From baf43bbb746afa679606eab79072d95b56155b48 Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Mon, 9 Sep 2024 10:45:32 +0200 Subject: [PATCH 1/3] tutorials: headless_rendering: Little fixes Signed-off-by: Martin Pecka --- tutorials/headless_rendering.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tutorials/headless_rendering.md b/tutorials/headless_rendering.md index 6c01ef756d..f52d2b2a28 100644 --- a/tutorials/headless_rendering.md +++ b/tutorials/headless_rendering.md @@ -13,7 +13,7 @@ An easier solution is through the use of [EGL](https://www.khronos.org/egl), whi Example usage: ``` -gz sim -v 4 -s --headless-rendering sensors_demo.sdf +DISPLAY= gz sim -v 4 -s -r --headless-rendering sensors_demo.sdf ``` If you are using Gazebo as a library, then you can configure the @@ -66,11 +66,11 @@ here](https://www.ogre3d.org/2021/02/06/ogre-2-2-5-cerberus-released-and-egl-hea 11. [Install Gazebo](https://gazebosim.org/docs/latest/install). 12. Run a Gazebo world that uses OGRE2 with camera sensors using headless rendering. This will enable EGL. ``` - gz sim -v 4 -s -r --headless-rendering sensors_demo.sdf + DISPLAY= gz sim -v 4 -s -r --headless-rendering sensors_demo.sdf ``` 13. Check that simulation is producing sensor data by ssh'ing into the EC2 - instance from a new terminal and echoing a sensor topic. + instance from a new terminal and testing the frequency of a sensor topic. ``` ssh -i SSH_PEM_FILE_USED_DURING_LAUNCH ubuntu@EC_INSTANCE_PUBLIC_IP - gz topic -et /thermal_camera + gz topic -ft /thermal_camera ``` From 25b17b45c59605214619c77887067d4538483d09 Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Mon, 9 Sep 2024 12:16:52 +0200 Subject: [PATCH 2/3] Update headless_rendering.md Signed-off-by: Martin Pecka --- tutorials/headless_rendering.md | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/tutorials/headless_rendering.md b/tutorials/headless_rendering.md index f52d2b2a28..bb6169429f 100644 --- a/tutorials/headless_rendering.md +++ b/tutorials/headless_rendering.md @@ -63,14 +63,23 @@ here](https://www.ogre3d.org/2021/02/06/ogre-2-2-5-cerberus-released-and-egl-hea ``` sudo reboot ``` -11. [Install Gazebo](https://gazebosim.org/docs/latest/install). -12. Run a Gazebo world that uses OGRE2 with camera sensors using headless rendering. This will enable EGL. +15. [Install Gazebo](https://gazebosim.org/docs/latest/install). +16. Run a Gazebo world that uses OGRE2 with camera sensors using headless rendering. This will enable EGL. ``` DISPLAY= gz sim -v 4 -s -r --headless-rendering sensors_demo.sdf ``` -13. Check that simulation is producing sensor data by ssh'ing into the EC2 - instance from a new terminal and testing the frequency of a sensor topic. +17. Check that simulation is producing sensor data by ssh'ing into the EC2 + instance from a new terminal and testing the frequency of a sensor topic. ``` ssh -i SSH_PEM_FILE_USED_DURING_LAUNCH ubuntu@EC_INSTANCE_PUBLIC_IP gz topic -ft /thermal_camera ``` +18. To verify that the EGL backend was used, try the following command: + ``` + grep -R "EGL Subsystem" ~/.gz/rendering/ogre2.log + ``` + Its output should not be empty, e.g.: + ``` + *** Starting EGL Subsystem *** + *** Stopping EGL Subsystem *** + ``` From 96d3691b8fa9462698b4760211e71f8451877623 Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Mon, 9 Sep 2024 12:24:55 +0200 Subject: [PATCH 3/3] Fix whitespace Signed-off-by: Martin Pecka --- tutorials/headless_rendering.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/headless_rendering.md b/tutorials/headless_rendering.md index bb6169429f..787755da47 100644 --- a/tutorials/headless_rendering.md +++ b/tutorials/headless_rendering.md @@ -69,7 +69,7 @@ here](https://www.ogre3d.org/2021/02/06/ogre-2-2-5-cerberus-released-and-egl-hea DISPLAY= gz sim -v 4 -s -r --headless-rendering sensors_demo.sdf ``` 17. Check that simulation is producing sensor data by ssh'ing into the EC2 - instance from a new terminal and testing the frequency of a sensor topic. + instance from a new terminal and testing the frequency of a sensor topic. ``` ssh -i SSH_PEM_FILE_USED_DURING_LAUNCH ubuntu@EC_INSTANCE_PUBLIC_IP gz topic -ft /thermal_camera