Unable to run lcm-spy or bot-spy Due To java.lang.NoClassDefFoundError #3231

liangfok · 2016-08-23T17:39:18Z

The Error

The following errors were obtained on Ubuntu Linux 14.04.4 LTS.

lcm-spy Error

$ ./drake-distro/build/install/bin/lcm-spy 
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/bin/../share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$4.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/ITrace2D
                 jar: /home/liang/dev/drake-distro-2/build/install/bin/../share/java/lcm.jar
                 class: lcm/spy/ObjectPanel.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/bin/../share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$MyMouseWheelListener.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/bin/../share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$5.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/axis/AAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/bin/../share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$3.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/ZoomableChart
                 jar: /home/liang/dev/drake-distro-2/build/install/bin/../share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/bin/../share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$2.class
Found 0 LCM types
LCM: Disabling IPV6 support
LCM: TTL set to zero, traffic will not leave localhost.
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/ZoomableChart
                 jar: /home/liang/dev/drake-distro-2/build/install/bin/../share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel.class
Found 0 plugins

bot-spy Error

$ ./drake-distro/build/install/bin/bot-spy
Checking /home/liang/dev/drake-distro-2/build/install/share/java
   Found /home/liang/dev/drake-distro-2/build/install/share/java/lcmtypes_bot2-core.jar
   Found /home/liang/dev/drake-distro-2/build/install/share/java/lcmtypes_bot2-param.jar
   Found /home/liang/dev/drake-distro-2/build/install/share/java/lcmtypes_bot2-procman.jar
   Found /home/liang/dev/drake-distro-2/build/install/share/java/lcmtypes_drake.jar
   Found /home/liang/dev/drake-distro-2/build/install/share/java/lcmspy_plugins_bot2.jar
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$4.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/ITrace2D
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ObjectPanel.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$MyMouseWheelListener.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$5.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/axis/AAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$3.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/ZoomableChart
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$2.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$4.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/ITrace2D
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ObjectPanel.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$MyMouseWheelListener.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$5.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/axis/AAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$3.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/ZoomableChart
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/IAxis
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel$2.class
Found 75 LCM types
LCM: Disabling IPV6 support
LCM: TTL set to zero, traffic will not leave localhost.
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/ZoomableChart
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel.class
ClassDiscoverer: java.lang.NoClassDefFoundError: info/monitorenter/gui/chart/ZoomableChart
                 jar: /home/liang/dev/drake-distro-2/build/install/share/java/lcm.jar
                 class: lcm/spy/ZoomableChartScrollWheel.class
Found 4 plugins
 bot2_spy.ImagePlugin@4fc09423
 bot2_spy.PlanarLidarPlugin@6c3daebc
 bot2_spy.ImagePlugin@459af028
 bot2_spy.PlanarLidarPlugin@3f0cf5cb

Prognosis

The error message mentions packages named "info/monitorenter/gui". This appears to be part of JChart2d.

Searching in drake-distro, I see that JChart2d exists:

$ cd drake-distro
$ find . -name "*.jar" | grep jchart2d*
./externals/lcm/lcm-java/jchart2d-code/ext/xmlgraphics-commons-1.3.1.jar
./externals/lcm/lcm-java/jchart2d-code/ext/build/profile.jar
./externals/lcm/lcm-java/jchart2d-code/ext/build/junit-4.8.1.jar
./externals/lcm/lcm-java/jchart2d-code/ext/build/jipViewer.jar
./externals/lcm/lcm-java/jchart2d-code/ext/build/proguard-4.5.1.jar
./externals/lcm/lcm-java/jchart2d-code/ext/jide-oss-2.9.7.jar
./externals/lcm/lcm-java/jchart2d-code/doc/lib/jchart2d-applet.jar
./build/externals/lcm/lcm-java/jchart2d-code/jchart2d-3.2.2.jar
./build/install/share/java/jchart2d-3.2.2.jar

Thus, maybe there's a problem with the CLASSPATH?

The text was updated successfully, but these errors were encountered:

sammy-tri · 2016-08-23T18:08:01Z

16.04 fails in a similar fashion.

jwnimmer-tri · 2016-09-01T03:26:38Z

Do these tools still work for anyone? If not, seems like much worse that "medium" priority.

I am also seeing this errors, and unable to run the spy tool.

jwnimmer-tri · 2016-09-01T03:32:49Z

Adding more jars to my classpath seems to be a work-around:

java -server -Djava.net.preferIPv4Stack=true -Xincgc -Xmx128m -Xms64m -ea -cp `ls build/install/share/java/*.jar | xargs echo | perl -pe 's# #:#g;'` lcm.spy.Spy &

liangfok · 2016-09-01T09:05:30Z

Thanks for the workaround! I was using a months old clone of Drake (one prior to placing the build in drake-distro/build) to launch bot-spy.

jwnimmer-tri · 2016-09-09T02:44:35Z

See also lcm-proj/lcm#97.

jwnimmer-tri · 2016-09-14T17:54:41Z

This is really fairly annoying. I'm going to work around it in my one shell script, but really we should get bot-spy working again. @david-german-tri can you escalate to kitware?

jwnimmer-tri · 2016-09-14T20:39:03Z

I've added some hack-arounds. Be sure to grep for this issue number and remove them, concurrently with fixing this issue.

wxmerkt · 2016-10-17T19:23:56Z

@jwnimmer-tri Would you mind sharing your workaround (is it the bot_spy_that_actually_works?)? This is currently blocking for us as we move up

jwnimmer-tri · 2016-10-17T19:30:15Z

@wxmerkt Sure (and yes)!

Here is the bash version that we were using for a while:

function bot_spy_that_actually_works {
    JAR_DIR=${DRAKE_DIST_BUILD}/install/share/java
    CLASSPATH=$(echo ${JAR_DIR}/*.jar | sed -e 's# #:#g'):${CLASSPATH}
    java -cp "${CLASSPATH}" lcm.spy.Spy
}

Since then we've ported it to python instead:

drake/drake/automotive/automotive_demo.py

Line 143 in 46cadd7

def bot_spy_that_actually_works():

jwnimmer-tri · 2016-11-28T17:49:36Z

@liangfok This is high priority, but apparently not getting any attention. I just re-tested and it's still broken. Should we reassign this to @mwoehlke-kitware or are you working on it?

liangfok · 2016-11-28T18:00:52Z

I haven't started to work on it yet. I'll go ahead and assign it to @mwoehlke-kitware.

mwoehlke-kitware · 2016-11-28T18:26:37Z

My guess is this is blocked / fixed by lcm-proj/lcm#143 and corresponding changes to libbot which I believe @wxmerkt was working on...

wxmerkt · 2016-11-28T18:29:09Z

I've tested your fixes and fed back that they didn't work including output for both CMake-LCM and Autoconf-LCM(v1.3-lts), cf. lcm-proj/lcm#143 (comment). I'm not working on it/not blocking it. As far as I can tell it, @patmarion's hunch in lcm-proj/lcm#143 (comment) might have identified the issue that's causing this problem (i.e. dependent jars not being embedded?).

jwnimmer-tri · 2016-11-28T18:30:12Z

@mwoehlke-kitware I agree that finishing that PR is the answer (and then just bumping Drake's sha). Could I ask you to help push it through to a resolution?

manuelli · 2016-12-20T16:14:34Z

Has there been any progress on this? Being able to run a bot-spy to inspect LCM traffic is a very basic and necessary functionality if you want to use Drake on an actual robot. I think it will end up being blocking for lots of people, or they will all have to implement this workaround. I have implemented the workaround for the moment but I am hoping this can be fixed in master soon.

jwnimmer-tri · 2016-12-20T16:17:29Z

I bumped up Drake's LCM sha recently. It's possible that everything just works now. @liangfok do you want to retest and report back?

manuelli · 2016-12-20T16:22:05Z

I built drake master yesterday and it still didn't work. The bot-spy launches but you aren't able to actually inspect the messages.

david-german-tri · 2016-12-20T16:25:28Z

@mwoehlke-kitware, sounds like the ball is still in your court on this one.

mwoehlke-kitware · 2016-12-20T17:32:05Z

See RobotLocomotion/libbot2#2

Update libbot to bring in RobotLocomotion/libbot2#2, which fixes the last remaining bits of RobotLocomotion#3231. This also switches us to the new repository which shares history with upstream. (The old repository was separately copied from the old subversion repository, and had the same content but not the same SHA's.)

liangfok added type: bug configuration: linux priority: medium labels Aug 23, 2016

liangfok self-assigned this Aug 23, 2016

liangfok added priority: high and removed priority: medium labels Sep 1, 2016

wxmerkt mentioned this issue Oct 17, 2016

Set CMAKE_JAVA_COMPILE_FLAGS source and target to 1.6 to fix Matlab lcm-proj/lcm#137

Closed

liangfok assigned mwoehlke-kitware Nov 28, 2016

jwnimmer-tri added the unused team: kitware label Dec 22, 2016

jwnimmer-tri unassigned liangfok Dec 22, 2016

mwoehlke-kitware mentioned this issue Jan 4, 2017

Update libbot, use new repo #4680

Merged

david-german-tri closed this as completed in #4680 Jan 5, 2017

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Unable to run lcm-spy or bot-spy Due To java.lang.NoClassDefFoundError #3231

Unable to run lcm-spy or bot-spy Due To java.lang.NoClassDefFoundError #3231

liangfok commented Aug 23, 2016

sammy-tri commented Aug 23, 2016

jwnimmer-tri commented Sep 1, 2016

jwnimmer-tri commented Sep 1, 2016

liangfok commented Sep 1, 2016 •

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jwnimmer-tri commented Sep 9, 2016

jwnimmer-tri commented Sep 14, 2016

jwnimmer-tri commented Sep 14, 2016

wxmerkt commented Oct 17, 2016

jwnimmer-tri commented Oct 17, 2016

jwnimmer-tri commented Nov 28, 2016 •

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liangfok commented Nov 28, 2016

mwoehlke-kitware commented Nov 28, 2016

wxmerkt commented Nov 28, 2016 •

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jwnimmer-tri commented Nov 28, 2016

manuelli commented Dec 20, 2016

jwnimmer-tri commented Dec 20, 2016

manuelli commented Dec 20, 2016

david-german-tri commented Dec 20, 2016

mwoehlke-kitware commented Dec 20, 2016

Unable to run lcm-spy or bot-spy Due To java.lang.NoClassDefFoundError #3231

Unable to run lcm-spy or bot-spy Due To java.lang.NoClassDefFoundError #3231

Comments

liangfok commented Aug 23, 2016

The Error

lcm-spy Error

bot-spy Error

Prognosis

sammy-tri commented Aug 23, 2016

jwnimmer-tri commented Sep 1, 2016

jwnimmer-tri commented Sep 1, 2016

liangfok commented Sep 1, 2016 • edited Loading

jwnimmer-tri commented Sep 9, 2016

jwnimmer-tri commented Sep 14, 2016

jwnimmer-tri commented Sep 14, 2016

wxmerkt commented Oct 17, 2016

jwnimmer-tri commented Oct 17, 2016

jwnimmer-tri commented Nov 28, 2016 • edited Loading

liangfok commented Nov 28, 2016

mwoehlke-kitware commented Nov 28, 2016

wxmerkt commented Nov 28, 2016 • edited Loading

jwnimmer-tri commented Nov 28, 2016

manuelli commented Dec 20, 2016

jwnimmer-tri commented Dec 20, 2016

manuelli commented Dec 20, 2016

david-german-tri commented Dec 20, 2016

mwoehlke-kitware commented Dec 20, 2016

liangfok commented Sep 1, 2016 •

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jwnimmer-tri commented Nov 28, 2016 •

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wxmerkt commented Nov 28, 2016 •

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