Issue running the Trochoid Waves model or Ocean Waves

[ConnorDTaylor]

Hi Rhys,

I have downloaded the new version of the wave sim and I encountered the following errors when I try to use the trochoid_waves wave model. I should note that the regular waves model works fine.

libEGL warning: egl: failed to create dri2 screen
libEGL warning: egl: failed to create dri2 screen
Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].
Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].
libEGL warning: egl: failed to create dri2 screen
libEGL warning: egl: failed to create dri2 screen
[GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set
gz sim server: /usr/include/eigen3/Eigen/src/Core/DenseBase.h:261: void Eigen::DenseBase::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Ref<Eigen::Array<double, -1, -1> >; Eigen::Index = long int]: Assertion rows == this->rows() && cols == this->cols() && "DenseBase::resize() does not actually allow one to resize."' failed. Stack trace (most recent call last) in thread 11477: #17 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in #16 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195de09ff, in #15 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195d4eb42, in #14 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fe191e062b2, in #13 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fe0dd0ab757, in gz::sim::v7::systems::SensorsPrivate::RenderThread() #12 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7fe0dd0aa126, in gz::sim::v7::systems::SensorsPrivate::RunOnce() #11 Object "/lib/x86_64-linux-gnu/libgz-sim7-rendering.so.7", at 0x7fe0dcffd469, in gz::sim::v7::RenderUtil::Update() #10 Object "/lib/x86_64-linux-gnu/libgz-sim7-rendering.so.7", at 0x7fe0dd0130fc, in #9 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1-waves-visual-system.so", at 0x7fe0dc19136f, in gz::sim::v7::systems::WavesVisualPrivate::OnUpdate() #8 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0dc46950f, in gz::waves::OceanTilePrivate<gz::math::v7::Vector3<double> >::UpdateMesh(double, gz::common::Mesh*) #7 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0dc46a0c0, in gz::waves::OceanTilePrivate<gz::math::v7::Vector3<double> >::UpdateVertices(double) #6 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0dc4bcf35, in gz::waves::TrochoidIrregularWaveSimulation::DisplacementAndDerivAt(Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >) const #5 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0dc4bbb01, in gz::waves::TrochoidIrregularWaveSimulation::Impl::ElevationAt(Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >) #4 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195cf3e95, in __assert_fail #3 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195ce271a, in #2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195ce27f2, in abort #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195cfc475, in raise #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195d50a7c, in pthread_kill Aborted (Signal sent by tkill() 11410 1000) gz sim gui: /usr/include/eigen3/Eigen/src/Core/DenseBase.h:261: void Eigen::DenseBase<Derived>::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Ref<Eigen::Array<double, -1, -1> >; Eigen::Index = long int]: Assertion rows == this->rows() && cols == this->cols() && "DenseBase::resize() does not actually allow one to resize."' failed.
Stack trace (most recent call last) in thread 11641:
#31 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195d4eb42, in
#30 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1901beca0, in
#29 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1901bdaf1, in QThread::exec()
#28 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903aa75a, in QEventLoop::exec(QFlagsQEventLoop::ProcessEventsFlag)
#27 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1904050b7, in QEventDispatcherGlib::processEvents(QFlagsQEventLoop::ProcessEventsFlag)
#26 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7fe18df953e2, in g_main_context_iteration
#25 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7fe18dfec6c7, in
#24 Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7fe18df97d3a, in g_main_context_dispatch
#23 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe190405a66, in
#22 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903aef26, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#21 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903abe39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#20 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7fe18fb05712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#19 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903d941d, in QObject::event(QEvent*)
#18 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7fe1605566f8, in gz::gui::plugins::RenderThread::RenderNext(gz::gui::plugins::RenderSync*)
#17 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7fe1605643c7, in gz::gui::plugins::RenderThreadRhiOpenGL::RenderNext(gz::gui::plugins::RenderSync*)
#16 Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7fe16055bb77, in gz::gui::plugins::GzRenderer::Render(gz::gui::plugins::RenderSync*)
#15 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903abe39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#14 Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7fe18fb05701, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#13 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7fe1903abb99, in QCoreApplicationPrivate::sendThroughObjectEventFilters(QObject*, QEvent*)
#12 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/gui/libGzSceneManager.so", at 0x7fe1580f2680, in gz::sim::v7::GzSceneManager::eventFilter(QObject*, QEvent*)
#11 Object "/lib/x86_64-linux-gnu/libgz-sim7-rendering.so.7", at 0x7fe12949b469, in gz::sim::v7::RenderUtil::Update()
#10 Object "/lib/x86_64-linux-gnu/libgz-sim7-rendering.so.7", at 0x7fe1294b10fc, in
#9 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1-waves-visual-system.so", at 0x7fe084b3e36f, in gz::sim::v7::systems::WavesVisualPrivate::OnUpdate()
#8 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0821db50f, in gz::waves::OceanTilePrivate<gz::math::v7::Vector3 >::UpdateMesh(double, gz::common::Mesh*)
#7 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe0821dc0c0, in gz::waves::OceanTilePrivate<gz::math::v7::Vector3 >::UpdateVertices(double)
#6 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe08222ef35, in gz::waves::TrochoidIrregularWaveSimulation::DisplacementAndDerivAt(Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >, Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >) const
#5 Object "/home/connor/colcon_ws/install/gz-waves1/lib/libgz-waves1.so.1", at 0x7fe08222db01, in gz::waves::TrochoidIrregularWaveSimulation::Impl::ElevationAt(Eigen::Ref<Eigen::Array<double, -1, -1, 0, -1, -1>, 0, Eigen::OuterStride<-1> >)
#4 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195cf3e95, in __assert_fail
#3 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195ce271a, in
#2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195ce27f2, in abort
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195cfc475, in raise
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe195d50a7c, in pthread_kill
Aborted (Signal sent by tkill() 11411 1000)

Then I get these errors when I try to use the ocean waves model (weirdly enough the "waves" model works properly.)
libEGL warning: egl: failed to create dri2 screen
libEGL warning: egl: failed to create dri2 screen
libEGL warning: egl: failed to create dri2 screen
[GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set
libEGL warning: egl: failed to create dri2 screen
Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].
Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].
Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].
Warning [Utils.cc:130] [/sdf/plugin[@name="gz::sim::systems::WavesVisual"]::L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].
[GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set
terminate called after throwing an instance of 'Ogre::ItemIdentityException'
what(): OGRE EXCEPTION(4:ItemIdentityException): A texture with name 'HeightMapTex(6)' already exists. (Real tex name: 'HeightMapTex(6)') in TextureGpuManager::createTexture at ./OgreMain/src/OgreTextureGpuManager.cpp (line 385)
Stack trace (most recent call last) in thread 11897:
#10 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a11d9ff, in
#8 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a08bb42, in
#7 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f68444c099d, in
#6 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f68444bef90, in qTerminate()
#5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f68461152b6, in std::terminate()
#4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f684611524b, in
#3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f6846109bbd, in
#2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a01f7f2, in abort
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a039475, in raise
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f684a08da7c, in pthread_kill
Aborted (Signal sent by tkill() 11716 1000)

I havent modified these scripts in any way, so I am not sure why they wouldn't work.

Cheers,

Connor

[mvanlobensels]

I have the same issues, only sinusoidal and FFT work.

[Subash-Aer0]

I do get the same error when I try to use ocean waves. @srmainwaring What should we do to get ocean waves run without error?