rviz2 failed/crash with additional monitor

[cjffly]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

When launching rviz2 with the default config file in autoware/src/launcher/autoware_launch/autoware_launch/rivz/autoware.rviz, the rviz2 window will appear for a second and then close. The console will reports:

[ERROR] [rviz2-46]: process has died [pid 220579, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2
 -d /home/thing1/autoware/install/autoware_launch/share/autoware_launch/rviz/autoware.rviz 
 -s /home/thing1/autoware/install/autoware_launch/share/autoware_launch/rviz/image/autoware.png --ros-args -r __node:=rviz2 -p use_sim_time:=False -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7'].

This only happens when my laptop is connected to a extended monitor. (if no extended monitor was connected, it will work fine)

Expected behavior

rviz2 launch nomally

Actual behavior

rviz2 window appear for a second and then closed.

Steps to reproduce

1. Have a laptop connected to a monitor
2. Start rviz2 with rviz2 -d ~/autoware/install/autoware_launch/share/autoware_launch/rviz/autoware.rviz

Versions

• OS: PopOs 22.04
• ROS2: Humble
• Autoware: latest from source

Possible causes

Solution: Not sure the cause of this bug, but I found the solution:

Open the .rviz config file with an editor, find and delete the following 2 part:

• First:

  - Class: AutowareDateTimePanel
    Name: AutowareDateTimePanel

• Second:
  The number after QMainWindow State:

I am not clear what these two part do for rviz, but deleting them solved my problem.

Additional context

No response

[kyoichi-sugahara]

@cjffly
Thank you for the report!!
I had same issue and solved problem thanks to your suggested proposal.
I don't know the cause though....

[taikitanaka3]

@isamu-takagi

Do you have any idea about this issue?

[isamu-takagi]

@taikitanaka3 Thank you for the notification. I've never had this problem before, so I'll try it in an environment with an extra monitor.

[isouf]

Thank for reporting this issue.

I have observed the same behaviour (rviz2 window appear for a second and then closed.) but on a single laptop screen (Dell XPS 15 9520 RTX 3050 Ti).

I have exactly the same versions of OS, ROS and Autoware but I am running it via Docker (humble-latest-cuda). My NVIDIA Driver and CUDA versions inside the Docker container: Driver Version: 525.60.13 CUDA Version: 12.0.

The problem appears when I set the resolution of my screen to 3456 x 2160 (16:10) with 200 % scale factor. I can open rviz2 if I change the scale factor to 100 %, but I cannot set the initial pose (see relevant Discord thread here). After trying multiple screen resolutions and scale factors I found that 1680 x 1050 (16:10) with 100 % scale factor is the one that works for me (I can now open rviz2 and set the initial/goal poses).

[isamu-takagi]

I can't reproduce it, but I found the suspicious code. Can you check if this PR will fix it?
autowarefoundation/autoware.universe#2753

[kyoichi-sugahara]

I tried this PR
But the problem is not fixed...

[AhmadAmine998]

Hello, I was facing this same issue with both a single laptop and a dual-monitor setup. It happens to me when the screen resolution of either is set to 3840x2160 (4K).

A solution to this is:

1. Set your display to 1920x1080 or 100% scaling.
2. Start rviz2 with rviz2 -d ~/autoware/install/autoware_launch/share/autoware_launch/rviz/autoware.rviz
3. Uncheck the PointCloadMap visualization (Map > PointCloudMap).
   
4. Save the autoware.rviz config.
5. Set the display back to your native resolution and desired scaling.
6. Start rviz2 again with rviz2 -d ~/autoware/install/autoware_launch/share/autoware_launch/rviz/autoware.rviz

This way the PointCloudMap topic is not visualized on startup since PointCloudMap consumes a lot of memory. I was able to enable the PointCloudMap again after startup. It seems that rviz2 consumes a lot of memory on launch when rendering on a 4K screen and unchecking PointCloudMap helps reduce the load. Hope this helps.

[isamu-takagi]

I feel like rviz crashes if config file contains many plugins. The same behavior occurs with plugins other than AutowareDateTimePanel, and the following exception is sometimes thrown.

[ERROR] [1685087505.357431157] [rviz2]: InternalErrorException: Vertex Buffer: Out of memory in GLHardwareVertexBuffer::lock at ./.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GL/src/OgreGLHardwareVertexBuffer.cpp (line 125)
terminate called after throwing an instance of 'Ogre::InternalErrorException'
  what():  InternalErrorException: Vertex Buffer: Out of memory in GLHardwareVertexBuffer::lock at ./.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GL/src/OgreGLHardwareVertexBuffer.cpp (line 125)

[isamu-takagi]

Related discussions:
https://github.com/orgs/autowarefoundation/discussions/3474
https://github.com/orgs/autowarefoundation/discussions/3121

[xmfcx]

I'm moving this to the following issue:

• RViz2 with Autoware configuration crashes on high DPI #3998

Until it is solved, use the Autoware RViz2 with xrandr --dpi 96 please.