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I have the same issue. I run ROS/gazebo in a docker container that runs on a remote computer (Ubuntu 18.04). The docker image is based on "nvcr.io/nvidia/cudagl:10.1-devel-ubuntu18.04", and has ROS Melodic, Gazebo 9.16 installed. Except for Gazebo, I can run other OpenGL/CUDA apps, I can even train neural networks on the GPU. But Gazebo won't use the GPU.

Anyone have found a solution to fix this?

I have the same issue. I run ROS/gazebo in a docker container that runs on a remote computer (Ubuntu 18.04). The docker image is based on "nvcr.io/nvidia/cudagl:10.1-devel-ubuntu18.04", and has ROS Melodic, Gazebo 9.16 installed. Except for Gazebo, I can run other OpenGL/CUDA apps, I can even train neural networks on the GPU. But Gazebo won't use the GPU.

Another detail that could help the resolution: I have physical access to the remote machine, so I can run my code on it without ssh. When I do that, gazebo uses the GPU correctly.

Anyone have found a solution to fix this?