No libGL libraries when running Gazebo from ROS

[buddha314]

Please fill out the below information:

• Your Windows build number: (Type ver at a Windows Command Prompt)

Microsoft Windows [Version 10.0.17134.345]

• What you're doing and what's happening: (Copy&paste specific commands and their output, or include screen shots)

 gazebo
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast

• What's wrong / what should be happening instead:

Gazebo should launch

[buddha314]

This question on askubuntu seems to provide a clue as to what's going on.

This one indicates that WSL is having a hard time interfacing with the graphics card, which I think is expected. However, w/o this ROS is not usable.

[buddha314]

Following the suggestions on this issue #2855 I was able to get Gazebo to open. The terminal showed these errors

shared memfd open() failed: Function not implemented
ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory

Specifically, I did the configuration on VcXsrv with

1. Display 0
2. No client
3. No native OpenGL

I also did the install, but I don't know which part worked.

I don't if I'm out of the woods yet. This is a lot of hoops to jump through.

[buddha314]

I'm hoping posterity gets some use of this. My next issue was the black screen issue addressed in this ticket: #3368

I fiddled around a bit, then tried

export GAZEBO_IP=127.0.0.1

and was able to see the basic scene. However, I got the black screen again when I tried

 export LIBGL_ALWAYS_INDIRECT=0 && gazebo world/pioneer2dx.world

[therealkenc]

You can follow along in #3368. memfd() is likely soft and is #3542. Your Alsa errors are #237 but better #486. So dupes all around.

This is a lot of hoops to jump through.

No more than getting Gazebo up on a headless Linux box with CONFIG_DRM=n. No WSL actionable here.

[buddha314]

I disagree with closing it, this seems like a fundamental disconnect between WSL and the display, something that can be reasonably addressed.

[therealkenc]

There is no fundamental disconnect between WSL and the display because WSL has no display per the FAQ.