Question

当我尝试使用rviz时，我收到错误“Segmentation fault（core dumped）”。详细信息如下所示。我现在使用两个显卡，一个是GTX-750，另一个是K40，我不确定这是否是导致下面问题的原因，以及如何解决它。

czhang@kaffe:~$ rosrun rviz rviz -l
[ INFO] [1465022465.168948335]: rviz version 1.11.14
[ INFO] [1465022465.169027675]: compiled against Qt version 4.8.6
[ INFO] [1465022465.169046113]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [1465022465.324312645]: Creating resource group General
[ INFO] [1465022465.324429908]: Creating resource group Internal
[ INFO] [1465022465.324496607]: Creating resource group Autodetect
[ INFO] [1465022465.324629864]: SceneManagerFactory for type 'DefaultSceneManager' registered.
[ INFO] [1465022465.324883178]: Registering ResourceManager for type Material
[ INFO] [1465022465.324940378]: Registering ResourceManager for type Mesh
[ INFO] [1465022465.324987032]: Registering ResourceManager for type Skeleton
[ INFO] [1465022465.325053591]: MovableObjectFactory for type 'ParticleSystem' registered.
[ INFO] [1465022465.325103877]: OverlayElementFactory for type Panel registered.
[ INFO] [1465022465.325142848]: OverlayElementFactory for type BorderPanel registered.
[ INFO] [1465022465.325179725]: OverlayElementFactory for type TextArea registered.
[ INFO] [1465022465.325225052]: Registering ResourceManager for type Font
[ INFO] [1465022465.325272474]: ArchiveFactory for archive type FileSystem registered.
[ INFO] [1465022465.325308163]: ArchiveFactory for archive type Zip registered.
[ INFO] [1465022465.325345667]: ArchiveFactory for archive type EmbeddedZip registered.
[ INFO] [1465022465.325379959]: DDS codec registering
[ INFO] [1465022465.325428150]: FreeImage version: 3.15.4
[ INFO] [1465022465.325464467]: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details
[ INFO] [1465022465.325678042]: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,g3,sgi,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti
[ INFO] [1465022465.325735871]: Registering ResourceManager for type HighLevelGpuProgram
[ INFO] [1465022465.325787693]: Registering ResourceManager for type Compositor
[ INFO] [1465022465.326052531]: MovableObjectFactory for type 'Entity' registered.
[ INFO] [1465022465.326105890]: MovableObjectFactory for type 'Light' registered.
[ INFO] [1465022465.326143255]: MovableObjectFactory for type 'BillboardSet' registered.
[ INFO] [1465022465.326182366]: MovableObjectFactory for type 'ManualObject' registered.
[ INFO] [1465022465.326236493]: MovableObjectFactory for type 'BillboardChain' registered.
[ INFO] [1465022465.326289991]: MovableObjectFactory for type 'RibbonTrail' registered.
[ INFO] [1465022465.326421572]: *-*-* OGRE Initialising
[ INFO] [1465022465.326473744]: *-*-* Version 1.8.1 (Byatis)
[ INFO] [1465022465.326532760]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.8.0/RenderSystem_GL
[ INFO] [1465022465.329155160]: Installing plugin: GL RenderSystem
[ INFO] [1465022465.329216970]: OpenGL Rendering Subsystem created.
[ INFO] [1465022465.337273651]: Plugin successfully installed
[ INFO] [1465022465.337361511]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.8.0/Plugin_OctreeSceneManager
[ INFO] [1465022465.338621448]: Installing plugin: Octree Scene Manager
[ INFO] [1465022465.338670756]: Plugin successfully installed
[ INFO] [1465022465.338705118]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.8.0/Plugin_ParticleFX
[ INFO] [1465022465.340275569]: Installing plugin: ParticleFX
[ INFO] [1465022465.340333816]: Particle Emitter Type 'Point' registered
[ INFO] [1465022465.340369435]: Particle Emitter Type 'Box' registered
[ INFO] [1465022465.340403169]: Particle Emitter Type 'Ellipsoid' registered
[ INFO] [1465022465.340455829]: Particle Emitter Type 'Cylinder' registered
[ INFO] [1465022465.340488375]: Particle Emitter Type 'Ring' registered
[ INFO] [1465022465.340527067]: Particle Emitter Type 'HollowEllipsoid' registered
[ INFO] [1465022465.340564223]: Particle Affector Type 'LinearForce' registered
[ INFO] [1465022465.340608572]: Particle Affector Type 'ColourFader' registered
[ INFO] [1465022465.340643143]: Particle Affector Type 'ColourFader2' registered
[ INFO] [1465022465.340681835]: Particle Affector Type 'ColourImage' registered
[ INFO] [1465022465.340714102]: Particle Affector Type 'ColourInterpolator' registered
[ INFO] [1465022465.340749023]: Particle Affector Type 'Scaler' registered
[ INFO] [1465022465.340788204]: Particle Affector Type 'Rotator' registered
[ INFO] [1465022465.340822985]: Particle Affector Type 'DirectionRandomiser' registered
[ INFO] [1465022465.340856509]: Particle Affector Type 'DeflectorPlane' registered
[ INFO] [1465022465.340892197]: Plugin successfully installed
[ INFO] [1465022465.340944159]: CPU Identifier & Features
[ INFO] [1465022465.340975797]: -------------------------
[ INFO] [1465022465.341024966]:  *   CPU ID: GenuineIntel: Intel(R) Xeon(R) CPU E5-2620 v3 @ 2.40GHz
[ INFO] [1465022465.341055626]:  *      SSE: yes
[ INFO] [1465022465.341088102]:  *     SSE2: yes
[ INFO] [1465022465.341115061]:  *     SSE3: yes
[ INFO] [1465022465.341142159]:  *      MMX: yes
[ INFO] [1465022465.341169188]:  *   MMXEXT: yes
[ INFO] [1465022465.341198382]:  *    3DNOW: no
[ INFO] [1465022465.341225271]:  * 3DNOWEXT: no
[ INFO] [1465022465.341252090]:  *     CMOV: yes
[ INFO] [1465022465.341279817]:  *      TSC: yes
[ INFO] [1465022465.341307055]:  *      FPU: yes
[ INFO] [1465022465.341335899]:  *      PRO: yes
[ INFO] [1465022465.341365232]:  *       HT: no
[ INFO] [1465022465.341394426]: -------------------------
[ INFO] [1465022465.341426693]: ******************************
*** Starting GLX Subsystem ***
******************************
[ INFO] [1465022465.341480959]: Registering ResourceManager for type Texture
[ INFO] [1465022465.341578667]: GLRenderSystem::_createRenderWindow "OgreWindow(0)", 1x1 windowed  miscParams: FSAA=4 externalGLControl= macAPI=carbon parentWindowHandle=56623105 
Segmentation fault (core dumped)

当我运行gdb时，实际上我对此知之甚少，我得到了下面的结果。

Starting program: /opt/ros/indigo/lib/rviz/rviz 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[ INFO] [1465023839.514368832]: rviz version 1.11.14
[ INFO] [1465023839.514489727]: compiled against Qt version 4.8.6
[ INFO] [1465023839.514521295]: compiled against OGRE version 1.8.1 (Byatis)
[New Thread 0x7fffdf758700 (LWP 22754)]
[New Thread 0x7fffdef57700 (LWP 22755)]
[New Thread 0x7fffde756700 (LWP 22756)]
[New Thread 0x7fffddf55700 (LWP 22761)]

Program received signal SIGSEGV, Segmentation fault.
0x0000000000000000 in ?? ()
(gdb)

我该怎么办？我尝试过将OGRE_RTT_MODE更改为Copy或FBO的方法，但仍然

Answer 1

检查RVIZ ：

默认建议是使用没有参数的RVIZ，

$ rosrun rviz rviz

如果这样做也可能有用，可能是因为配置文件错误。因此，请删除~/.rviz folder并重新开始。我曾经有同样的问题，这解决了它。

另外，如果您最近更新了ROS发行版，则可能还需要更新图形卡。如果没有，请在RVIZ troubleshouting page中注明解决方案。

检查食人魔：

在终端中，运行以下命令：

$ glxgears

这是一个很好的测试，看看OpenGL是否在系统/驱动程序级别为您工作。（你会得到一个漂亮的机械窗口窗口）

另外

$ glxinfo | grep 'OpenGL renderer'

不应该说＆＃39;软件光栅化器＆＃39;，它应该是你的显卡的型号。

如果那些人不能工作，那就意味着你有一张过时的显卡而且食人魔不能正常工作。（这使得它与Rviz无关。）

Answer 2

卸载rviz并从源代码重建它为我解决了这个问题。

删除rviz：

 sudo apt-get remove ros-noetic-rviz

从源代码构建：

git clone https://github.com/ros-visualization/rviz
catkin build rviz

rviz分段故障（核心转储）

2 个答案: