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Setup

• Dell Inspiron 7520 Laptop
• Windows 7 / 10
• Oracle VirtualBox 5.2.18
• Ubuntu 16.04 LTS VM
  • Settings -> Display -> 3D Hardware Acceleration Enabled
• Gazebo7

Fix

Change BIOS Settings If laptop has hybrid GPUs switch to only discrete GPU (nVidia/AMD), otherwise skip. Note: This may not be required.

1. Enter BIOS, Enable Discrete GPUs which disables hybrid (will consume more power)
2. When booted, system (Windows host) will automatically update drivers, then reboot

Setup VM

1. Install packages

    sudo apt remove libcheese-gtk23
    sudo apt install xserver-xorg-core
   

2. Reboot VM

Troubleshooting VM

If you lose mouse and keyboard after the previous step:

1. Reboot VM, on startup hit the Esc or Shift keys to enter grub startup menu
2. Select _Advanced Options_
3. Select _Ubuntu-Kernel-xxxxx (recovery)_ (Should be the first recovery option)
4. Select _Network_ to get network access
5. Select _Drop to root shell_

6. Install mouse and keyboard packages

    apt install xserver-xorg-input-all
   

7. Press Ctrl-D to leave root shell

8. Select _Resume_