I attempted to do a fresh install of ros-humble-desktop-full on Ubuntu 22.04. While working through the tutorials gazebo fortress opens with a black workspace when running.

ign gazebo -v 4 -r visualize_lidar.sdf

The terminal shows the following output.

Msg] Ignition Gazebo Server v6.9.0
[Msg] Ignition Gazebo GUI    v6.9.0
[Msg] Loading SDF world file[/usr/share/ignition/ignition-gazebo6/worlds/visualize_lidar.sdf].
[Dbg] [Application.cc:90] Initializing application.
[GUI] [Dbg] [Application.cc:511] Create main window
[Dbg] [Physics.cc:801] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[Dbg] [Sensors.cc:448] Configuring Sensors system
[Dbg] [Sensors.cc:367] SensorsPrivate::Run
[Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:347] SensorsPrivate::RenderThread started
[Dbg] [Sensors.cc:220] Waiting for init
[Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[Msg] DiffDrive subscribing to twist messages on [/model/vehicle_blue/cmd_vel]
[Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::DiffDrive] for entity [17]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/visualize_lidar_world/control], [/world/visualize_lidar_world/control/state] and [/world/visualize_lidar_world/playback/control]
[Msg] Serving GUI information on [/world/visualize_lidar_world/gui/info]
[Msg] World [visualize_lidar_world] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/visualize_lidar_world/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:753] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:753] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:241:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Dbg] [Gui.cc:156] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[GUI] [Dbg] [Gui.cc:215] Requesting GUI from [/world/visualize_lidar_world/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/visualize_lidar_world/state]...
[GUI] [Dbg] [Application.cc:388] Loading plugin [MinimalScene]
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]
[GUI] [Dbg] [Application.cc:388] Loading plugin [EntityContextMenuPlugin]
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity Context Menu] to main window
[GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]
[GUI] [Dbg] [Application.cc:388] Loading plugin [GzSceneManager]
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]
[GUI] [Dbg] [Application.cc:388] Loading plugin [InteractiveViewControl]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Added plugin [] to main window
[GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]
[GUI] [Dbg] [Application.cc:388] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]
[GUI] [Dbg] [Application.cc:388] Loading plugin [WorldControl]
[GUI] [Wrn] [Application.cc:753] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Msg] Using world control service [/world/visualize_lidar_world/control]
[GUI] [Msg] Listening to stats on [/world/visualize_lidar_world/stats]
[GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:388] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/visualize_lidar_world/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[GUI] [Dbg] [Application.cc:388] Loading plugin [VisualizeLidar]
[GUI] [Wrn] [Application.cc:753] [QT] file::/VisualizeLidar/VisualizeLidar.qml:67: ReferenceError: tooltipTimeout is not defined
[GUI] [Wrn] [Application.cc:753] [QT] file::/VisualizeLidar/VisualizeLidar.qml:66: ReferenceError: tooltipDelay is not defined
[GUI] [Wrn] [Application.cc:753] [QT] file::/VisualizeLidar/VisualizeLidar.qml:84: ReferenceError: tooltipTimeout is not defined
[GUI] [Wrn] [Application.cc:753] [QT] file::/VisualizeLidar/VisualizeLidar.qml:83: ReferenceError: tooltipDelay is not defined
[GUI] [Msg] Added plugin [Visualize lidar] to main window
[GUI] [Msg] Loaded plugin [VisualizeLidar] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizeLidar.so]
[GUI] [Dbg] [Application.cc:388] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[GUI] [Dbg] [Application.cc:388] Loading plugin [EntityTree]
[GUI] [Wrn] [Application.cc:753] [QT] file::/VisualizeLidar/VisualizeLidar.qml:67: ReferenceError: tooltipTimeout is not defined
[GUI] [Wrn] [Application.cc:753] [QT] file::/VisualizeLidar/VisualizeLidar.qml:66: ReferenceError: tooltipDelay is not defined
[GUI] [Wrn] [Application.cc:753] [QT] file::/VisualizeLidar/VisualizeLidar.qml:84: ReferenceError: tooltipTimeout is not defined
[GUI] [Wrn] [Application.cc:753] [QT] file::/VisualizeLidar/VisualizeLidar.qml:83: ReferenceError: tooltipDelay is not defined
[GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:753] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:491] Creating PostUpdate worker threads: 4
[Dbg] [SimulationRunner.cc:502] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:502] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:502] Creating postupdate worker thread (2)
[Err] [SystemPaths.cc:467] Could not resolve file [playground_diffuse.jpg]
[Dbg] [Sensors.cc:552] Initialization needed
[Dbg] [Sensors.cc:232] Initializing render context
[Msg] Loading plugin [ignition-rendering-ogre2]
[Msg] Serving scene information on [/world/visualize_lidar_world/scene/info]
[Msg] Serving graph information on [/world/visualize_lidar_world/scene/graph]
[Msg] Serving full state on [/world/visualize_lidar_world/state]
[Msg] Serving full state (async) on [/world/visualize_lidar_world/state_async]
[Msg] Publishing scene information on [/world/visualize_lidar_world/scene/info]
[Msg] Publishing entity deletions on [/world/visualize_lidar_world/scene/deletion]
[Msg] Publishing state changes on [/world/visualize_lidar_world/state]
[Msg] Publishing pose messages on [/world/visualize_lidar_world/pose/info]
[Msg] Publishing dynamic pose messages on [/world/visualize_lidar_world/dynamic_pose/info]
[Dbg] [EntityComponentManager.cc:1571] Updated state thread iterators: 8 threads processing around 6 entities each.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized.
[GUI] [Dbg] [MinimalScene.cc:534] Create scene [scene]
[Dbg] [RenderUtil.cc:2484] Create scene [scene]
[GUI] [Wrn] [Ogre2RenderTarget.cc:575] Anti-aliasing level of '8' is not supported; valid FSAA levels are: [ 0 4 ]. Setting to 0
[Dbg] [Sensors.cc:246] Rendering Thread initialized
[Err] [SystemPaths.cc:467] Could not resolve file [playground_diffuse.jpg]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [CameraTracking.cc:181] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] Follow offset service on [/gui/follow/offset]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [InteractiveViewControl.cc:130] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[Dbg] [Lidar.cc:122] Laser scans for [model_with_lidar::link::gpu_lidar] advertised on [lidar]
[Dbg] [GpuLidarSensor.cc:149] Lidar points for [model_with_lidar::link::gpu_lidar] advertised on [lidar/points]
[Dbg] [Lidar.cc:122] Laser scans for [vehicle_blue::lidar_link::gpu_lidar] advertised on [lidar2]
[Dbg] [GpuLidarSensor.cc:149] Lidar points for [vehicle_blue::lidar_link::gpu_lidar] advertised on [lidar2/points]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set
[GUI] [Err] [SystemPaths.cc:467] Could not resolve file [playground_diffuse.jpg]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [VisualizeLidar.cc:189] Creating lidar visual

Can anyone provide suggestions on how to start debugging this issue?