[CoppeliaSimClient] loading the CoppeliaSim library...
[CoppeliaSimClient] done.
[CoppeliaSimClient:loadinfo] launching CoppeliaSim...
[CoppeliaSim:loadinfo] CoppeliaSim v4.4.0, (rev. 0), flavor: 1, linux
[CoppeliaSim:loadinfo] user settings file is /home/dylan/catkin_ws/src/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/system/usrset.txt
[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: NVIDIA Corporation, Renderer: NVIDIA GeForce RTX 3050 Laptop GPU/PCIe/SSE2, Version: 4.6.0 NVIDIA 510.108.03
[CoppeliaSim:loadinfo] simulator launched.
[CoppeliaSim:loadinfo] plugin 'CHAI3D': loading...
[CoppeliaSim:loadinfo] plugin 'CHAI3D': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Assimp': loading...
[CoppeliaSim:loadinfo] plugin 'Assimp': load succeeded.
[CoppeliaSim:loadinfo] plugin 'B0': loading...
[CoppeliaSim:loadinfo] plugin 'B0': load succeeded.
[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 'Eigen': loading...
[CoppeliaSim:loadinfo] plugin 'Eigen': 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 'IGL': loading...
[CoppeliaSim:loadinfo] plugin 'IGL': load succeeded.
[CoppeliaSim:loadinfo] plugin 'IK': loading...
[CoppeliaSim:loadinfo] plugin 'IK': load succeeded.
[CoppeliaSim:loadinfo] plugin 'IM': loading...
[CoppeliaSim:loadinfo] plugin 'IM': load succeeded.
[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 'MTB': loading...
[CoppeliaSim:loadinfo] plugin 'MTB': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Mujoco': loading...
[CoppeliaSim:loadinfo] plugin 'Mujoco': 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 'QML': loading...
[CoppeliaSim:loadinfo] plugin 'QML': 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:loadinfo] plugin 'ROS': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ROS2': loading...
error: library ( /home/dylan/catkin_ws/src/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/libsimExtROS2.so ) load: "Cannot load library /home/dylan/catkin_ws/src/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/libsimExtROS2.so: (libstd_srvs__rosidl_typesupport_cpp.so: cannot open shared object file: No such file or directory)"
[CoppeliaSim:error] plugin 'ROS2': 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...
[simExtRemoteApi:loadinfo] starting a remote API server on port 19997
[CoppeliaSim:loadinfo] plugin 'RemoteApi': load succeeded.
[CoppeliaSim:loadinfo] plugin 'RosServices': loading...
[CoppeliaSim:loadinfo] plugin 'RosServices': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Ruckig': loading...
[CoppeliaSim:loadinfo] plugin 'Ruckig': load succeeded.
[CoppeliaSim:loadinfo] plugin 'SDF': loading...
[CoppeliaSim:loadinfo] plugin 'SDF': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Subprocess': loading...
[CoppeliaSim:loadinfo] plugin 'Subprocess': 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 'WS': loading...
[CoppeliaSim:loadinfo] plugin 'WS': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ZMQ': loading...
[CoppeliaSim:loadinfo] plugin 'ZMQ': load succeeded.
Error: signal 11:
/home/dylan/catkin_ws/src/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/libcoppeliaSim.so(_Z11_segHandleri+0x30)[0x7fdb2519b940]
/lib/x86_64-linux-gnu/libc.so.6(+0x43090)[0x7fdb27f95090]
/lib/x86_64-linux-gnu/libstdc++.so.6(__dynamic_cast+0x44)[0x7fdb28207e14]
/home/dylan/catkin_ws/src/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/libv_repExtCHAI3D.so(_ZN6chai3d12cHapticPoint24computeInteractionForcesERNS_9cVector3dERNS_9cMatrix3dES2_S2_+0xa7)[0x7fdb06f23f77]
/home/dylan/catkin_ws/src/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/libv_repExtCHAI3D.so(_ZN6chai3d11cToolCursor24computeInteractionForcesEv+0x4e)[0x7fdb06f26efe]
/home/dylan/catkin_ws/src/CoppeliaSim_Edu_V4_4_0_rev0_Ubuntu20_04/libv_repExtCHAI3D.so(_Z10hapticLoopv+0x291)[0x7fdb06f03ee1]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x8609)[0x7fdb27de0609]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x43)[0x7fdb28071133]
QObject::~QObject: Timers cannot be stopped from another thread
QMutex: destroying locked mutex
How can i avoid destroying this locked mutext from the chai3d vrep module?
Here is a snippet of my code that handles the following.
Code: Select all
function pointcloudMessage_callback(pts)
meshHandle=sim.getObject('/Shape',{noError=true})
if click==0 and (not sim.isHandle(meshHandle)) then
msg=pts
sim.wait(0.5,false)
constructpointCloud(msg)
click=1
else if click==0 and sim.isHandle(meshHandle) then
removeAllObjects()
sim.wait(1.0,false)
sim.removeObjects({meshHandle})
present=0
end
end
end
Code: Select all
function sysCall_actuation()
meshHandle=sim.getObject('/Shape',{noError=true})
local removeOriginalShapeWhenDone=false
if(sim.isHandle(meshHandle) and present==0) then
--removeAllObjects()
--floorId=addMesh(floorhandle,removeOriginalShapeWhenDone)
cabinetId=addMesh(cabinetHandle,removeOriginalShapeWhenDone)
meshId=addMesh(meshHandle,removeOriginalShapeWhenDone)
if objCont then
--print(#objCont)
end
sim.setShapeColor(meshHandle,nil,sim.colorcomponent_transparency,{0.5})
present=1
end
end
Thanks for your help!