Hello,

I am wondering if its possible to run Gazebo on Ubuntu 22.04 with PREEMPT_RT applied?

My current understanding is that NVIDIA does not play nice with Real-Time Linux (yet?). I installed Gazebo and attempted to run gz sim shapes.sdf per the install tutorial but it immediately crashes. Most of the posts or documents suggest this is an OpenGL/Nvidia issue and since I am not running Nvidia (even though I have a Nvidia card installed) there is not much I can do unless I disable/undo PREEMPT_RT. I am hopeful that I am missing something and that a solution approach exists?

Here is the terminal output:

gz sim shapes.sdf
Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f1c68ec475a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#30   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f1c68f1f0b7, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#29   Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f1c66aac3e2, in g_main_context_iteration
#28   Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f1c66b036c7, in 
#27   Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f1c66aaed3a, in g_main_context_dispatch
#26   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f1c68f1fa66, in 
#25   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f1c68ec8f26, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#24   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f1c68ec5e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#23   Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f1c6861d712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#22   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f1c68ef341d, in QObject::event(QEvent*)
#21   Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f1c38280513, in gz::gui::plugins::RenderWindowItem::Ready()
#20   Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f1c38280120, in gz::gui::plugins::RenderThread::Initialize[abi:cxx11]()
#19   Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f1c3828cc7d, in gz::gui::plugins::RenderThreadRhiOpenGL::Initialize[abi:cxx11]()
#18   Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f1c38284414, in gz::gui::plugins::GzRenderer::Initialize[abi:cxx11]()
#17   Object "/lib/x86_64-linux-gnu/libgz-rendering7.so.7", at 0x7f1c381f54bb, in gz::rendering::v7::RenderEngineManager::Engine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#16   Object "/lib/x86_64-linux-gnu/libgz-rendering7.so.7", at 0x7f1c381f5294, in gz::rendering::v7::RenderEngineManagerPrivate::Engine(EngineInfo, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#15   Object "/lib/x86_64-linux-gnu/libgz-rendering7.so.7", at 0x7f1c381ff9d5, in gz::rendering::v7::BaseRenderEngine::Load(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&)
#14   Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f1bf223b0ed, in gz::rendering::v7::Ogre2RenderEngine::LoadImpl(std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&)
#13   Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f1bf223a2d0, in gz::rendering::v7::Ogre2RenderEngine::LoadAttempt()
#12   Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f1bf2237230, in gz::rendering::v7::Ogre2RenderEngine::LoadPlugins()
#11   Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7f1bf1dadbbb, in Ogre::Root::loadPlugin(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, Ogre::StdMap<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::STLAllocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*)
#10   Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7f1bf1dac792, in Ogre::Root::installPlugin(Ogre::Plugin*, Ogre::StdMap<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::STLAllocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*)
#9    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/OGRE/RenderSystem_GL3Plus.so", at 0x7f1bf1815395, in Ogre::GL3PlusPlugin::install(Ogre::StdMap<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::STLAllocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*)
#8    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/OGRE/RenderSystem_GL3Plus.so", at 0x7f1bf1818b22, in Ogre::GL3PlusRenderSystem::GL3PlusRenderSystem(Ogre::StdMap<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::STLAllocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*)
#7    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/OGRE/RenderSystem_GL3Plus.so", at 0x7f1bf180a595, in 
#6    Object "/lib/x86_64-linux-gnu/libEGL_mesa.so.0", at 0x7f1bf13ccd27, in 
#5    Object "/lib/x86_64-linux-gnu/libEGL_mesa.so.0", at 0x7f1bf13d5e5c, in 
#4    Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f1becf1e0f1, in 
#3    Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f1becf1a461, in 
#2    Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f1becfe3431, in 
#1    Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f1bed07e70b, in 
#0    Object "/usr/lib/x86_64-linux-gnu/dri/swrast_dri.so", at 0x7f1becf92231, in 
Segmentation fault (Address not mapped to object [0x10])