Trouble running V-REP headless

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IanCol
Posts: 8
Joined: 18 Aug 2016, 04:03

Trouble running V-REP headless

Postby IanCol » 23 Mar 2017, 23:42

Hi There,

I've installed Ubuntu 16.04 and the latest version of V-REP on a desktop computer that we plan to use as a server. I am trying to get V-REP to run headless so that we can ssh in and run headless simulations. I can get it to run headless if I am logged in locally, but nothing will work over ssh.

I tried:
~/opt/vrep/V-REP_PRO_EDU_V3_3_2_64_Linux/vrep.sh -h -s5000 -q


And got the error:

Code: Select all

QXcbConnection: Could not connect to display
Aborted (core dumped)


I also tried:
xvfb-run --auto-servernum --server-num=1 ~/opt/vrep/V-REP_PRO_EDU_V3_3_2_64_Linux/vrep.sh -h -s5000 -q


And got the error:

Code: Select all

/home/ian/opt/vrep/V-REP_PRO_EDU_V3_3_2_64_Linux/vrep.sh: line 33: 24574 Floating point exception(core dumped) "$dirname/$appname" "${PARAMETERS[@]}"



1. What am I doing wrong?
2. Is V-REP able to run truly headless?

Thanks,
Ian

coppelia
Site Admin
Posts: 6058
Joined: 14 Dec 2012, 00:25

Re: Trouble running V-REP headless

Postby coppelia » 25 Mar 2017, 12:05

Hello Ian,

When you start V-REP in headless mode, you basically run the exact same binaries as the V-REP with GUI. It is not a true headless version of V-REP. I see currently two possibilities:

  • You can try to run with different graphic settings and see if this makes a difference. Have a look at file system/usrset.txt. In there, try out different values for offscreenContextType, fboType, forceFboViaExt and vboOperation.
  • You can recompile V-REP in true headless mode by compiling V-REP with the makefile_noGui_noGl makefile. In that case however, vision sensors will only work if they rely on a plugin for image generation (e.g. v_repExtPovRay).

Have also a look at this topic.

Cheers

gariepya
Posts: 1
Joined: 04 Jul 2017, 19:25

Re: Trouble running V-REP headless

Postby gariepya » 05 Jul 2017, 18:15

It looks like a problem between the latest version of xvfb and Qt 5.5.

See https://bugs.archlinux.org/task/48195

Would it be possible to update the build of the download page to Qt 5.6?

coppelia
Site Admin
Posts: 6058
Joined: 14 Dec 2012, 00:25

Re: Trouble running V-REP headless

Postby coppelia » 06 Jul 2017, 15:53

Hello,

for next release everything should be based on Qt5.9.0LTS. Check back in 2-4 weeks or so, we should be able to provide you then with a beta version.

Cheers

webrot
Posts: 6
Joined: 25 Jul 2017, 18:14

Re: Trouble running V-REP headless

Postby webrot » 26 Jul 2017, 09:50

I am running in the same issue. Is there any workaround in the meanwhile?

It is somewhat urgent for me to get this working.

Thanks in advance.

deathstar
Posts: 3
Joined: 26 Jul 2017, 22:59

Re: Trouble running V-REP headless

Postby deathstar » 27 Jul 2017, 07:36

Has anyone found a solution. I'm running into the same problem. I tried building v-rep from source using Qt5.9, and all the libraries mentioned in http://www.coppeliarobotics.com/helpFil ... ngVrep.htm .

It generated the library files. But it did have an error

Code: Select all

/usr/bin/ld: error in /usr/bin/lua5.1(.eh_frame); no .eh_frame_hdr table will be created.
ln -s libv_rep.so.1.0.0 libv_rep.so
ln -s libv_rep.so.1.0.0 libv_rep.so.1
ln -s libv_rep.so.1.0.0 libv_rep.so.1.0


I tried running v-rep with the lib outputs and I'm getting "Error: could not find or correctly load the V-REP library"

Code: Select all

ldd libv_rep.so
didn't result in anything missing.

Any thoughts?

Or is it possible to get the beta version?

deathstar
Posts: 3
Joined: 26 Jul 2017, 22:59

Re: Trouble running V-REP headless

Postby deathstar » 27 Jul 2017, 20:46

I was able to get V-REP running headless by installing Xorg (Xserver) and running the latest (compiled) version of V-REP. Let me run a few tests and then I'll share instructions.

webrot
Posts: 6
Joined: 25 Jul 2017, 18:14

Re: Trouble running V-REP headless

Postby webrot » 27 Jul 2017, 20:48

That would be great. Thanks!

coppelia
Site Admin
Posts: 6058
Joined: 14 Dec 2012, 00:25

Re: Trouble running V-REP headless

Postby coppelia » 28 Jul 2017, 06:51

btw, you should run

Code: Select all

./libLoadErrorCheck.sh


instead of

Code: Select all

ldd libv_rep.so


since we need to run ldd in the same conditions as when we are starting libv_rep.so. The last line in libLoadErrorCheck.sh should be removed.

Cheers

webrot
Posts: 6
Joined: 25 Jul 2017, 18:14

Re: Trouble running V-REP headless

Postby webrot » 30 Jul 2017, 00:44

Any updates?


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