sensor_msgs/Image. It works fine for me.

edit: Works fine with Groovy, Ubuntu 12.10 & V-REP 3.02

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answered 2013-08-14 23:06:19 -0500

Short Answer:

export LD_PRELOAD=/opt/ros/groovy/lib/libimage_transport.so

(or your path to the .so file)

Long Answer:

There seems to be a bug in the Python-based dynamical loading system.

Say you create a library “foo” that (includes and) links to image_transport.

Now you create an executable “bar”, that links dynamically to foo.so. So far no problem.

but.,

if you create an executable “baz”, that uses dynamical loading and unloading of libraries

...

lib_handle = dlopen("/path/to/foo.so", RTLD_LAZY);

... it will throw exactly this error, unless you do the workaround with preloading.

Maybe your problem is related to this.

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Asked: 2013-02-14 14:24:36 -0500

Seen: 1,176 times

Last updated: Aug 14 '13