gz-sim: 3k_shapes.sdf

[azeey-test]

Configuration

• os: Any

Links

• Source

Process

Step 1 - Instructions work

Step 2 - Images (if there are any) match the result

[bperseghetti]

I'm available to test.

[Mechazo11]

• Test enviornment

  CPU: Ryzen 5 5600x, Ram: 32GB @ 3200 Mhz, GPU: RTX 3080
  Clean copy of Ubuntu 24.04 Humble
  ROS 2 Jazzy Jalisco Full Desktop 
  

• Summary

  • Over 15GB RAM usage, no shapes generated. Could not get to generate shapes. The suggested command erb -T 1 shapes_population.sdf.erb > shapes_population.sdf shows the following error

  az-ubuntu-2204@az-dev-ubuntu-2404:~$ erb -T 1 shapes_population.sdf.erb > shapes_population.sdf
  /usr/lib/ruby/gems/3.2.0/gems/erb-4.0.2/libexec/erb:120:in `set_encoding': No such file or directory @ rb_sysopen - shapes_population.sdf.erb (Errno::ENOENT)
      from /usr/lib/ruby/gems/3.2.0/gems/erb-4.0.2/libexec/erb:120:in `run'
      from /usr/lib/ruby/gems/3.2.0/gems/erb-4.0.2/libexec/erb:164:in `<top (required)>'
      from /usr/bin/erb:25:in `load'
      from /usr/bin/erb:25:in `<main>'
  

• Issues

  • Failed to generate shapes, UI got laggy and no asset generated on the UI window. Suggested command throws an error message.

• Fixes

  • N/A

• Comments/Suggestions

  • N/A

[arjo129]

• Test enviornment

  CPU: Ryzen 5 5600x, Ram: 32GB @ 3200 Mhz, GPU: RTX 3080
  Clean copy of Ubuntu 24.04 Humble
  ROS 2 Jazzy Jalisco Full Desktop 
  

• Summary

  • Over 15GB RAM usage, no shapes generated. Could not get to generate shapes. The suggested command erb -T 1 shapes_population.sdf.erb > shapes_population.sdf shows the following error

  az-ubuntu-2204@az-dev-ubuntu-2404:~$ erb -T 1 shapes_population.sdf.erb > shapes_population.sdf
  /usr/lib/ruby/gems/3.2.0/gems/erb-4.0.2/libexec/erb:120:in `set_encoding': No such file or directory @ rb_sysopen - shapes_population.sdf.erb (Errno::ENOENT)
      from /usr/lib/ruby/gems/3.2.0/gems/erb-4.0.2/libexec/erb:120:in `run'
      from /usr/lib/ruby/gems/3.2.0/gems/erb-4.0.2/libexec/erb:164:in `<top (required)>'
      from /usr/bin/erb:25:in `load'
      from /usr/bin/erb:25:in `<main>'
  

• Issues

  • Failed to generate shapes, UI got laggy and no asset generated on the UI window. Suggested command throws an error message.

• Fixes

  • N/A

• Comments/Suggestions

  • N/A

It doesn't work because you are doing it from your home directory. You need to be in the examples directory for this to work. I'm able to get this working on my machine.

[Mechazo11]

@arjo129 thank you for the feedback, I will try this tutorial again today (if possible) and report back.

[Mechazo11]

@arjo129 can you share the steps you took to get the demo working. Mine is crashing. Here are the steps I took

cd ~/workspace/src/gz-sim/examples/worlds
erb -T 1 shapes_population.sdf.erb > shapes_population.sdf
gz sim shapes_population.sdf

A gazebo sim window opens up, RAM usages goes upto 14 GB but nothing else happens. Waited about 3-5 minutes before a message to Force Quit Gazebo sim window popped up.

[arjo129]

Can you run with the -v4 option.

[Mechazo11]

@arjo129 can you give me the full command please. Sorry but kinda very new to Gazebo not familiar with all the command structure yet.

[arjo129]

cd ~/workspace/src/gz-sim/examples/worlds
erb -T 1 shapes_population.sdf.erb > shapes_population.sdf
gz sim -v4 shapes_population.sdf

I can see that the gazebo world takes forever to deserialize.

[Mechazo11]

Thanks @arjo129 I will try your commands and report back tomorrow

[arjo129]

So I am able to get this working but it needs a lot of RAM. The server starts up relatively quickly, but the gui takes a very long time to load. The server SDF parser takes ~30 seconds to start while the shapes take 10 minutes to appear on the gui screen. Total memory usage is about 10GB of ram and 20GB of swap, I can see why most people would have trouble running this.

[arjo129]

I've opened gazebosim/sdformat#1478. I'm not an expert on libsdformat, but the root cause does seem like this. In the mean time gazebosim/gz-sim#2596 can be used to reduce load times.

[utkuesen]

I tested it and it worked for me. However, rendering process is taken so much time.
I tried it on machine which is HP ZBook 15 G3(i7-6820HQ , 32 Gb RAM, NVidia Quadro M1000M, Ubuntu 24.04.1 LTS) without docker .
I started program from home directory with this command "gz sim /usr/share/gz/gz-sim9/worlds/3k_shapes.sdf".
It took at least 5 min to render the all scene.
When i tried with this command "gz sim /usr/share/gz/gz-sim9/worlds/3k_shapes.sdf -v4", I get this warning till scene is created from beginning "(2024-09-06 19:22:46.933) [warning] [GUI] Unable to deserialize sdf::Model".

First minutes of the screen:

The final result:

[arjo129]

Thanks @utkuesen, yeah the rendering is taking very long. We also know why as can be seen in my previous comments. We just need to come to a consensus on whats the best way forward. The current issue is the gui is taking too long to deserialize the ecm.

[Mechazo11]

Sorry, clicked "unassign me" by mistake.

[jennuine]

Sorry, clicked "unassign me" by mistake.

I've re-assigned you 😄