Camera issue when using Virtual Machine

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I am using ROS Kinetic, Gazebo 7.0 on a VirtualBox VM (I had the same issues with VMWare too) with Ubuntu 16.04

I believe that this is an issue with the fact that I am using a VM and does not occur when used directly on an Ubuntu machine.. unfortunately, I need to use the VM. I have seen a number of posts where people have had issues when using VMs, however, I have been unsuccessful in fixing my own issue.

I have a .world file which I use to launch a robot model which I have, this model includes a camera. I don’t have any issues with my model, until I try to access data from the camera. For example, when I try to rostopic echo or image_view.

It doesn’t cause a crash, but in the terminal that I use to launch the .world file, the following error appears:

StartingGazeboRosSkidSteerDrive plugin (ns = )! gzserver; /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreRenderSystem.cpp:546: virtual void Ogre::RenderSystem::setDepthBufferFor(Ogre::RenderTarget*): Assertion `bAttached && A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed.

I read a suggestion that said to lower the version of Ogre used (using the command: export SVGA_VGPU10=0), however this does not work, I get the same error.

Another suggestion was to uncheck the “Accelerate 3D graphics” option, though this also did not have any effect.

I was pointed towards a tutorial aimed at (I believe) a related problem, however, after following this I get a different error. I followed the tutorial posted here adjusting for my version of ROS and the most recent version of Gazebo:

Tutorial here: Fixing the gazebo 2.2 Virtual Machine Depth Ordering Bug

I can run Gazebo, but when I try to run my .world file using the command “rosrun gazebo_ros gazebo –file [filename].world” I get the following error:

gzserver: error while loading shared libraries: libsdformat.so.5: cannot open shared object file: No such file or directory

I am still relatively new to ROS and Gazebo, so I apologise if I have missed something obvious. Any help would be appreciated, thanks.