Не отображает экран симулятора

[quetalasj]

При запуске скрипта start_scene.bash появляется иконка загрузки симулятора capellasim, после чего оно быстро исчезает и больше ничего не появляется.
Ниже приведён вывод в консоли.
При запуске start_scene_headless.bash в конце вывода в коносль похожий вывод с той же ошибкой Error: signal 11:

> root@PC:/home/root/catkin_ws/src/bac_task# ls
> CMakeLists.txt        config       rviz    start_scene.bash
> README.md             launch       scenes  start_scene_headless.bash
> bac_architecture.pdf  msg          src
> bac_frames.pdf        package.xml  srv
> root@PC:/home/root/catkin_ws/src/bac_task# ./start_scene.bash
> Loading the CoppeliaSim library...
> loaded library "libcoppeliaSim.so"
> Done!
> Launching CoppeliaSim...
> lib: 1
> loaded library "/opt/csim/libsimExtLic.so"
> lic: 1
> 
> CoppeliaSim Edu V4.0.0. (rev. 4)
> QFactoryLoader::QFactoryLoader() checking directory path "/opt/csim/platforms" ...
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/platforms/libqeglfs.so"
> Found metadata in lib /opt/csim/platforms/libqeglfs.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
>     "MetaData": {
>         "Keys": [
>             "eglfs"
>         ]
>     },
>     "archreq": 0,
>     "className": "QEglFSIntegrationPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("eglfs")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/platforms/libqlinuxfb.so"
> Found metadata in lib /opt/csim/platforms/libqlinuxfb.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
>     "MetaData": {
>         "Keys": [
>             "linuxfb"
>         ]
>     },
>     "archreq": 0,
>     "className": "QLinuxFbIntegrationPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("linuxfb")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/platforms/libqminimal.so"
> Found metadata in lib /opt/csim/platforms/libqminimal.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
>     "MetaData": {
>         "Keys": [
>             "minimal"
>         ]
>     },
>     "archreq": 0,
>     "className": "QMinimalIntegrationPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("minimal")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/platforms/libqminimalegl.so"
> Found metadata in lib /opt/csim/platforms/libqminimalegl.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
>     "MetaData": {
>         "Keys": [
>             "minimalegl"
>         ]
>     },
>     "archreq": 0,
>     "className": "QMinimalEglIntegrationPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("minimalegl")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/platforms/libqoffscreen.so"
> Found metadata in lib /opt/csim/platforms/libqoffscreen.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
>     "MetaData": {
>         "Keys": [
>             "offscreen"
>         ]
>     },
>     "archreq": 0,
>     "className": "QOffscreenIntegrationPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("offscreen")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/platforms/libqvnc.so"
> Found metadata in lib /opt/csim/platforms/libqvnc.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
>     "MetaData": {
>         "Keys": [
>             "vnc"
>         ]
>     },
>     "archreq": 0,
>     "className": "QVncIntegrationPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("vnc")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/platforms/libqxcb.so"
> Found metadata in lib /opt/csim/platforms/libqxcb.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
>     "MetaData": {
>         "Keys": [
>             "xcb"
>         ]
>     },
>     "archreq": 0,
>     "className": "QXcbIntegrationPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("xcb")
> loaded library "/opt/csim/platforms/libqxcb.so"
> loaded library "Xcursor"
> QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
> QFactoryLoader::QFactoryLoader() checking directory path "/opt/csim/platformthemes" ...
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/platformthemes/libqgtk3.so"
> Found metadata in lib /opt/csim/platformthemes/libqgtk3.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.QPlatformThemeFactoryInterface.5.1",
>     "MetaData": {
>         "Keys": [
>             "gtk3"
>         ]
>     },
>     "archreq": 0,
>     "className": "QGtk3ThemePlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("gtk3")
> QFactoryLoader::QFactoryLoader() checking directory path "/opt/csim/platforminputcontexts" ...
> QFactoryLoader::QFactoryLoader() checking directory path "/opt/csim/styles" ...
> Using the default Lua library.
> loaded library "/opt/csim/libvvcl.so"
> Loaded the video compression library.
> QFactoryLoader::QFactoryLoader() checking directory path "/opt/csim/iconengines" ...
> QFactoryLoader::QFactoryLoader() checking directory path "/opt/csim/imageformats" ...
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/imageformats/libqgif.so"
> Found metadata in lib /opt/csim/imageformats/libqgif.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
>     "MetaData": {
>         "Keys": [
>             "gif"
>         ],
>         "MimeTypes": [
>             "image/gif"
>         ]
>     },
>     "archreq": 0,
>     "className": "QGifPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("gif")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/imageformats/libqicns.so"
> Found metadata in lib /opt/csim/imageformats/libqicns.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
>     "MetaData": {
>         "Keys": [
>             "icns"
>         ],
>         "MimeTypes": [
>             "image/x-icns"
>         ]
>     },
>     "archreq": 0,
>     "className": "QICNSPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("icns")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/imageformats/libqico.so"
> Found metadata in lib /opt/csim/imageformats/libqico.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
>     "MetaData": {
>         "Keys": [
>             "ico",
>             "cur"
>         ],
>         "MimeTypes": [
>             "image/vnd.microsoft.icon",
>             "image/vnd.microsoft.icon"
>         ]
>     },
>     "archreq": 0,
>     "className": "QICOPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("ico", "cur")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/imageformats/libqjpeg.so"
> Found metadata in lib /opt/csim/imageformats/libqjpeg.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
>     "MetaData": {
>         "Keys": [
>             "jpg",
>             "jpeg"
>         ],
>         "MimeTypes": [
>             "image/jpeg",
>             "image/jpeg"
>         ]
>     },
>     "archreq": 0,
>     "className": "QJpegPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("jpg", "jpeg")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/imageformats/libqsvg.so"
> Found metadata in lib /opt/csim/imageformats/libqsvg.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
>     "MetaData": {
>         "Keys": [
>             "svg",
>             "svgz"
>         ],
>         "MimeTypes": [
>             "image/svg+xml",
>             "image/svg+xml-compressed"
>         ]
>     },
>     "archreq": 0,
>     "className": "QSvgPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("svg", "svgz")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/imageformats/libqtga.so"
> Found metadata in lib /opt/csim/imageformats/libqtga.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
>     "MetaData": {
>         "Keys": [
>             "tga"
>         ],
>         "MimeTypes": [
>             "image/x-tga"
>         ]
>     },
>     "archreq": 0,
>     "className": "QTgaPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("tga")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/imageformats/libqtiff.so"
> Found metadata in lib /opt/csim/imageformats/libqtiff.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
>     "MetaData": {
>         "Keys": [
>             "tiff",
>             "tif"
>         ],
>         "MimeTypes": [
>             "image/tiff",
>             "image/tiff"
>         ]
>     },
>     "archreq": 0,
>     "className": "QTiffPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("tiff", "tif")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/imageformats/libqwbmp.so"
> Found metadata in lib /opt/csim/imageformats/libqwbmp.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
>     "MetaData": {
>         "Keys": [
>             "wbmp"
>         ],
>         "MimeTypes": [
>             "image/vnd.wap.wbmp"
>         ]
>     },
>     "archreq": 0,
>     "className": "QWbmpPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("wbmp")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/imageformats/libqwebp.so"
> Found metadata in lib /opt/csim/imageformats/libqwebp.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
>     "MetaData": {
>         "Keys": [
>             "webp"
>         ],
>         "MimeTypes": [
>             "image/webp"
>         ]
>     },
>     "archreq": 0,
>     "className": "QWebpPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("webp")
> loaded library "/opt/csim/imageformats/libqgif.so"
> loaded library "/opt/csim/imageformats/libqicns.so"
> loaded library "/opt/csim/imageformats/libqico.so"
> loaded library "/opt/csim/imageformats/libqjpeg.so"
> Cannot load library /opt/csim/imageformats/libqsvg.so: (/usr/lib/x86_64-linux-gnu/libQt5Svg.so.5: version `Qt_5' not found (required by /opt/csim/imageformats/libqsvg.so))
> QLibraryPrivate::loadPlugin failed on "/opt/csim/imageformats/libqsvg.so" : "Cannot load library /opt/csim/imageformats/libqsvg.so: (/usr/lib/x86_64-linux-gnu/libQt5Svg.so.5: version `Qt_5' not found (required by /opt/csim/imageformats/libqsvg.so))"
> loaded library "/opt/csim/imageformats/libqtga.so"
> loaded library "/opt/csim/imageformats/libqtiff.so"
> loaded library "/opt/csim/imageformats/libqwbmp.so"
> loaded library "/opt/csim/imageformats/libqwebp.so"
> QFactoryLoader::QFactoryLoader() checking directory path "/opt/csim/xcbglintegrations" ...
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/xcbglintegrations/libqxcb-egl-integration.so"
> Found metadata in lib /opt/csim/xcbglintegrations/libqxcb-egl-integration.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.Xcb.QXcbGlIntegrationFactoryInterface.5.5",
>     "MetaData": {
>         "Keys": [
>             "xcb_egl"
>         ]
>     },
>     "archreq": 0,
>     "className": "QXcbEglIntegrationPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("xcb_egl")
> QFactoryLoader::QFactoryLoader() looking at "/opt/csim/xcbglintegrations/libqxcb-glx-integration.so"
> Found metadata in lib /opt/csim/xcbglintegrations/libqxcb-glx-integration.so, metadata=
> {
>     "IID": "org.qt-project.Qt.QPA.Xcb.QXcbGlIntegrationFactoryInterface.5.5",
>     "MetaData": {
>         "Keys": [
>             "xcb_glx"
>         ]
>     },
>     "archreq": 0,
>     "className": "QXcbGlxIntegrationPlugin",
>     "debug": false,
>     "version": 330752
> }
> 
> 
> Got keys from plugin meta data ("xcb_glx")
> loaded library "/opt/csim/xcbglintegrations/libqxcb-glx-integration.so"
> QFactoryLoader::QFactoryLoader() checking directory path "/opt/csim/accessible" ...
> Add-on script 'simAddOnScript-addOnScriptDemo.lua' was loaded.
> Add-on script 'simAddOnScript-b0RemoteApiServer.lua' was loaded.
> Add-on script 'simAddOnScript_PyRep.lua' was loaded.
> If CoppeliaSim crashes now, try to install libgl1-mesa-dev on your system:
> >sudo apt install libgl1-mesa-dev
> OpenGL: VMware, Inc., Renderer: SVGA3D; build: RELEASE;  LLVM;, Version: 2.1 Mesa 18.0.5
> ...did not crash.
> Simulator launched.
> Plugin 'Geometric': loading...
> loaded library "/opt/csim/libsimExtGeometric.so"
> Plugin 'Geometric': load succeeded.
> Plugin 'Assimp': loading...
> loaded library "/opt/csim/libsimExtAssimp.so"
> Plugin 'Assimp': warning: replaced variable 'simAssimp'
> Plugin 'Assimp': load succeeded.
> Plugin 'BlueZero': loading...
> loaded library "/opt/csim/libsimExtBlueZero.so"
> Plugin 'BlueZero': warning: replaced variable 'simB0'
> Plugin 'BlueZero': load succeeded.
> Plugin 'BubbleRob': loading...
> loaded library "/opt/csim/libsimExtBubbleRob.so"
> Plugin 'BubbleRob': load succeeded.
> Plugin 'Bwf': loading...
> loaded library "/opt/csim/libsimExtBwf.so"
> Plugin 'Bwf': load succeeded.
> Plugin 'CodeEditor': loading...
> loaded library "/opt/csim/libsimExtCodeEditor.so"
> Plugin 'CodeEditor': load succeeded.
> Plugin 'Collada': loading...
> loaded library "/opt/csim/libsimExtCollada.so"
> Plugin 'Collada': load succeeded.
> Plugin 'ConvexDecompose': loading...
> loaded library "/opt/csim/libsimExtConvexDecompose.so"
> Plugin 'ConvexDecompose': load succeeded.
> Plugin 'CustomUI': loading...
> loaded library "/opt/csim/libsimExtCustomUI.so"
> Plugin 'CustomUI': warning: replaced variable 'simUI'
> Plugin 'CustomUI': warning: replaced function 'simUI.insertTableRow@CustomUI'
> Plugin 'CustomUI': warning: replaced function 'simUI.removeTableRow@CustomUI'
> Plugin 'CustomUI': warning: replaced function 'simUI.insertTableColumn@CustomUI'
> Plugin 'CustomUI': warning: replaced function 'simUI.removeTableColumn@CustomUI'
> Plugin 'CustomUI': warning: replaced function 'simUI.setScene3DNodeParam@CustomUI'
> Plugin 'CustomUI': load succeeded.
> Plugin 'DynamicsBullet-2-78': loading...
> loaded library "/opt/csim/libsimExtDynamicsBullet-2-78.so"
> Plugin 'DynamicsBullet-2-78': load succeeded.
> Plugin 'DynamicsBullet-2-83': loading...
> loaded library "/opt/csim/libsimExtDynamicsBullet-2-83.so"
> Plugin 'DynamicsBullet-2-83': load succeeded.
> Plugin 'DynamicsNewton': loading...
> loaded library "/opt/csim/libsimExtDynamicsNewton.so"
> Plugin 'DynamicsNewton': load succeeded.
> Plugin 'DynamicsOde': loading...
> loaded library "/opt/csim/libsimExtDynamicsOde.so"
> Plugin 'DynamicsOde': load succeeded.
> Plugin 'DynamicsVortex': loading...
> Fri Feb 14 14:20:33 2020 - ERROR: Compiled with the flag for AVX but not supported by the CPU.
> 
> 
> Error: signal 11:
> 
> /opt/csim/libcoppeliaSim.so(_Z11_segHandleri+0x28)[0x7f323c0192f8]
> /lib/x86_64-linux-gnu/libc.so.6(+0x354b0)[0x7f323fe854b0]
> /opt/csim/libVxPlatform.so.2019.0(+0x2bba4)[0x7f320f633ba4]
> /opt/csim/libVxPlatform.so.2019.0(_ZN2Vx8LogErrorEPKcz+0x9d)[0x7f320f633fbd]
> /opt/csim/libVxPlatform.so.2019.0(+0x20b97)[0x7f320f628b97]
> /lib64/ld-linux-x86-64.so.2(+0x106ca)[0x7f3240f5b6ca]
> /lib64/ld-linux-x86-64.so.2(+0x107db)[0x7f3240f5b7db]
> /lib64/ld-linux-x86-64.so.2(+0x158f2)[0x7f3240f608f2]
> /lib64/ld-linux-x86-64.so.2(+0x10574)[0x7f3240f5b574]
> /lib64/ld-linux-x86-64.so.2(+0x14db9)[0x7f3240f5fdb9]
> QLibraryPrivate::unload succeeded on "/opt/csim/xcbglintegrations/libqxcb-glx-integration.so" 
> QLibraryPrivate::unload succeeded on "/opt/csim/imageformats/libqgif.so" 
> QLibraryPrivate::unload succeeded on "/opt/csim/imageformats/libqicns.so" 
> QLibraryPrivate::unload succeeded on "/opt/csim/imageformats/libqico.so" 
> QLibraryPrivate::unload succeeded on "/opt/csim/imageformats/libqjpeg.so" 
> QLibraryPrivate::unload succeeded on "/opt/csim/imageformats/libqtga.so" 
> QLibraryPrivate::unload succeeded on "/opt/csim/imageformats/libqtiff.so" 
> QLibraryPrivate::unload succeeded on "/opt/csim/imageformats/libqwbmp.so" 
> QLibraryPrivate::unload succeeded on "/opt/csim/imageformats/libqwebp.so" 
> QLibraryPrivate::unload succeeded on "/opt/csim/platforms/libqxcb.so" 
> QLibraryPrivate::unload succeeded on "Xcursor" (faked)
> On QtCore unload, "/opt/csim/libsimExtAssimp.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtBlueZero.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtBubbleRob.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtBwf.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtCodeEditor.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtCollada.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtConvexDecompose.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtCustomUI.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtDynamicsBullet-2-78.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtDynamicsBullet-2-83.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtDynamicsNewton.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtDynamicsOde.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtGeometric.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libsimExtLic.so" was leaked, with 2 users
> On QtCore unload, "/opt/csim/libvvcl.so" was leaked, with 2 users
> On QtCore unload, "libcoppeliaSim.so" was leaked, with 2 users

[kirillin]

Здравствуйте!

Попробуйте так

./run_docker.bash
rm -rf /opt/csim/libsimExtDynamicsVortex.so
roscd bac_task 
./start_scene.bash

Если это поможет, то на вашем компьтере придется эту процедуру проделывать при каждом запуске симулятора.