The software crashed today. I want to connect to the host remotely through `ssh -X `, and then start coppeliaSim.sh in interface mode, but the following problem is displayed:
Code: Select all
sim@sim:~/coppelia_ws/src/coppelia_software$ ./coppeliaSim.sh
Loading the CoppeliaSim library...
Done!
Launching CoppeliaSim...
lib: 1
lic: 1
CoppeliaSim Edu V4.0.0. (rev. 4)
Using the default Lua library.
Loaded the video compression library.
Add-on script 'simAddOnScript-addOnScriptDemo.lua' was loaded.
Add-on script 'simAddOnScript-b0RemoteApiServer.lua' was loaded.
Add-on script 'simAddOnScript_PyRep.lua' was loaded.
If CoppeliaSim crashes now, try to install libgl1-mesa-dev on your system:
>sudo apt install libgl1-mesa-dev
Error: signal 11:
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_Z11_segHandleri+0x28)[0x7f206c3742f8]
/lib/x86_64-linux-gnu/libc.so.6(+0x354b0)[0x7f20701e04b0]
/lib/x86_64-linux-gnu/libc.so.6(strlen+0x26)[0x7f2070236746]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_Z15initGl_ifNeededv+0x110)[0x7f206c528880]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_ZN11CMainWindowC1Ev+0x806)[0x7f206c8139c6]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_ZN3App16createMainWindowEv+0x44)[0x7f206c519064]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_Z24simRunSimulator_internalPKciPFvvES2_S2_iS0_b+0x304)[0x7f206c381784]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(simRunSimulatorEx+0xf)[0x7f206c371ccf]
/home/sim/coppelia_ws/src/coppelia_software/coppeliaSim[0x401c48]
/home/sim/coppelia_ws/src/coppelia_software/coppeliaSim[0x401298]
So I changed to the headless mode to start coppeliaSim. sh -h test.ttt, and the crash showed as follows:
Code: Select all
sim@sim:~/coppelia_ws/src/coppelia_software$ ./coppeliaSim.sh -h test.ttt
Loading the CoppeliaSim library...
Done!
Launching CoppeliaSim...
lib: 1
lic: 1
CoppeliaSim Edu V4.0.0. (rev. 4)
Using the default Lua library.
Add-on script 'simAddOnScript-addOnScriptDemo.lua' was loaded.
Add-on script 'simAddOnScript-b0RemoteApiServer.lua' was loaded.
Add-on script 'simAddOnScript_PyRep.lua' was loaded.
Simulator launched.
Plugin 'Geometric': loading...
Plugin 'Geometric': load succeeded.
Plugin 'Assimp': loading...
Plugin 'Assimp': warning: replaced variable 'simAssimp'
Plugin 'Assimp': load succeeded.
Plugin 'BlueZero': loading...
Plugin 'BlueZero': warning: replaced variable 'simB0'
Plugin 'BlueZero': load succeeded.
Plugin 'BubbleRob': loading...
Plugin 'BubbleRob': load succeeded.
Plugin 'Bwf': loading...
Plugin 'Bwf': load succeeded.
Plugin 'CodeEditor': loading...
CodeEditor: cannot load in headless mode
Error with plugin 'CodeEditor': load failed (failed initialization).
Plugin 'Collada': loading...
CoppeliaSim runs in headless mode. Cannot start 'Collada' plugin.
Error with plugin 'Collada': load failed (failed initialization).
Plugin 'ConvexDecompose': loading...
Plugin 'ConvexDecompose': load succeeded.
Plugin 'CustomUI': loading...
CustomUI: doesn't work in headless mode
Error with plugin 'CustomUI': load failed (failed initialization).
Plugin 'DynamicsBullet-2-78': loading...
Plugin 'DynamicsBullet-2-78': load succeeded.
Plugin 'DynamicsBullet-2-83': loading...
Plugin 'DynamicsBullet-2-83': load succeeded.
Plugin 'DynamicsNewton': loading...
Plugin 'DynamicsNewton': load succeeded.
Plugin 'DynamicsOde': loading...
Plugin 'DynamicsOde': load succeeded.
Plugin 'DynamicsVortex': loading...
Plugin 'DynamicsVortex': load succeeded.
Plugin 'ExternalRenderer': loading...
Plugin 'ExternalRenderer': load succeeded.
Plugin 'ICP': loading...
Plugin 'ICP': warning: replaced variable 'simICP'
Plugin 'ICP': load succeeded.
Plugin 'Image': loading...
Plugin 'Image': warning: replaced variable 'simIM'
Plugin 'Image': load succeeded.
Plugin 'K3': loading...
Plugin 'K3': load succeeded.
Plugin 'Lic': loading...
Plugin 'Lic': load succeeded.
Plugin 'LuaCommander': loading...
LuaCommander: cannot find the statusbar widget
Error with plugin 'LuaCommander': load failed (failed initialization).
Plugin 'LuaRemoteApiClient': loading...
Plugin 'LuaRemoteApiClient': load succeeded.
Plugin 'Mtb': loading...
Plugin 'Mtb': load succeeded.
Plugin 'OMPL': loading...
Plugin 'OMPL': warning: replaced variable 'simOMPL'
Plugin 'OMPL': load succeeded.
Plugin 'OpenGL3Renderer': loading...
Plugin 'OpenGL3Renderer': load succeeded.
Plugin 'OpenMesh': loading...
Plugin 'OpenMesh': load succeeded.
Plugin 'Qhull': loading...
Plugin 'Qhull': load succeeded.
Plugin 'ROSInterface': loading...
Plugin 'RosInterface': warning: replaced variable 'simROS'
Plugin 'ROSInterface': load succeeded.
Plugin 'RRS1': loading...
Plugin 'RRS1': load succeeded.
Plugin 'ReflexxesTypeII': loading...
Plugin 'ReflexxesTypeII': load succeeded.
Plugin 'RemoteApi': loading...
Starting a remote API server on port 19997
Plugin 'RemoteApi': load succeeded.
Plugin 'SDF': loading...
SDF: doesn't work in headless mode
Error with plugin 'SDF': load failed (failed initialization).
Plugin 'SurfaceReconstruction': loading...
Plugin 'SurfaceReconstruction': warning: replaced variable 'simSurfRec'
Plugin 'SurfaceReconstruction': load succeeded.
Plugin 'Urdf': loading...
CoppeliaSim runs in headless mode. Cannot start 'Urdf' plugin.
Error with plugin 'Urdf': load failed (failed initialization).
Plugin 'Vision': loading...
Plugin 'Vision': load succeeded.
Using the 'Geometric' plugin.
SSL: OpenSSL 1.1.1b 26 Feb 2019
Checking for an updated CoppeliaSim version...
Failed checking whether this CoppeliaSim version is up-to-date.
Please visit www.coppeliarobotics.com to verify
Initializing the Bullet physics engine in plugin 'DynamicsBullet_2_83'...
Engine version: 2.83.7
Plugin version: 11
Initialization successful.
ERROR: Failed creating an offscreen QOpenGLContext. Switching to a hidden QGLWidget.
Error: signal 11:
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_Z11_segHandleri+0x28)[0x7ff7cf9122f8]
/lib/x86_64-linux-gnu/libc.so.6(+0x354b0)[0x7ff7d377e4b0]
/lib/x86_64-linux-gnu/libc.so.6(strlen+0x26)[0x7ff7d37d4746]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_Z15initGl_ifNeededv+0x110)[0x7ff7cfac6880]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_ZN19COffscreenGlContextC1EiiiP9QGLWidgetii+0x92)[0x7ff7cfb114a2]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_ZN20CVisionSensorGlStuffC2EiiibP9QGLWidgetbbii+0x74)[0x7ff7cfb12224]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_ZN13CVisionSensor45createGlContextAndFboAndTextureObjectIfNeededEb+0x153)[0x7ff7cf7dabc3]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_ZN13CVisionSensor13detectEntity2Eibbbb+0x1c6)[0x7ff7cf7dadf6]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_ZN13CVisionSensor44detectVisionSensorEntity_executedViaUiThreadEibbbb+0x75)[0x7ff7cf7db005]
/home/sim/coppelia_ws/src/coppelia_software/libcoppeliaSim.so(_ZN9CUiThread27__executeCommandViaUiThreadEP16SUIThreadCommandS1_+0x2434)[0x7ff7cfa7a924]
QMutex: destroying locked mutex
Is there any solution? At least it can running in headless mode via ssh -X. Thanks a lot.