GZ Harmonic: Client get empty window when connects to remote server

[rom341]

Environment

• OS Version: Ubuntu 24.04
• Binary build: Harmonic 8.7.0
• If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.

  • Rendering plugin: ogre2

    • Sensor rendering error.
    • GUI rendering error.

  • EGL headless mode:

    • Running in EGL headless mode

  • Generally, mention all circumstances that might affect rendering capabilities:

    • running on a dual GPU machine (integrated GPU + discrete GPU)
    • running on a multi-GPU machine (it has multiple discrete GPUs)
    • running on real hardware
    • running in virtual machine
    • running in Docker/Singularity
    • running remotely (e.g. via SSH)
    • running in a cloud
    • using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
    • GPU is concurrently used for other tasks
      • desktop acceleration
      • video decoding (i.e. a playing Youtube video)
      • video encoding
      • CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
      • multiple simulators running at the same time
    • other...

  • Rendering system info:

    • On Linux, provide the outputs of the following commands:

      LANG=C lspci -nn | grep VGA  # might require installing pciutils
      echo "$DISPLAY"
      LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'  # might require installing mesa-utils package
      ps aux | grep Xorg
      sudo env LANG=C X -version  # if you don't have root access, try to tell the version of Xorg e.g. via package manager

      roman@roman:~$ LANG=C lspci -nn | grep VGA
      00:02.0 VGA compatible controller [0300]: Intel Corporation HD Graphics 620 [8086:5916] (rev 02)
      
      roman@roman:~$ echo "$DISPLAY"
      :1
      
      roman@roman:~$ LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'  
      direct rendering: Yes
        Preferred profile: core (0x1)
        Max core profile version: 4.6
        Max compat profile version: 4.6
        Max GLES1 profile version: 1.1
        Max GLES[23] profile version: 3.2
      OpenGL vendor string: Intel
      OpenGL renderer string: Mesa Intel(R) HD Graphics 620 (KBL GT2)
      OpenGL core profile version string: 4.6 (Core Profile) Mesa 24.0.9-0ubuntu0.2
      OpenGL core profile shading language version string: 4.60
      OpenGL core profile context flags: (none)
      OpenGL core profile profile mask: core profile
      OpenGL version string: 4.6 (Compatibility Profile) Mesa 24.0.9-0ubuntu0.2
      OpenGL shading language version string: 4.60
      OpenGL context flags: (none)
      OpenGL profile mask: compatibility profile
      OpenGL ES profile version string: OpenGL ES 3.2 Mesa 24.0.9-0ubuntu0.2
      OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
      
      roman@roman:~$ ps aux | grep Xorg
      roman       2826  7.4  1.5 7403828 188816 tty2   Sl+  12:41   2:44 /usr/lib/xorg/Xorg vt2 -displayfd 3 -auth /run/user/1000/gdm/Xauthority -nolisten tcp -background none -noreset -keeptty -novtswitch -verbose 3
      roman      10417  0.0  0.0  18136  2176 pts/4    S+   13:17   0:00 grep --color=auto Xorg
      
      roman@roman:~$ sudo env LANG=C X -version 
      
      X.Org X Server 1.21.1.11
      X Protocol Version 11, Revision 0
      Current Operating System: Linux roman 6.8.0-50-generic #51-Ubuntu SMP PREEMPT_DYNAMIC Sat Nov  9 17:58:29 UTC 2024 x86_64
      Kernel command line: BOOT_IMAGE=/boot/vmlinuz-6.8.0-50-generic root=UUID=d34a680e-7c4c-49f1-bf4b-528073bb9073 ro quiet splash vt.handoff=7
      xorg-server 2:21.1.12-1ubuntu1.1 (For technical support please see http://www.ubuntu.com/support) 
      Current version of pixman: 0.42.2
          Before reporting problems, check http://wiki.x.org
          to make sure that you have the latest version.
      

  • Please, attach the ogre.log or ogre2.log file from ~/.gz/rendering

client_ogre2.log

Description

I need to run 'gz -s' on aws or computer in the other network, connect to it with OpenVPN in tap mode (udp multicast can pass through) and operate simulation by running 'gz sim -g' from my computer.

• Expected behavior:
  When running 'gz -g' it connects to server, and shows world and entities

• Actual behavior:
  When running 'gz -g' it connects to server, but shows empty window (no scene, no entity tree, etc)
  

But, if world contains camera, i can use this camera to see the world

Steps to reproduce

1. On server (AWS EC2 Ubuntu 24.04 ip = 10.8.0.1):
   GZ_IP=10.8.0.1 GZ_PARTITION=1 GZ_VERBOSE=1 GZ_TRANSPORT_RCVHWM=100000 GZ_TRANSPORT_SNDHWM=100000 GZ_TRANSPORT_TOPIC_STATISTICS=0 gz sim -s -v4

2. On client (Real PC Ubuntu 24.04 ip =10.8.0.2)
   GZ_IP=10.8.0.2 GZ_PARTITION=1 GZ_VERBOSE=1 GZ_TRANSPORT_RCVHWM=100000 GZ_TRANSPORT_SNDHWM=100000 GZ_TRANSPORT_TOPIC_STATISTICS=0 gz sim -g -v4

##Extra

1. Ping between server and client +- 150ms
2. GZ_RELAY - have no effect
3. If these steps are repeated when the server and client are on the same Wi-Fi network, everything works correctly; the client can see and interact with the world.
4. if use comand
   '''
   sudo tc qdisc add dev lo root netem delay 17ms
   '''
   it will create 34ms ping on localhost and gz client will see gray windoa as at the first screenshot, but if change this ping to 16ms or lower, all work correctly

Output

gz_client_console.txt

gz_server_console.txt

[iche033]

looks like a gui issue since that the camera sensor topic worked. The initial async request to get the world state failed. First the gui requests for state, and the server received the request and populated the state msg as indicated by this debug output:

[1;36m[Dbg] [EntityComponentManager.cc:1656] �[0m�[1;36mUpdated state thread iterators: �[0m�[1;36m1�[0m�[1;36m threads processing around �[0m�[1;36m3�[0m�[1;36m entities each.�[0m�[1;36m�[0m

However, when the server responds back (with a request) to gui with the state msg, the gui did not seem to receive that service call.

[rom341]

but why gui does not receive that service call, if ping is more than 17ms?
all work well, if use wifi newtwork, or with docker or VM, where ping is minimal, but if i use command
sudo tc qdisc add dev <network interface> root netem delay 17ms
gui breaks even with wifi or docker.
if use vpn, all break to.
It is possible that ping is the source of problems?

[iche033]

but why gui does not receive that service call, if ping is more than 17ms?

that I'm not sure. Maybe @caguero has some ideas about the impact of latency on gz-transport service requests?

[rom341]

Yes, scene broadcaster <https://github.com/gazebosim/gz-sim/blob/f0cde0574b357fba3cb9ee3f22df0108bda44db1/examples/worlds/empty.sdf#L76-L79> plugin is enabled. I am using default worlds. (empty.sdf; shapes.sdf; etc.) пн, 16 дек. 2024 г. в 06:44, Arjo Chakravarty ***@***.***>:

…

Is the scene broadcaster <https://github.com/gazebosim/gz-sim/blob/f0cde0574b357fba3cb9ee3f22df0108bda44db1/examples/worlds/empty.sdf#L76-L79> plugin enabled in your world? — Reply to this email directly, view it on GitHub <#2698 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/A4NI2U7LWACNW6WKBRVHM5D2FY5BXAVCNFSM6AAAAABTPN5NRSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDKNBUGQZDINJXGE> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[rom341]

Is it even possible to run Gazebo Harmonic or other version (except classic) on different computers and connect them via the internet (vpn tunnel for example)?

I have successfully launched gazebo classic through a vpn tunnel, but cant do it with new versions