C++ visualization not working

[syangav]

Hi Sotaro,

Thanks for open-sourcing such nice software!

When I am playing with your code, I bumped into a visualization error in C++. To be more exact, I would like to build the cpp files in examples/anymal with ENABLE_VIEWER to be 'ON' from the CMakeLists.txt to see the visualization effect. All examples (trot, crawl, pace, bounce, jump, run, jump_sto) can be successfully built. However, when executing, the following messages jumped out:

Failed in connecting to CORBA!! omniORB: (0) 2022-08-24 15:51:55.371327: Error: the application attempted to invoke an operation on a nil reference. terminate called after throwing an instance of 'CORBA::INV_OBJREF' Aborted (core dumped)

After some investigation, I realized that it is at this line where the pinocchio::gepetto::Viewer cannot be initialized, which is pretty weird, because model_ and vmodel_ are all well-initialized according to my understanding. I did some search, but sadly found nothing valuable for debugging.

P.S. I have installed gepetto-viewer-corba and pinocchio-gepetto-viewer properly. The python visualization (from jupyter notebook) works well.

Any help are greatly appreciated! And thanks for your time in advance.

Best regards, Shaohui Yang

[mayataka]

Hi @syangav

Thank you for being interested in this repo! To use the C++ visualizer, you have to launch gepetto-viewer in another terminal via

gepetto-gui

Then the C++ visualizer will successfully work. The Python visualizer is more convenient because it launches the gepetto-gui inside of the class.

[syangav]

Thanks for your fast reply and nice easy fix! Wish you a good night!

If you think it's necessary, this issue can be kept open for helping others, just like the previous python binding one.

[mayataka]

C++ visualizer is removed with #135 as it is really unuseful. Please use python visualizer instead.