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启动ROS rviz出现`段错误(核心已转储)`问题的解决方法

2018-03-30 11:23 633 查看

ROS kinetic运行rviz出错

问题描述

最近在学ROS，按照wiki上在Ubuntu 16.04.4上安装了ROS kinetic，初级教程走了一遍运行让rqt_graph,rqt_console之类的工具都没有问题，

结果在运行rviz的时候出问题了，一直提示我

段错误（核心已转储）

（segment fault ，core dump），具体如下

Ubuntu:~$ rosrun rviz rviz
[ INFO] [1522369870.091615347]: rviz version 1.12.15
[ INFO] [1522369870.091690402]: compiled against Qt version 5.5.1
[ INFO] [1522369870.091714375]: compiled against OGRE version 1.9.0 (Ghadamon)
段错误 (核心已转储)
Ubuntu:~$ rosrun rviz rviz -l
[ INFO] [1522370140.225215260]: rviz version 1.12.15
[ INFO] [1522370140.225287175]: compiled against Qt version 5.5.1
[ INFO] [1522370140.225310742]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1522370140.375375959]: Creating resource group General
[ INFO] [1522370140.375491819]: Creating resource group Internal
[ INFO] [1522370140.375532174]: Creating resource group Autodetect
[ INFO] [1522370140.375690966]: SceneManagerFactory for type 'DefaultSceneManager' registered.
[ INFO] [1522370140.375949592]: Registering ResourceManager for type Material
[ INFO] [1522370140.375997736]: Registering ResourceManager for type Mesh
[ INFO] [1522370140.376036710]: Registering ResourceManager for type Skeleton
[ INFO] [1522370140.376096529]: MovableObjectFactory for type 'ParticleSystem' registered.
[ INFO] [1522370140.376187863]: ArchiveFactory for archive type FileSystem registered.
[ INFO] [1522370140.376240037]: ArchiveFactory for archive type Zip registered.
[ INFO] [1522370140.376274611]: ArchiveFactory for archive type EmbeddedZip registered.
[ INFO] [1522370140.376308180]: DDS codec registering
[ INFO] [1522370140.376358547]: FreeImage version: 3.17.0
[ INFO] [1522370140.376398438]: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details
[ INFO] [1522370140.376585203]: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,sgi,rgb,rgba,bw,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti,x3f,webp,jxr,wdp,hdp
[ INFO] [1522370140.376627873]: PVRTC codec registering
[ INFO] [1522370140.376664071]: ETC codec registering
[ INFO] [1522370140.376699482]: Registering ResourceManager for type HighLevelGpuProgram
[ INFO] [1522370140.376740182]: Registering ResourceManager for type Compositor
[ INFO] [1522370140.377049460]: MovableObjectFactory for type 'Entity' registered.
[ INFO] [1522370140.377090205]: MovableObjectFactory for type 'Light' registered.
[ INFO] [1522370140.377123949]: MovableObjectFactory for type 'BillboardSet' registered.
[ INFO] [1522370140.377156974]: MovableObjectFactory for type 'ManualObject' registered.
[ INFO] [1522370140.377198382]: MovableObjectFactory for type 'BillboardChain' registered.
[ INFO] [1522370140.377280185]: MovableObjectFactory for type 'RibbonTrail' registered.
[ INFO] [1522370140.377414575]: *-*-* OGRE Initialising
[ INFO] [1522370140.377456833]: *-*-* Version 1.9.0 (Ghadamon)
[ INFO] [1522370140.377500568]: OverlayElementFactory for type Panel registered.
[ INFO] [1522370140.377534101]: OverlayElementFactory for type BorderPanel registered.
[ INFO] [1522370140.377569881]: OverlayElementFactory for type TextArea registered.
[ INFO] [1522370140.377609821]: Registering ResourceManager for type Font
[ INFO] [1522370140.377652190]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/RenderSystem_GL
[ INFO] [1522370140.380957944]: Installing plugin: GL RenderSystem
[ INFO] [1522370140.381128845]: OpenGL Rendering Subsystem created.
[ INFO] [1522370140.427495833]: Plugin successfully installed
[ INFO] [1522370140.427644150]: Loading library /usr/lib/x
b6b7
86_64-linux-gnu/OGRE-1.9.0/Plugin_OctreeSceneManager
[ INFO] [1522370140.430253358]: Installing plugin: Octree Scene Manager
[ INFO] [1522370140.430466348]: Plugin successfully installed
[ INFO] [1522370140.430554014]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_ParticleFX
[ INFO] [1522370140.433490863]: Installing plugin: ParticleFX
[ INFO] [1522370140.433616272]: Particle Emitter Type 'Point' registered
[ INFO] [1522370140.433692001]: Particle Emitter Type 'Box' registered
[ INFO] [1522370140.433765257]: Particle Emitter Type 'Ellipsoid' registered
[ INFO] [1522370140.433838017]: Particle Emitter Type 'Cylinder' registered
[ INFO] [1522370140.433908811]: Particle Emitter Type 'Ring' registered
[ INFO] [1522370140.433980383]: Particle Emitter Type 'HollowEllipsoid' registered
[ INFO] [1522370140.434051023]: Particle Affector Type 'LinearForce' registered
[ INFO] [1522370140.434122162]: Particle Affector Type 'ColourFader' registered
[ INFO] [1522370140.434193244]: Particle Affector Type 'ColourFader2' registered
[ INFO] [1522370140.434264004]: Particle Affector Type 'ColourImage' registered
[ INFO] [1522370140.434335792]: Particle Affector Type 'ColourInterpolator' registered
[ INFO] [1522370140.434406751]: Particle Affector Type 'Scaler' registered
[ INFO] [1522370140.434477090]: Particle Affector Type 'Rotator' registered
[ INFO] [1522370140.434547772]: Particle Affector Type 'DirectionRandomiser' registered
[ INFO] [1522370140.434618616]: Particle Affector Type 'DeflectorPlane' registered
[ INFO] [1522370140.434687169]: Plugin successfully installed
[ INFO] [1522370140.434773926]: CPU Identifier & Features
[ INFO] [1522370140.434842022]: -------------------------
[ INFO] [1522370140.434910222]:  *   CPU ID: GenuineIntel: Intel(R) Core(TM)2 Duo CPU     E6550  @ 2.33GHz
[ INFO] [1522370140.434978348]:  *      SSE: yes
[ INFO] [1522370140.435045307]:  *     SSE2: yes
[ INFO] [1522370140.435111694]:  *     SSE3: yes
[ INFO] [1522370140.435177678]:  *      MMX: yes
[ INFO] [1522370140.435243485]:  *   MMXEXT: yes
[ INFO] [1522370140.435309550]:  *    3DNOW: no
[ INFO] [1522370140.435375084]:  * 3DNOWEXT: no
[ INFO] [1522370140.435440917]:  *     CMOV: yes
[ INFO] [1522370140.435507942]:  *      TSC: yes
[ INFO] [1522370140.435574002]:  *      FPU: yes
[ INFO] [1522370140.435639920]:  *      PRO: yes
[ INFO] [1522370140.435705315]:  *       HT: no
[ INFO] [1522370140.435771088]: -------------------------
[ INFO] [1522370140.435840408]: ******************************
*** Starting GLX Subsystem ***
******************************
[ INFO] [1522370140.435925601]: Registering ResourceManager for type Texture
[ INFO] [1522370140.436078294]: GLRenderSystem::_createRenderWindow "OgreWindow(0)", 1x1 windowed  miscParams: FSAA=4 contentScalingFactor=1.000000 externalGLControl= externalWindowHandle=85983233 parentWindowHandle=85983233
[ INFO] [1522370140.439962635]: GLXWindow::create used FBConfigID = 101
[ INFO] [1522370140.440422263]: GL_VERSION = 1.4 Mesa 17.2.8
[ INFO] [1522370140.440502728]: GL_VENDOR = Intel Open Source Technology Center
[ INFO] [1522370140.440575302]: GL_RENDERER = Mesa DRI Intel(R) Q35
[ INFO] [1522370140.440695733]: GL_EXTENSIONS = GL_ARB_multisample GL_EXT_abgr GL_EXT_bgra GL_EXT_blend_color GL_EXT_blend_minmax GL_EXT_blend_subtract GL_EXT_copy_texture GL_EXT_polygon_offset GL_EXT_subtexture GL_EXT_texture_object GL_EXT_vertex_array GL_EXT_compiled_vertex_array GL_EXT_texture GL_EXT_texture3D GL_IBM_rasterpos_clip GL_ARB_point_parameters GL_EXT_draw_range_elements GL_EXT_packed_pixels GL_EXT_point_parameters GL_EXT_rescale_normal GL_EXT_separate_specular_color GL_EXT_texture_edge_clamp GL_SGIS_generate_mipmap GL_SGIS_texture_border_clamp GL_SGIS_texture_edge_clamp GL_SGIS_texture_lod GL_ARB_multitexture GL_IBM_multimode_draw_arrays GL_IBM_texture_mirrored_repeat GL_3DFX_texture_compression_FXT1 GL_ARB_texture_cube_map GL_ARB_texture_env_add GL_ARB_transpose_matrix GL_EXT_blend_func_separate GL_EXT_fog_coord GL_EXT_multi_draw_arrays GL_EXT_secondary_color GL_EXT_texture_env_add GL_EXT_texture_filter_anisotropic GL_EXT_texture_lod_bias GL_INGR_blend_func_separate GL_NV_blend_square GL_NV_light_max_exponent GL_NV_texgen_reflection GL_NV_texture_env_combine4 GL_S3_s3tc GL_SUN_multi_draw_arrays GL_ARB_texture_border_clamp GL_ARB_texture_compression GL_EXT_framebuffer_object GL_EXT_texture_compression_s3tc GL_EXT_texture_env_combine GL_EXT_texture_env_dot3 GL_MESA_window_pos GL_NV_packed_depth_stencil GL_NV_texture_rectangle GL_ARB_depth_texture GL_ARB_shadow GL_ARB_texture_env_combine GL_ARB_texture_env_crossbar GL_ARB_texture_env_dot3 GL_ARB_texture_mirrored_repeat GL_ARB_window_pos GL_EXT_stencil_two_side GL_EXT_texture_cube_map GL_APPLE_packed_pixels GL_ARB_draw_buffers GL_ARB_fragment_program GL_ARB_fragment_shader GL_ARB_shader_objects GL_ARB_vertex_program GL_ARB_vertex_shader GL_ATI_draw_buffers GL_ATI_texture_env_combine3 GL_EXT_shadow_funcs GL_EXT_stencil_wrap GL_MESA_pack_invert GL_MESA_ycbcr_texture GL_ARB_half_float_pixel GL_ARB_point_sprite GL_ARB_shading_language_100 GL_ARB_sync GL_ARB_texture_non_power_of_two GL_ARB_vertex_buffer_object GL_ATI_blend_equation_separate GL_EXT_blend_equation_separate GL_OES_read_format GL_ARB_pixel_buffer_object GL_ARB_texture_rectangle GL_EXT_pixel_buffer_object GL_EXT_texture_compression_dxt1 GL_EXT_texture_rectangle GL_EXT_texture_sRGB GL_ARB_framebuffer_object GL_EXT_framebuffer_blit GL_EXT_packed_depth_stencil GL_APPLE_object_purgeable GL_ARB_vertex_array_object GL_ATI_separate_stencil GL_EXT_gpu_program_parameters GL_EXT_texture_sRGB_decode GL_OES_EGL_image GL_ARB_copy_buffer GL_ARB_map_buffer_range GL_ARB_ES2_compatibility GL_ARB_debug_output GL_ARB_draw_elements_base_vertex GL_ARB_explicit_attrib_location GL_ARB_provoking_vertex GL_ARB_sampler_objects GL_EXT_provoking_vertex GL_ARB_get_program_binary GL_ARB_robustness GL_ARB_separate_shader_objects GL_ANGLE_texture_compression_dxt3 GL_ANGLE_texture_compression_dxt5 GL_ARB_compressed_texture_pixel_storage GL_ARB_internalformat_query GL_ARB_map_buffer_alignment GL_ARB_texture_storage GL_AMD_shader_trinary_minmax GL_ARB_clear_buffer_object GL_ARB_explicit_uniform_location GL_ARB_invalidate_subdata GL_ARB_program_interface_query GL_ARB_vertex_attrib_binding GL_KHR_debug GL_ARB_multi_bind GL_ARB_get_texture_sub_image GL_KHR_context_flush_control GL_KHR_no_error
[ INFO] [1522370140.440950302]: Supported GLX extensions: GLX_ARB_create_context GLX_ARB_create_context_profile GLX_ARB_fbconfig_float GLX_ARB_framebuffer_sRGB GLX_ARB_get_proc_address GLX_ARB_multisample GLX_EXT_import_context GLX_EXT_visual_info GLX_EXT_visual_rating GLX_EXT_fbconfig_packed_float GLX_EXT_framebuffer_sRGB GLX_EXT_create_context_es2_profile GLX_EXT_create_context_es_profile GLX_MESA_copy_sub_buffer GLX_MESA_multithread_makecurrent GLX_MESA_query_renderer GLX_MESA_swap_control GLX_OML_swap_method GLX_OML_sync_control GLX_SGI_make_current_read GLX_SGI_swap_control GLX_SGI_video_sync GLX_SGIS_multisample GLX_SGIX_fbconfig GLX_SGIX_pbuffer GLX_SGIX_visual_select_group GLX_EXT_texture_from_pixmap GLX_INTEL_swap_event
[ INFO] [1522370140.441084833]: ***************************
[ INFO] [1522370140.441156402]: *** GL Renderer Started ***
[ INFO] [1522370140.441223244]: ***************************
段错误 (核心已转储)

解决方法

可以看到启动rviz的时候，运行到OGRE的时候就报段错误了，而且这时桌面上出现的rivz启动画面也退出了。百度谷歌github之后，看了一些解决方法，有重装ROS,还有什么remove intel video driver…但都不适用于我的问题。

使用-l查看一下详细的启动信息，可以看到检查OpenGL的时候出了问题，谷歌

ROS kinetic rviz OpenGL

，结果转来转去还是回到了ROS wiki，有一个链接专门用于解决rviz启动或运行过程中可能出现的各种问题（rviz/Troubleshooting），第一行就告诉我们如果使用的是Mesa graphic driver，需要关闭硬件加速器。

运行

glxinfo | grep "OpenGL version"

查看一下我们系统的图形库是啥（可能需要先安装glxinfo）。我的输出信息是：

OpenGL version string: 1.4 Mesa 17.2.8

所以问题明白了，就是因为OpenGL版本是Mesa导致rviz启动不了了。那就根据ROS wiki上的方法关闭硬件加速器先试试

关闭硬件加速器命令：

export LIBGL_ALWAYS_SOFTWARE=1

然后运行

rosrun rviz rviz

再看看

可以启动了～done！

总结

运行ros的一些工具的时候可能会出现各种段错误，谷歌前先用-l看一下详细的启动信息再谷歌会更容易定位到真正的问题（虽然我还是不知道我的具体问题原因，如果有大佬明白的话愿闻其详），因此本文的方法并不一定能解决你的问题，但是多谷歌总能找到方法的。

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