Ubuntu 18.04 CoppeliaSim 4.2 not starting

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Puschek
Posts: 5
Joined: 06 Jul 2021, 19:59

Ubuntu 18.04 CoppeliaSim 4.2 not starting

Post by Puschek »

Hey,

when installing the current 4.2 Version for Ubuntu 18.04 and trying to load my custom .ttt file (headless or within the docker image) I got following errors and the simulation stops:

Code: Select all

[CoppeliaSimClient]    loading the CoppeliaSim library...
[CoppeliaSimClient]    done.
[CoppeliaSimClient:loadinfo]   launching CoppeliaSim...
[CoppeliaSim:loadinfo]   CoppeliaSim V4.2.0., (rev. 5), flavor: 1
[CoppeliaSim:loadinfo]   Legacy machine ID: 51B6-BFEB-B7C3-9C4A-F7E3-3D1D
[CoppeliaSim:loadinfo]   Machine ID: 8001-7371-CD69-0000-55AE-0101
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[CoppeliaSim:loadinfo]   using the default Lua library.
[CoppeliaSim:loadinfo]   loaded the video compression library.
[CoppeliaSim:loadinfo]   if CoppeliaSim crashes now, try to install libgl1-mesa-dev on your system:
        >sudo apt install libgl1-mesa-dev
[CoppeliaSim:loadinfo]   OpenGL: VMware, Inc., Renderer: llvmpipe (LLVM 10.0.0, 256 bits), Version: 3.1 Mesa 20.0.8
[CoppeliaSim:loadinfo]   simulator launched.
[CoppeliaSim:loadinfo]   plugin 'Assimp': loading...
[CoppeliaSim:loadinfo]   plugin 'Assimp': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'B0': loading...
[CoppeliaSim:error]   plugin 'B0': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the output.
[CoppeliaSim:loadinfo]   plugin 'BWF': loading...
[CoppeliaSim:loadinfo]   plugin 'BWF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'BubbleRob': loading...
[CoppeliaSim:loadinfo]   plugin 'BubbleRob': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-78': loading...
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-78': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-83': loading...
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-83': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'CodeEditor': loading...
[CoppeliaSim:loadinfo]   plugin 'CodeEditor': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': loading...
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ExternalRenderer': loading...
[CoppeliaSim:loadinfo]   plugin 'ExternalRenderer': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'GLTF': loading...
[CoppeliaSim:loadinfo]   plugin 'GLTF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Geom': loading...
[CoppeliaSim:loadinfo]   plugin 'Geom': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ICP': loading...
[CoppeliaSim:loadinfo]   plugin 'ICP': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'IK': loading...
[CoppeliaSim:loadinfo]   plugin 'IK': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'IM': loading...
[CoppeliaSim:error]   plugin 'IM': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the output.
[CoppeliaSim:loadinfo]   plugin 'K3': loading...
[CoppeliaSim:loadinfo]   plugin 'K3': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'LuaCmd': loading...
[CoppeliaSim:loadinfo]   plugin 'LuaCmd': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'LuaRemoteApiClient': loading...
[CoppeliaSim:loadinfo]   plugin 'LuaRemoteApiClient': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'MTB': loading...
[CoppeliaSim:loadinfo]   plugin 'MTB': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Newton': loading...
[CoppeliaSim:loadinfo]   plugin 'Newton': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ODE': loading...
[CoppeliaSim:loadinfo]   plugin 'ODE': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'OMPL': loading...
[CoppeliaSim:loadinfo]   plugin 'OMPL': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'OpenGL3Renderer': loading...
[CoppeliaSim:loadinfo]   plugin 'OpenGL3Renderer': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'OpenMesh': loading...
[CoppeliaSim:loadinfo]   plugin 'OpenMesh': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Qhull': loading...
[CoppeliaSim:loadinfo]   plugin 'Qhull': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'RML2': loading...
[CoppeliaSim:loadinfo]   plugin 'RML2': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ROS': loading...
[CoppeliaSim:error]   plugin 'ROS': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the output.
[CoppeliaSim:loadinfo]   plugin 'RRS1': loading...
[CoppeliaSim:loadinfo]   plugin 'RRS1': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'RemoteApi': loading...
Could not find function simSetInt32Signal
simExtRemoteApi: error: could not find all required functions in the CoppeliaSim library. Cannot start the plugin.
[CoppeliaSim:error]   plugin 'RemoteApi': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'SDF': loading...
[CoppeliaSim:loadinfo]   plugin 'SDF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'SurfRec': loading...
[CoppeliaSim:loadinfo]   plugin 'SurfRec': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'UI': loading...
[CoppeliaSim:loadinfo]   plugin 'UI': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'URDF': loading...
[CoppeliaSim:loadinfo]   plugin 'URDF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'URLDrop': loading...
[CoppeliaSim:loadinfo]   plugin 'URLDrop': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Vision': loading...
[CoppeliaSim:loadinfo]   plugin 'Vision': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ZMQ': loading...
[CoppeliaSim:error]   plugin 'ZMQ': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the output.
[CoppeliaSim:loadinfo]   using the 'Geometric' plugin.
[CoppeliaSim:loadinfo]   using the 'IK' plugin.
[CoppeliaSim:loadinfo]   checking for an updated CoppeliaSim version...
[CoppeliaSim:loadinfo]   Failed checking whether this CoppeliaSim version is up-to-date.
    Please visit www.coppeliarobotics.com to verify
    that you are running the last CoppeliaSim version.
[CoppeliaSim:loadinfo]   plugin 'Vision': unloading...
[CoppeliaSim:loadinfo]   plugin 'Vision': done.
[CoppeliaSim:loadinfo]   plugin 'URLDrop': unloading...
[CoppeliaSim:loadinfo]   plugin 'URLDrop': done.
[CoppeliaSim:loadinfo]   plugin 'URDF': unloading...
[CoppeliaSim:loadinfo]   plugin 'URDF': done.
[CoppeliaSim:loadinfo]   plugin 'UI': unloading...
[CoppeliaSim:loadinfo]   plugin 'UI': done.
[CoppeliaSim:loadinfo]   plugin 'SurfRec': unloading...
[CoppeliaSim:loadinfo]   plugin 'SurfRec': done.
[CoppeliaSim:loadinfo]   plugin 'SDF': unloading...
[CoppeliaSim:loadinfo]   plugin 'SDF': done.
[CoppeliaSim:loadinfo]   plugin 'RRS1': unloading...
[CoppeliaSim:loadinfo]   plugin 'RRS1': done.
[CoppeliaSim:loadinfo]   plugin 'RML2': unloading...
[CoppeliaSim:loadinfo]   plugin 'RML2': done.
[CoppeliaSim:loadinfo]   plugin 'Qhull': unloading...
[CoppeliaSim:loadinfo]   plugin 'Qhull': done.
[CoppeliaSim:loadinfo]   plugin 'OpenMesh': unloading...
[CoppeliaSim:loadinfo]   plugin 'OpenMesh': done.
[CoppeliaSim:loadinfo]   plugin 'OpenGL3Renderer': unloading...
[CoppeliaSim:loadinfo]   plugin 'OpenGL3Renderer': done.
[CoppeliaSim:loadinfo]   plugin 'OMPL': unloading...
[CoppeliaSim:loadinfo]   plugin 'OMPL': done.
[CoppeliaSim:loadinfo]   plugin 'ODE': unloading...
[CoppeliaSim:loadinfo]   plugin 'ODE': done.
[CoppeliaSim:loadinfo]   plugin 'Newton': unloading...
[CoppeliaSim:loadinfo]   plugin 'Newton': done.
[CoppeliaSim:loadinfo]   plugin 'MTB': unloading...
[CoppeliaSim:loadinfo]   plugin 'MTB': done.
[CoppeliaSim:loadinfo]   plugin 'LuaRemoteApiClient': unloading...
[CoppeliaSim:loadinfo]   plugin 'LuaRemoteApiClient': done.
[CoppeliaSim:loadinfo]   plugin 'LuaCmd': unloading...
[CoppeliaSim:loadinfo]   plugin 'LuaCmd': done.
[CoppeliaSim:loadinfo]   plugin 'K3': unloading...
[CoppeliaSim:loadinfo]   plugin 'K3': done.
[CoppeliaSim:loadinfo]   plugin 'IK': unloading...
[CoppeliaSim:loadinfo]   plugin 'IK': done.
[CoppeliaSim:loadinfo]   plugin 'ICP': unloading...
[CoppeliaSim:loadinfo]   plugin 'ICP': done.
[CoppeliaSim:loadinfo]   plugin 'Geom': unloading...
[CoppeliaSim:loadinfo]   plugin 'Geom': done.
[CoppeliaSim:loadinfo]   plugin 'GLTF': unloading...
[CoppeliaSim:loadinfo]   plugin 'GLTF': done.
[CoppeliaSim:loadinfo]   plugin 'ExternalRenderer': unloading...
[CoppeliaSim:loadinfo]   plugin 'ExternalRenderer': done.
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': unloading...
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': done.
[CoppeliaSim:loadinfo]   plugin 'CodeEditor': unloading...
[CoppeliaSim:loadinfo]   plugin 'CodeEditor': done.
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-83': unloading...
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-83': done.
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-78': unloading...
[CoppeliaSim:loadinfo]   plugin 'Bullet-2-78': done.
[CoppeliaSim:loadinfo]   plugin 'BubbleRob': unloading...
[CoppeliaSim:loadinfo]   plugin 'BubbleRob': done.
[CoppeliaSim:loadinfo]   plugin 'BWF': unloading...
[CoppeliaSim:loadinfo]   plugin 'BWF': done.
[CoppeliaSim:loadinfo]   plugin 'Assimp': unloading...
[CoppeliaSim:loadinfo]   plugin 'Assimp': done.
[CoppeliaSim:loadinfo]   simulator ended.
[CoppeliaSim:loadinfo]   4
[CoppeliaSim:loadinfo]   3
[CoppeliaSim:loadinfo]   2
[CoppeliaSim:loadinfo]   1
[CoppeliaSim:loadinfo]   0
[CoppeliaSim:loadinfo]   done.
[CoppeliaSimClient]    unloading the CoppeliaSim library...
[CoppeliaSimClient]    done.
The same result is within an 18.04 Ubuntu VM and the docker repository (https://github.com/CoppeliaRobotics/doc ... oppeliasim). Not really sure if it has something todo with my .ttt file, but on Windows and MacOs they are loading with no problem. I had a similar problem with the MacOs Version and remote api, where I found a solution here in the forum. But on Ubuntu 18.04 it has even more errors. I created an issues on github (https://github.com/CoppeliaRobotics/doc ... m/issues/3) which describes my steps for the docker image. Within an Ubuntu VM, I downloaded the current Version from your website, extracted everything, started CoppeliaSim and loaded my .ttt file and received the same errors as above seen for the docker image.

Is this a general issue or a problem with my .ttt file?

coppelia
Site Admin
Posts: 8893
Joined: 14 Dec 2012, 00:25

Re: Ubuntu 18.04 CoppeliaSim 4.2 not starting

Post by coppelia »

Hello,

it seems that a few plugins are unable to load in your docker. First, are those plugins relevant to your scene? I noticed that the remote API plugin also fails to load, this is our fault (we tried to fix something earlier this week and broke something else in that plugin. But we have fixed it again and uploaded the new packages), but should only happen with the Ubuntu18 packages (and we just updated those packages, so that should be fixed).

And you are not telling us what is not working in your scene... what is it supposed to do? What happens in you open the scene from the GUI? Will it then work?

Cheers

Puschek
Posts: 5
Joined: 06 Jul 2021, 19:59

Re: Ubuntu 18.04 CoppeliaSim 4.2 not starting

Post by Puschek »

Okay I got it to work with the latest version you mentioned. For docker the communication is very very slow but works with the latest version as well. All plugins that failed are not necessary (besides the remoteAPI).

Thanks for your help

coppelia
Site Admin
Posts: 8893
Joined: 14 Dec 2012, 00:25

Re: Ubuntu 18.04 CoppeliaSim 4.2 not starting

Post by coppelia »

Do you know where the slowliness is coming from? Network-related? CPU? if CPU, is it the CoppeliaSim process or something else?

Cheers

Puschek
Posts: 5
Joined: 06 Jul 2021, 19:59

Re: Ubuntu 18.04 CoppeliaSim 4.2 not starting

Post by Puschek »

I don't know where this comes from. I don't think it is an CPU Issue. I could reproduce this not running inside of docker. Since I work with the remoteAPI, I would just start the script over and over and at one point the time between requests increased drastically. Same for the communication directly with docker directly after the first run of my script. The difference between these two, after restarting my native CoppeliaSim, the communication-answer/response times where normal again (50ms +/-). For my docker setup this isn't the case. I would assume it is the socket communication which slows down after a while (maybe not closing the communication sessions correctly?) - but for docker I would have to debug what slows it down. At the moment I don't have the time to do so. Maybe I'll find some time later this month.

coppelia
Site Admin
Posts: 8893
Joined: 14 Dec 2012, 00:25

Re: Ubuntu 18.04 CoppeliaSim 4.2 not starting

Post by coppelia »

If you get data via streaming, using the legacy remote API, then always make sure to call the same commands with the simx_opmode_discontinue, then wait about one second (or get the ping time) before closing the connection to CoppeliaSim:

Code: Select all

simxGetJointPosition(clientID,jointHandle,&jointPosition,simx_opmode_discontinue); // stop streaming that data
simxGetPingTime(clientID,&pingTime); // needed to insure that above reaches CoppeliaSim before disconnection
if you don't do above, then CoppeliaSim will continue stream that data.

Cheers

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