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Gazebo on WSL (Bash for Windows)

asked 2017-07-30 09:27:38 -0500

SamV gravatar image

Hello All,

I recently install ROS Lunar on WSL (Windows Subsystem for Linux running Ubuntu 16.04 bash). The installation was done based on the standard Ubuntu instructions. I mirrored this installation on my Raspberry Pi running Ubuntu MATE.

I tried to launch Gazebo from both installations (WSL & RPi). The display in RPi is tunneled through ssh via X11 forwarding to host computer (which runs Windows 10). I am able to launch Gazebo and everything works fine. When I try to launch Gazebo from the WSL bash prompt (on the same Windows 10 host), Gazebo launches without any errors, but the visualization windows is blank/black.

I am surprised to how RPi is able render the visualization window, whereas WSL is unable to! I am a newbie to ROS, and do have the knowledge or wherewithal to debug this issue. Currently, I am stuck with some development work as RPi does not have enough grunt to handle the sim. Any pointers or help to resolve this issue will be greatly appreciated!

Thanks,

SamV

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answered 2017-07-31 06:56:15 -0500

LukasE gravatar image

I have the same issue using gazebo-7.0.0 (installed using ros-kinetic-desktop-full). Note that I had to disable OpenGL/WGL acceleration on my X server, otherwhise gazebo (and rviz) would crash on startup.

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LukasE, I encountered the crash issue, but after I did a clean install on WSL, I did not require to disable acceleration on X server. Perhaps the crash had something to do with installation of cuda-375 drivers. Earlier, even glxgears demo used to be choppy. But after a full clean install (lxrun /uninstall followed by lxrun /install) the crashes resolved. I agree that this has something to do with Xserver on WSL, because I am able to launch Gazebo just fine from my Raspberry Pi.

SamV gravatar imageSamV ( 2017-08-01 09:37:40 -0500 )edit

Also, LIBGL_ALWAYS_SOFTWARE=1 (as suggested here: http://janbernloehr.de/2017/06/10/ros-windows) also did not help.

SamV gravatar imageSamV ( 2017-08-01 09:38:45 -0500 )edit

I have also added this to the discussion on Microsoft's GitHub repo (BashOnWindows) - see https://github.com/Microsoft/BashOnWindows/issues/1450

SamV gravatar imageSamV ( 2017-08-01 09:39:52 -0500 )edit

@LulasE, could you tell which XServer are you using?

Dmitriy gravatar imageDmitriy ( 2017-10-12 11:27:31 -0500 )edit
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Asked: 2017-07-30 09:27:24 -0500

Seen: 3,492 times

Last updated: Jul 30 '17