Gazebo on WSL (Bash for Windows)

asked 2017-07-30 09:27:38 -0600

SamV
1 ●1 ●2 ●1

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

answered 2017-07-31 06:56:15 -0600

LukasE
11 ●1

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 ( 2017-08-01 09:37:40 -0600 )edit

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

SamV ( 2017-08-01 09:38:45 -0600 )edit

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

SamV ( 2017-08-01 09:39:52 -0600 )edit

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

Dmitriy ( 2017-10-12 11:27:31 -0600 )edit

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