Forwarding email to the correct mailing list. -nate
---------- Forwarded message ---------- From: Rufino Bolado <rbol...@gmail.com> Date: Wed, Jan 28, 2009 at 9:21 AM Subject: Re: [PlayerStage-Gazebo] Gazebo GUI runs too slow To: natekoe...@gmail.com Hi, I manage to fix the problem by following the instructions at http://wiki.cchtml.com/index.php/Ubuntu_Hardy_Installation_Guide. Now $ glxinfo name of display: :0.0 display: :0 screen: 0 direct rendering: Yes server glx vendor string: SGI server glx version string: 1.2 server glx extensions: GLX_ARB_multisample, GLX_EXT_import_context, GLX_EXT_texture_from_pixmap, GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method, GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_visual_select_group client glx vendor string: SGI client glx version string: 1.4 client glx extensions: GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context, GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_MESA_allocate_memory, GLX_MESA_swap_control, GLX_MESA_swap_frame_usage, 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 version: 1.2 GLX extensions: GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context, GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method, GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_visual_select_group OpenGL vendor string: ATI Technologies Inc. OpenGL renderer string: Radeon X1300/X1550 Series OpenGL version string: 2.1.7412 Release OpenGL extensions: GL_AMD_performance_monitor, GL_ARB_depth_texture, GL_ARB_draw_buffers, GL_ARB_fragment_program, GL_ARB_fragment_shader, GL_ARB_multisample, GL_ARB_multitexture, GL_ARB_occlusion_query, GL_ARB_pixel_buffer_object, GL_ARB_point_parameters, GL_ARB_point_sprite, GL_ARB_shader_objects, GL_ARB_shading_language_100, GL_ARB_shadow, GL_ARB_shadow_ambient, GL_ARB_texture_border_clamp, GL_ARB_texture_compression, GL_ARB_texture_cube_map, GL_ARB_texture_env_add, GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar, GL_ARB_texture_env_dot3, GL_ARB_texture_float, GL_ARB_texture_mirrored_repeat, GL_ARB_texture_rectangle, GL_ARB_transpose_matrix, GL_ARB_vertex_buffer_object, GL_ARB_vertex_program, GL_ARB_vertex_shader, GL_ARB_window_pos, GL_ATI_draw_buffers, GL_ATI_envmap_bumpmap, GL_ATI_fragment_shader, GL_ATI_meminfo, GL_ATI_separate_stencil, GL_ATI_texture_compression_3dc, GL_ATI_texture_env_combine3, GL_ATI_texture_float, GL_EXT_abgr, GL_EXT_bgra, GL_EXT_blend_color, GL_EXT_blend_func_separate, GL_EXT_blend_minmax, GL_EXT_blend_subtract, GL_EXT_compiled_vertex_array, GL_EXT_copy_texture, GL_EXT_draw_range_elements, GL_EXT_fog_coord, GL_EXT_framebuffer_object, GL_EXT_gpu_program_parameters, GL_EXT_multi_draw_arrays, GL_EXT_packed_depth_stencil, GL_EXT_packed_pixels, GL_EXT_point_parameters, GL_EXT_rescale_normal, GL_EXT_secondary_color, GL_EXT_separate_specular_color, GL_EXT_shadow_funcs, GL_EXT_stencil_wrap, GL_EXT_subtexture, GL_EXT_texgen_reflection, GL_EXT_texture3D, GL_EXT_texture_compression_s3tc, GL_EXT_texture_cube_map, GL_EXT_texture_edge_clamp, GL_EXT_texture_env_add, GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3, GL_EXT_texture_filter_anisotropic, GL_EXT_texture_lod_bias, GL_EXT_texture_mirror_clamp, GL_EXT_texture_object, GL_EXT_texture_rectangle, GL_EXT_texture_sRGB, GL_EXT_vertex_array, GL_KTX_buffer_region, GL_NV_blend_square, GL_NV_texgen_reflection, GL_SGIS_generate_mipmap, GL_SGIS_texture_edge_clamp, GL_SGIS_texture_lod, GL_WIN_swap_hint, WGL_EXT_swap_control visual x bf lv rg d st colorbuffer ax dp st accumbuffer ms cav id dep cl sp sz l ci b ro r g b a bf th cl r g b a ns b eat ---------------------------------------------------------------------- 0x23 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x24 24 tc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x25 24 tc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x26 24 tc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x27 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 0 0 None 0x28 24 tc 0 32 0 r . . 8 8 8 8 0 24 8 0 0 0 0 0 0 None 0x29 24 tc 0 32 0 r y . 8 8 8 8 0 24 0 0 0 0 0 0 0 None 0x2a 24 tc 0 32 0 r . . 8 8 8 8 0 24 0 0 0 0 0 0 0 None 0x2b 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x2c 24 tc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x2d 24 tc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x2e 24 tc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x2f 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 2 1 None 0x30 24 tc 0 32 0 r . . 8 8 8 8 0 24 8 0 0 0 0 2 1 None 0x31 24 tc 0 32 0 r y . 8 8 8 8 0 24 0 0 0 0 0 2 1 None 0x32 24 tc 0 32 0 r . . 8 8 8 8 0 24 0 0 0 0 0 2 1 None 0x33 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x34 24 tc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x35 24 tc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x36 24 tc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x37 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 4 1 None 0x38 24 tc 0 32 0 r . . 8 8 8 8 0 24 8 0 0 0 0 4 1 None 0x39 24 tc 0 32 0 r y . 8 8 8 8 0 24 0 0 0 0 0 4 1 None 0x3a 24 tc 0 32 0 r . . 8 8 8 8 0 24 0 0 0 0 0 4 1 None 0x3b 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x3c 24 tc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x3d 24 tc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x3e 24 tc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x3f 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 6 1 None 0x40 24 tc 0 32 0 r . . 8 8 8 8 0 24 8 0 0 0 0 6 1 None 0x41 24 tc 0 32 0 r y . 8 8 8 8 0 24 0 0 0 0 0 6 1 None 0x42 24 tc 0 32 0 r . . 8 8 8 8 0 24 0 0 0 0 0 6 1 None 0x43 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x44 24 tc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x45 24 tc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x46 24 tc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x47 24 tc 1 0 0 c . . 0 0 0 0 0 0 0 0 0 0 0 0 0 None 0x48 24 tc 1 0 0 c . . 0 0 0 0 0 0 0 0 0 0 0 0 0 None 0x49 24 tc 1 0 0 c . . 0 0 0 0 0 0 0 0 0 0 0 0 0 None 0x4a 24 tc 1 0 0 c . . 0 0 0 0 0 0 0 0 0 0 0 0 0 None 0x4b 24 dc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x4c 24 dc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x4d 24 dc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x4e 24 dc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x4f 24 dc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 0 0 None 0x50 24 dc 0 32 0 r . . 8 8 8 8 0 24 8 0 0 0 0 0 0 None 0x51 24 dc 0 32 0 r y . 8 8 8 8 0 24 0 0 0 0 0 0 0 None 0x52 24 dc 0 32 0 r . . 8 8 8 8 0 24 0 0 0 0 0 0 0 None 0x53 24 dc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x54 24 dc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x55 24 dc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x56 24 dc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x57 24 dc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 2 1 None 0x58 24 dc 0 32 0 r . . 8 8 8 8 0 24 8 0 0 0 0 2 1 None 0x59 24 dc 0 32 0 r y . 8 8 8 8 0 24 0 0 0 0 0 2 1 None 0x5a 24 dc 0 32 0 r . . 8 8 8 8 0 24 0 0 0 0 0 2 1 None 0x5b 24 dc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x5c 24 dc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x5d 24 dc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x5e 24 dc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x5f 24 dc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 4 1 None 0x60 24 dc 0 32 0 r . . 8 8 8 8 0 24 8 0 0 0 0 4 1 None 0x61 24 dc 0 32 0 r y . 8 8 8 8 0 24 0 0 0 0 0 4 1 None 0x62 24 dc 0 32 0 r . . 8 8 8 8 0 24 0 0 0 0 0 4 1 None 0x63 24 dc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x64 24 dc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x65 24 dc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x66 24 dc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x67 24 dc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 6 1 None 0x68 24 dc 0 32 0 r . . 8 8 8 8 0 24 8 0 0 0 0 6 1 None 0x69 24 dc 0 32 0 r y . 8 8 8 8 0 24 0 0 0 0 0 6 1 None 0x6a 24 dc 0 32 0 r . . 8 8 8 8 0 24 0 0 0 0 0 6 1 None 0x6b 24 dc 0 32 0 r y . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x6c 24 dc 0 32 0 r . . 8 8 8 8 0 24 8 16 16 16 16 0 0 None 0x6d 24 dc 0 32 0 r y . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x6e 24 dc 0 32 0 r . . 8 8 8 8 0 24 0 16 16 16 16 0 0 None 0x6f 24 dc 1 0 0 c . . 0 0 0 0 0 0 0 0 0 0 0 0 0 None 0x70 24 dc 1 0 0 c . . 0 0 0 0 0 0 0 0 0 0 0 0 0 None 0x71 24 dc 1 0 0 c . . 0 0 0 0 0 0 0 0 0 0 0 0 0 None 0x72 24 dc 1 0 0 c . . 0 0 0 0 0 0 0 0 0 0 0 0 0 None 0x85 32 tc 0 32 0 r . . 8 8 8 8 0 0 0 0 0 0 0 8 1 Ncon && $ fglrxinfo display: :0.0 screen: 0 OpenGL vendor string: ATI Technologies Inc. OpenGL renderer string: Radeon X1300/X1550 Series OpenGL version string: 2.1.7412 Release Then I tried a gazebo world and it is rendering much faster, around 50 FPS. On the other hand, my ultimate goal is to simulate a Khepera-robot type performing a behavioral-learning based task in a simple world. I would like to know if there is any groundwork or examples relating the Khepera-robot virtual simulation by using Gazebo? I am asking this because all the example worlds and info that I have been able to find, mostly relates to the pioneer structure. Regards, Rufo On Wed, Jan 28, 2009 at 5:04 PM, Nate Koenig <natekoe...@gmail.com> wrote: > > Hello, > > You should look online for help getting DRI (direct rendering) enabled. > > The output from glxinfo should have the line: > > direct rendering: Yes > > -nate > > > On Wed, Jan 28, 2009 at 6:39 AM, Rufino Bolado <rbol...@gmail.com> wrote: > > Hi > > > > I am a bit unfamiliar with this graphics driver set-up process. I run these > > two commands at the terminal prompt with the following results: > > > > $glxinfo > > name of display: :1.0 > > display: :1 screen: 0 > > direct rendering: No (If you want to find out why, try setting > > LIBGL_DEBUG=verbose) > > server glx vendor string: SGI > > server glx version string: 1.2 > > server glx extensions: > > GLX_ARB_multisample, GLX_EXT_visual_info, GLX_EXT_visual_rating, > > GLX_EXT_import_context, GLX_EXT_texture_from_pixmap, > > GLX_OML_swap_method, > > GLX_SGI_make_current_read, GLX_SGIS_multisample, GLX_SGIX_hyperpipe, > > GLX_SGIX_swap_barrier, GLX_SGIX_fbconfig > > client glx vendor string: SGI > > client glx version string: 1.4 > > client glx extensions: > > GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context, > > GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_MESA_allocate_memory, > > GLX_MESA_swap_control, GLX_MESA_swap_frame_usage, 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 version: 1.2 > > GLX extensions: > > GLX_ARB_get_proc_address, GLX_ARB_multisample, GLX_EXT_import_context, > > GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_OML_swap_method, > > GLX_SGI_make_current_read, GLX_SGIS_multisample, GLX_SGIX_fbconfig, > > GLX_EXT_texture_from_pixmap > > OpenGL vendor string: Mesa project: www.mesa3d.org > > OpenGL renderer string: Mesa GLX Indirect > > OpenGL version string: 1.2 (2.1 Mesa 7.0.3) > > OpenGL extensions: > > GL_ARB_depth_texture, GL_ARB_fragment_program, GL_ARB_imaging, > > GL_ARB_multitexture, GL_ARB_point_parameters, GL_ARB_point_sprite, > > GL_ARB_shadow, GL_ARB_shadow_ambient, GL_ARB_texture_border_clamp, > > GL_ARB_texture_cube_map, GL_ARB_texture_env_add, > > GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar, > > GL_ARB_texture_env_dot3, GL_ARB_texture_mirrored_repeat, > > GL_ARB_texture_non_power_of_two, GL_ARB_texture_rectangle, > > GL_ARB_transpose_matrix, GL_ARB_vertex_program, GL_ARB_window_pos, > > GL_EXT_abgr, GL_EXT_bgra, GL_EXT_blend_color, > > GL_EXT_blend_func_separate, > > GL_EXT_blend_logic_op, GL_EXT_blend_minmax, GL_EXT_blend_subtract, > > GL_EXT_clip_volume_hint, GL_EXT_copy_texture, > > GL_EXT_draw_range_elements, > > GL_EXT_fog_coord, GL_EXT_framebuffer_object, GL_EXT_multi_draw_arrays, > > GL_EXT_packed_pixels, GL_EXT_point_parameters, GL_EXT_polygon_offset, > > GL_EXT_rescale_normal, GL_EXT_secondary_color, > > GL_EXT_separate_specular_color, GL_EXT_shadow_funcs, > > GL_EXT_stencil_wrap, > > GL_EXT_subtexture, GL_EXT_texture, GL_EXT_texture3D, > > GL_EXT_texture_edge_clamp, GL_EXT_texture_env_add, > > GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3, > > GL_EXT_texture_lod_bias, GL_EXT_texture_object, > > GL_EXT_texture_rectangle, > > GL_EXT_vertex_array, GL_APPLE_packed_pixels, > > GL_ATI_texture_env_combine3, > > GL_ATI_texture_mirror_once, GL_ATIX_texture_env_combine3, > > GL_IBM_texture_mirrored_repeat, GL_INGR_blend_func_separate, > > GL_MESA_pack_invert, GL_MESA_ycbcr_texture, GL_NV_blend_square, > > GL_NV_point_sprite, GL_NV_texgen_reflection, GL_NV_texture_rectangle, > > GL_SGIS_generate_mipmap, GL_SGIS_texture_border_clamp, > > GL_SGIS_texture_edge_clamp, GL_SGIS_texture_lod, GL_SGIX_depth_texture, > > GL_SGIX_shadow, GL_SGIX_shadow_ambient, GL_SUN_multi_draw_arrays > > > > visual x bf lv rg d st colorbuffer ax dp st accumbuffer ms cav > > id dep cl sp sz l ci b ro r g b a bf th cl r g b a ns b eat > > ---------------------------------------------------------------------- > > 0x2c 24 tc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 0 0 None > > 0x2d 24 tc 0 32 0 r . . 8 8 8 8 0 0 0 0 0 0 0 0 0 None > > 0x2e 32 tc 0 32 0 r y . 8 8 8 8 0 24 8 0 0 0 0 0 0 Ncon > > 0x2f 32 tc 0 32 0 r . . 8 8 8 8 0 0 0 0 0 0 0 0 0 Ncon > > > > $fglrxinfo > > display: :1.0 screen: 0 > > OpenGL vendor string: Mesa project: www.mesa3d.org > > OpenGL renderer string: Mesa GLX Indirect > > OpenGL version string: 1.2 (2.1 Mesa 7.0.3) > > > > I have installed the fglrx driver using synaptic in Ubuntu but still Gazebo > > running too slow. I would appreciate some help. > > > > Thanks > > > > On Mon, Jan 26, 2009 at 6:28 PM, Nate Koenig <natekoe...@gmail.com> wrote: > >> > >> Do you have GLX and DRI up and running? You can check the status via > >> the glxinfo command. > >> > >> -nate > >> > >> On Mon, Jan 19, 2009 at 8:06 AM, Rufino Bolado <rbol...@gmail.com> wrote: > >> > Hi > >> > > >> > I have just started to get familiar with the player/gazebo environment > >> > with > >> > the idea to implement a 3D virtual simulation for my PhD project. My > >> > system > >> > properties are: PC intel core2 duo, video card: ATI Technologies Inc > >> > RV516 > >> > [Radeon X1300/X1550 Series], OS: Ubuntu 2.6.24-22-generic x86_64 > >> > GNU/Linux. > >> > I have installed Player/Stage/Gazebo software following the instructions > >> > on: > >> > > >> > - http://www.irobotics.org/gazebo08.f8.html > >> > > >> > I run one of the given worlds: > >> > $ gazebo /usr/local/share/gazebo/worlds/pioneer2dx.world > >> > Gazebo multi-robot simulator, version 0.8-pre3 > >> > > >> > Part of the Player/Stage Project [http://playerstage.sourceforge.net]. > >> > Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors. > >> > Released under the GNU General Public License. > >> > > >> > [server/GazeboConfig.cc:84] > >> > Gazebo Path[/usr/local/share/gazebo] > >> > [server/GazeboConfig.cc:92] > >> > Ogre Path[/usr/lib/OGRE] > >> > creating /tmp/gazebo-rufino-0 > >> > creating /tmp/gazebo-rufino-0/simulation.default 112 145592 > >> > creating /tmp/gazebo-rufino-0/position.position_iface_0 112 288 > >> > > >> > It works but the gui runs too slow and when I tried to move the agent > >> > around > >> > using the suggested player/gazebo config file > >> > 'gazebo_rev6886.cfg<http://www.irobotics.org/files/gazebo_rev6886.cfg>' > >> > (from web page mentioned above). Any help to improve this problem? > >> > > >> > Thanks for your time > >> > > >> > Rufo > >> > > >> > ------------------------------------------------------------------------------ > >> > This SF.net email is sponsored by: > >> > SourcForge Community > >> > SourceForge wants to tell your story. > >> > http://p.sf.net/sfu/sf-spreadtheword > >> > _______________________________________________ > >> > Playerstage-gazebo mailing list > >> > Playerstage-gazebo@lists.sourceforge.net > >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > >> > > >> > >> > >> ------------------------------------------------------------------------------ > >> This SF.net email is sponsored by: > >> SourcForge Community > >> SourceForge wants to tell your story. > >> http://p.sf.net/sfu/sf-spreadtheword > >> _______________________________________________ > >> Playerstage-gazebo mailing list > >> Playerstage-gazebo@lists.sourceforge.net > >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > ------------------------------------------------------------------------------ This SF.net email is sponsored by: SourcForge Community SourceForge wants to tell your story. http://p.sf.net/sfu/sf-spreadtheword _______________________________________________ Playerstage-gazebo mailing list Playerstage-gazebo@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
