| 66 | | |
| 67 | | == Installation des drivers graphiques (maybe deprecated) == |
| 68 | | |
| 69 | | * Si vous possédez une carte vidéo type nvidia, il faut copier les librairies dans la toolchain: |
| 70 | | {{{ |
| 71 | | $ sudo cp -r /usr/lib/nvidia-340/* /opt/robomap3/1.7.3/core2-64/sysroots/core2-64-poky-linux/usr/lib |
| 72 | | }}} |
| 73 | | |
| 74 | | * Pour une carte vidéo de type ATI: |
| 75 | | {{{ |
| 76 | | $ sudo cp -r /usr/lib/fglrx/* /opt/robomap3/1.7.3/core2-64/sysroots/core2-64-poky-linux/usr/lib |
| 77 | | }}} |
| 78 | | |
| 79 | | * For an Intel graphic card, it's a little bit more complicated, due to several versions and path for the libraries. |
| 80 | | The idea is that we're using the system video card driver since it's not included in robomap3. |
| 81 | | |
| 82 | | The driver itself (eg: i965_dri.so) should be loaded automatically (from /usr/lib/x86_64-linux-gnu/dri/). But this driver may not succesfully load since it requires some specific library versions that may not match robomap3's. |
| 83 | | |
| 84 | | To debug this you should launch your 3D graphic program (eg: simulator) with the LIBGL_DEBUG environment variable set to verbose. |
| 85 | | For example |
| 86 | | {{{ |
| 87 | | $ LIBGL_DEBUG=verbose ./LineFollower_simulator_nrt -n x4_0 -t x4 -a 127.0.0.1 -p 9000 -x setup_x4.xml (...) |
| 88 | | }}} |
| 89 | | Notice the line that look like {{{ libstdc++.so.6: version `CXXABI_1.3.9' not found (required by /usr/lib/x86_64-linux-gnu/dri/i965_dri.so) }}}. |
| 90 | | This means that the local system driver needs a version of libstdc++.so.6 that defines the symbol CXXABI_1.3.9 (meaning application binary interface version 1.3.9). |
| 91 | | The version of libstdc++ included in robomap3 probably doesn't define this symbol. You can make sure with |
| 92 | | {{{ |
| 93 | | strings /.../robomap3/1.7.3/core2-64/sysroots/core2-64-poky-linux/usr/lib/libstdc++.so.6 | grep CXXABI_ |
| 94 | | }}} |
| 95 | | So we need to preload the libstdc++ library of the system to avoid robomap3 one to be loaded. |
| 96 | | To achieve this we need to set the LD_PRELOAD environment variable like this |
| 97 | | {{{ |
| 98 | | LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6 ./LineFollower_simulator_nrt ... |
| 99 | | }}} |
| 100 | | |
| 101 | | |
| 102 | | Stopping here may be enough, but you then can see errors like {{{ i965_dri.so: undefined symbol: nouveau_drm_new }}}. |
| 103 | | |
| 104 | | Same problem: the driver needs a version of a library (here libdrm_nouveau.so.2) which defines a specific symbol that doesn't exist in robomap3 version (yet). |
| 105 | | |
| 106 | | Same solution: preload the local system library. |
| 107 | | Repeat this until all unresolved symbols are gone. |
| 108 | | |
| 109 | | On ubuntu 16.10 with robomap3 1.7.3, I ended up with the following |
| 110 | | {{{ |
| 111 | | LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6:/usr/lib/x86_64-linux-gnu/libdrm_intel.so.1:/usr/lib/x86_64-linux-gnu/libdrm_nouveau.so.2:/usr/lib/x86_64-linux-gnu/libdrm_radeon.so.1 ./LineFollower_simulator_nrt -n x4_0 -t x4 ... |
| 112 | | }}} |
| 113 | | To avoid setting this variable every time, you can modify the script used to launch the program (usually in build/bin, eg: simulator_xx.sh) and add this line __after__ the first one |
| 114 | | {{{ |
| 115 | | export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6:/usr/lib/x86_64-linux-gnu/libdrm_intel.so.1:/usr/lib/x86_64-linux-gnu/libdrm_nouveau.so.2:/usr/lib/x86_64-linux-gnu/libdrm_radeon.so.1 |
| 116 | | }}} |
