jMAVSim
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PX4
"Can't load library: /home/pi/src/Firmware/Tools/jMAVSim/out/production/libgluegen-rt.so"
I followed these instructions: https://github.com/PX4/jMAVSim/blob/master/README.md
On running it with
java -djava.ext.dirs= -jar jmavsim_run.jar
I get the following error:
Options parsed, starting Sim.
Starting GUI...
3D [dev] 1.6.0-pre12-daily-experimental daily
Exception in thread "main" java.lang.reflect.InvocationTargetException
at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.lang.reflect.Method.invoke(Method.java:498)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.lang.UnsatisfiedLinkError: Can't load library: /home/pi/src/Firmware/jMAVSim/out/production/libgluegen-rt.so
at java.lang.ClassLoader.loadLibrary(ClassLoader.java:1827)
at java.lang.Runtime.load0(Runtime.java:809)
at java.lang.System.load(System.java:1086)
at com.jogamp.common.jvm.JNILibLoaderBase.loadLibraryInternal(JNILibLoaderBase.java:596)
at com.jogamp.common.jvm.JNILibLoaderBase.access$000(JNILibLoaderBase.java:63)
at com.jogamp.common.jvm.JNILibLoaderBase$DefaultAction.loadLibrary(JNILibLoaderBase.java:95)
at com.jogamp.common.jvm.JNILibLoaderBase.loadLibrary(JNILibLoaderBase.java:459)
at com.jogamp.common.os.DynamicLibraryBundle$GlueJNILibLoader.loadLibrary(DynamicLibraryBundle.java:421)
at com.jogamp.common.os.Platform$1.run(Platform.java:317)
at java.security.AccessController.doPrivileged(Native Method)
at com.jogamp.common.os.Platform.<clinit>(Platform.java:287)
at com.jogamp.opengl.GLProfile.<clinit>(GLProfile.java:146)
at jogamp.opengl.ThreadingImpl$1.run(ThreadingImpl.java:83)
at jogamp.opengl.ThreadingImpl$1.run(ThreadingImpl.java:66)
at java.security.AccessController.doPrivileged(Native Method)
at jogamp.opengl.ThreadingImpl.<clinit>(ThreadingImpl.java:66)
at com.jogamp.opengl.Threading.disableSingleThreading(Threading.java:164)
at javax.media.j3d.JoglPipeline.initialize(JoglPipeline.java:130)
at javax.media.j3d.Pipeline.createPipeline(Pipeline.java:92)
at javax.media.j3d.MasterControl.loadLibraries(MasterControl.java:837)
at javax.media.j3d.VirtualUniverse.<clinit>(VirtualUniverse.java:274)
at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:155)
at me.drton.jmavsim.Simulator.<init>(Simulator.java:170)
at me.drton.jmavsim.Simulator.main(Simulator.java:793)
... 5 more
I also cannot load this lib, Firmware/jMAVSim/out/production/libgluegen-rt.so, when running make px4_sitl jmavsim on the Pinebook.
Also having this same error when running make px4_sitl jmavsim, anyone managed to resolve?
@efischer91 have you managed to resolve this? I am experiencing the same issue on Ubuntu 18.04 on a Jetson Nano
@efischer91 have you managed to resolve this? I am experiencing the same issue on Ubuntu 18.04 on a Jetson Nano
Unfortunately no.
I have the same error... I operate at Raspberry Pi 3B board and use Ubuntu mate 18.04 Passed 2 years.. No one can even help us?....
I have the same error... I operate at Raspberry Pi 3B board and use Ubuntu mate 18.04 Passed 2 years.. No one can even help us?....
hey guys ! I find the solution !!! https://jogamp.org/deployment/archive/rc/v2.4.0-rc-20200104/apk/ Download the gluegen file that matches your device. My workstation is RPi 3B, so I download the aarch64 version. After unzip copy "libgluegen_rt.so" file from "gluegen-2.4-b938-20210111-linux-aarch64\gluegen-2.4-b938-20210111-linux-aarch64\lib" to your missing file's folder.(In this path, if there is no matching folder, try to use the command "mkdir + folder name" to generate a new folder to continue copying)
I have the same error... I operate at Raspberry Pi 3B board and use Ubuntu mate 18.04 Passed 2 years.. No one can even help us?....
hey guys ! I find the solution !!! https://jogamp.org/deployment/archive/rc/v2.4.0-rc-20200104/apk/ Download the gluegen file that matches your device. My workstation is RPi 3B, so I download the aarch64 version. After unzip copy "libgluegen_rt.so" file from "gluegen-2.4-b938-20210111-linux-aarch64\gluegen-2.4-b938-20210111-linux-aarch64\lib" to your missing file's folder.(In this path, if there is no matching folder, try to use the command "mkdir + folder name" to generate a new folder to continue copying)
I did exactly as your way, but I got another problem.
The error is changed from 'Can't load library' to 'invalid ELF header'. If you solved this problem, please let me know.. Thanks.
I am building jMAVSim for linux/aarch64. I was able to get past most of the libgluegen_rt issues by downloading the aarch64 jar files from the following location:
https://jogamp.org/deployment/archive/rc/v2.4.0/jar/
However, while it gets past the initial error indicating that it can't find libraries, with a different one as follows:
Exception in thread "main" java.lang.reflect.InvocationTargetException
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.base/java.lang.reflect.Method.invoke(Method.java:568)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.lang.UnsatisfiedLinkError: Couldn't load library 'gluegen_rt' generically including [], nor as [/usr/java/packages/lib/libgluegen_rt.so, /usr/lib64/libgluegen_rt.so, /lib64/libgluegen_rt.so, /usr/lib/libgluegen_rt.so, /usr/lib/libgluegen_rt.so, /home/umex/Documents/tools/PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/out/production/libgluegen_rt.so, /home/umex/Documents/tools/PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/out/production/natives/linux-aarch64/libgluegen_rt.so]
at com.jogamp.common.jvm.JNILibLoaderBase.loadLibraryInternal(JNILibLoaderBase.java:634)
at com.jogamp.common.jvm.JNILibLoaderBase.access$000(JNILibLoaderBase.java:64)
at com.jogamp.common.jvm.JNILibLoaderBase$DefaultAction.loadLibrary(JNILibLoaderBase.java:107)
at com.jogamp.common.jvm.JNILibLoaderBase.loadLibrary(JNILibLoaderBase.java:488)
at com.jogamp.common.os.DynamicLibraryBundle$GlueJNILibLoader.loadLibrary(DynamicLibraryBundle.java:427)
at com.jogamp.common.os.Platform$1.run(Platform.java:321)
at com.jogamp.common.util.SecurityUtil.doPrivileged(SecurityUtil.java:80)
at com.jogamp.common.os.Platform.<clinit>(Platform.java:290)
at com.jogamp.opengl.GLProfile.<clinit>(GLProfile.java:154)
at jogamp.opengl.ThreadingImpl$1.run(ThreadingImpl.java:83)
at jogamp.opengl.ThreadingImpl$1.run(ThreadingImpl.java:66)
at com.jogamp.common.util.SecurityUtil.doPrivileged(SecurityUtil.java:80)
at jogamp.opengl.ThreadingImpl.<clinit>(ThreadingImpl.java:66)
at com.jogamp.opengl.Threading.disableSingleThreading(Threading.java:164)
at javax.media.j3d.JoglPipeline.initialize(JoglPipeline.java:129)
at javax.media.j3d.Pipeline.createPipeline(Pipeline.java:92)
at javax.media.j3d.MasterControl.loadLibraries(MasterControl.java:858)
at javax.media.j3d.VirtualUniverse.<clinit>(VirtualUniverse.java:267)
at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:194)
at me.drton.jmavsim.Simulator.<init>(Simulator.java:193)
at me.drton.jmavsim.Simulator.main(Simulator.java:944)
The .so files are there... and I can see them copied during the build, however, I still get the error. I am hoping this is just a classpath issue, but I am not sure what the next step would be to fix this.
Update on the above, the aarch64 jar files are there... but I don't see the .so files in the ./out/production or ./out/production/natives folder. There is no natives folder. I am not sure how the make file generates this folder and why it's not doing it for the aarch64 so files.
Another update... after copying the right jar files from the jogamp website, the build.xml file needs to be updated (...still learning here). Specifically here:
<attribute name="Rsrc-Class-Path" value="./ annotations.jar gluegen-rt-natives-linux-amd64.jar
gluegen-rt-natives-linux-aarch64.jar gluegen-rt-natives-linux-i586.jar gluegen-rt-natives-macosx-universal.jar
gluegen-rt-natives-windows-amd64.jar gluegen-rt-natives-windows-i586.jar gluegen-rt.jar j3dcore.jar j3dutils.jar
joal-natives-linux-amd64.jar joal-natives-linux-aarch64.jar joal-natives-linux-i586.jar
joal-natives-macosx-universal.jar joal-natives-windows-amd64.jar joal-natives-windows-i586.jar joal.jar
jogl-all-natives-linux-amd64.jar jogl-all-natives-linux-aarch64.jar jogl-all-natives-linux-i586.jar
jogl-all-natives-macosx-universal.jar jogl-all-natives-windows-amd64.jar jogl-all-natives-windows-i586.jar
jogl-all.jar jssc.jar vecmath.jar"/>
and here:
<zipfileset dir="lib" includes="gluegen-rt-natives-linux-aarch64.jar"/>
<zipfileset dir="lib" includes="joal-natives-linux-aarch64.jar"/>
<zipfileset dir="lib" includes="jogl-all-natives-linux-aarch64.jar"/>
after the above updates, run a make clean and then make px4_sitl_default jmavsim and the simulator GUI will work just fine.
Hey @cryptik, I followed your steps above (I'm also using px4) by doing:
- Downloading jars:
cd PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/lib/
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt-natives-linux-aarch64.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal-natives-linux-aarch64.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all-natives-linux-aarch64.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal-natives-linux-aarch64.jar
- Modifying the build.xml file (here is the snippet you referenced):
<target name="create_run_jar" depends="compile" description="Creates standalone runnable JAR file including dependencies.">
<jar destfile="${build.dir}/jmavsim_run.jar">
<manifest>
<attribute name="Main-Class" value="org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader"/>
<attribute name="Rsrc-Main-Class" value="me.drton.jmavsim.Simulator"/>
<attribute name="Class-Path" value="."/>
<attribute name="Rsrc-Class-Path" value="./ annotations.jar gluegen-rt-natives-linux-amd64.jar gluegen-rt-natives-linux-aarch64.jar gluegen-rt-natives-linux-i586.jar gluegen-rt-natives-macosx-universal.jar gluegen-rt-natives-windows-amd64.jar gluegen-rt-natives-windows-i586.jar gluegen-rt.jar j3dcore.jar j3dutils.jar joal-natives-linux-amd64.jar joal-natives-linux-aarch64.jar joal-natives-linux-i586.jar joal-natives-macosx-universal.jar joal-natives-windows-amd64.jar joal-natives-windows-i586.jar joal.jar jogl-all-natives-linux-amd64.jar jogl-all-natives-linux-aarch64.jar jogl-all-natives-linux-i586.jar jogl-all-natives-macosx-universal.jar jogl-all-natives-windows-amd64.jar jogl-all-natives-windows-i586.jar jogl-all.jar jssc.jar vecmath.jar"/>
</manifest>
<fileset dir="${classes.dir}"/>
<zipfileset src="jar-in-jar-loader.zip"/>
<zipfileset dir="lib" includes="annotations.jar"/>
<zipfileset dir="lib" includes="gluegen-rt.jar"/>
<zipfileset dir="lib" includes="j3dcore.jar"/>
<zipfileset dir="lib" includes="j3dutils.jar"/>
<zipfileset dir="lib" includes="joal.jar"/>
<zipfileset dir="lib" includes="jogl-all.jar"/>
<zipfileset dir="lib" includes="jssc.jar"/>
<zipfileset dir="lib" includes="vecmath.jar"/>
<zipgroupfileset dir="lib" includes="forms_rt.jar"/>
<!-- OS-specific jars (can exclude any you don't need) -->
<zipfileset dir="lib" includes="gluegen-rt-natives-linux-aarch64.jar"/>
<zipfileset dir="lib" includes="joal-natives-linux-aarch64.jar"/>
<zipfileset dir="lib" includes="jogl-all-natives-linux-aarch64.jar"/>
- Followed by a clean build:
cd PX4-Autopilot/
make clean
make px4_sitl_default jmavsim
However, I then run in to a separate error:
INFO [dataman] data manager file './dataman' size is 7866640 bytes
etc/init.d-posix/rcS: 39: [: Illegal number:
INFO [init] jMAVSim simulator
INFO [simulator_mavlink] using TCP on remote host localhost port 4560
WARN [simulator_mavlink] Please ensure port 4560 is not blocked by a firewall.
INFO [simulator_mavlink] Resolved host 'localhost' to address: 127.0.0.1
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
Buildfile: /home/austinriffle/PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/build.xml
make_dirs:
compile:
create_run_jar:
copy_res:
BUILD SUCCESSFUL
Total time: 0 seconds
Options parsed, starting Sim.
Starting GUI...
Exception in thread "main" java.lang.reflect.InvocationTargetException
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.base/java.lang.reflect.Method.invoke(Method.java:567)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:61)
Caused by: java.lang.InternalError: XXX0 profile[2]: GL2 -> profileImpl GL3bc !!! not mapped
at com.jogamp.opengl.GLProfile.computeProfileMap(GLProfile.java:2098)
at com.jogamp.opengl.GLProfile.initProfilesForDeviceCritical(GLProfile.java:1976)
at com.jogamp.opengl.GLProfile.initProfilesForDevice(GLProfile.java:1895)
at com.jogamp.opengl.GLProfile.initProfilesForDefaultDevices(GLProfile.java:1861)
at com.jogamp.opengl.GLProfile.access$000(GLProfile.java:80)
at com.jogamp.opengl.GLProfile$1.run(GLProfile.java:239)
at java.base/java.security.AccessController.doPrivileged(AccessController.java:312)
at com.jogamp.opengl.GLProfile.initSingleton(GLProfile.java:225)
at com.jogamp.opengl.GLProfile.getProfileMap(GLProfile.java:2324)
at com.jogamp.opengl.GLProfile.get(GLProfile.java:1042)
at com.jogamp.opengl.GLProfile.get(GLProfile.java:1071)
at com.jogamp.opengl.GLProfile.getMaxFixedFunc(GLProfile.java:824)
at javax.media.j3d.JoglPipeline.initialize(JoglPipeline.java:131)
at javax.media.j3d.Pipeline.createPipeline(Pipeline.java:92)
at javax.media.j3d.MasterControl.loadLibraries(MasterControl.java:858)
at javax.media.j3d.VirtualUniverse.<clinit>(VirtualUniverse.java:267)
at me.drton.jmavsim.Visualizer3D.<init>(Visualizer3D.java:194)
at me.drton.jmavsim.Simulator.<init>(Simulator.java:193)
at me.drton.jmavsim.Simulator.main(Simulator.java:944)
... 5 more
Did you (or anyone else for that matter) encounter this java.lang.InternalError error, and have any advice for a solution?
As info, if anyone else runs into the above error, I resolved it by doing:
export LIBGL_ALWAYS_SOFTWARE=1
according to here:
https://groups.google.com/g/jaamsim-users/c/tJW48U0Vi9k?pli=1
There's probably a way to fix it with a driver update or something similar that will allow us to leverage hardware, but for now this works. If I find another solution I will update.
Actually, updating the following jar's resolve the issue correctly:
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal.jar
Actually, updating the following jar's resolve the issue correctly:
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all.jar wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt.jar wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal.jar
Download the latest build versions of ·gluegen, joal, and jogl and replace them. Here are the links:
- https://jogamp.org/chuck/view/fwd/job/gluegen/952/
- https://jogamp.org/chuck/view/fwd/job/joal/670/
- https://jogamp.org/chuck/view/fwd/job/jogl/1519/
Unzip these three compressed files,
- replace the relevant JAR files in the directory "PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/lib/"
- add the relevant libraries to the directory "PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/out/production/".
Now you should be able to run it without any issues.
Thanks above @ ALL In addition to the steps of @1qingfeng-1. Since my ubuntu run on the CPU of the Mac M series, there are the following changes Used in /PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/build.xml:
<zipfileset dir="lib" includes="gluegen-rt-natives-linux-aarch64.jar"/>
<zipfileset dir="lib" includes="joal-natives-linux-aarch64.jar"/>
<zipfileset dir="lib" includes="jogl-all-natives-linux-aarch64.jar"/>
The corresponding resources are as follows:
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all-natives-linux-aarch64.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt-natives-linux-aarch64.jar
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal-natives-linux-aarch64.jar.jar
Actually, updating the following jar's resolve the issue correctly:
wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/jogl-all.jar wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/gluegen-rt.jar wget https://jogamp.org/deployment/archive/rc/v2.4.0/jar/joal.jarDownload the latest build versions of ·gluegen, joal, and jogl and replace them. Here are the links:
- https://jogamp.org/chuck/view/fwd/job/gluegen/952/
- https://jogamp.org/chuck/view/fwd/job/joal/670/
- https://jogamp.org/chuck/view/fwd/job/jogl/1519/
Unzip these three compressed files,
- replace the relevant JAR files in the directory "PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/lib/"
- add the relevant libraries to the directory "PX4-Autopilot/Tools/simulation/jmavsim/jMAVSim/out/production/".
Now you should be able to run it without any issues.
It did work for me.
