ROS2仿真问题

ROS错误记录_unable to create the rendering window after 100 tr-优快云博客

这篇博客说是重新安装显卡驱动；

运行

make px4_sitl gz_x500

 编译完成之后出现界面然后闪退，前面开了3D加速，使用的是虚拟机；

报错信息：

Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1137]  Unable to create the rendering window: OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers. in GL3PlusRenderSystem::initialiseContext at ./RenderSystems/GL3Plus/src/OgreGL3PlusRenderSystem.cpp (line 3434)
[GUI] [Err] [Ogre2RenderEngine.cc:1145] Unable to create the rendering window after [11] attempts.
[GUI] [Err] [Ogre2RenderEngine.cc:1054] Failed to create dummy render window.
[GUI] [Err] [Ogre2RenderEngine.cc:1055] Please see the troubleshooting page for possible fixes: https://gazebosim.org/docs/fortress/troubleshooting
Stack trace (most recent call last):

查看OpenGL版本，先安装sudo apt install mesa-utils

再执行glxinfo | grep version

server glx version string: 1.4
client glx version string: 1.4
GLX version: 1.4
    Max core profile version: 3.3
    Max compat profile version: 3.3
    Max GLES1 profile version: 1.1
    Max GLES[23] profile version: 2.0
OpenGL core profile version string: 3.3 (Core Profile) Mesa 23.0.4-0ubuntu1~22.04.1
OpenGL core profile shading language version string: 1.20
OpenGL version string: 3.3 (Compatibility Profile) Mesa 23.0.4-0ubuntu1~22.04.1
OpenGL shading language version string: 1.20
OpenGL ES profile version string: OpenGL ES 2.0 Mesa 23.0.4-0ubuntu1~22.04.1
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 1.0.16

打开3D加速：

server glx version string: 1.4
client glx version string: 1.4
GLX version: 1.4
    Max core profile version: 0.0
    Max compat profile version: 2.1
    Max GLES1 profile version: 1.1
    Max GLES[23] profile version: 2.0
OpenGL version string: 2.1 Mesa 23.0.4-0ubuntu1~22.04.1
OpenGL shading language version string: 1.20
OpenGL ES profile version string: OpenGL ES 2.0 Mesa 23.0.4-0ubuntu1~22.04.1
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 1.0.16

如此看来，使用ROS2中gazebo仿真，无法使用VMware17pro的3D加速，因为打开3D加速，OpenGL的版本就变低了，不满足gazebo的要求；暂时没有找到解决办法；