Rviz does not display meshes with GPU enabled #554
Comments
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@tgaspar, thanks for reporting the issue, just for diagnostics purpose, would you please disable GPU and see if it works fine with software emulation? Thanks! |
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Thanks for the pointers! I went into the Device Manager and disabled the Nvidia GPU. Indeed, the meshes are now show (see image and the logs from Rviz). However, this means that the rendering is now done by the CPU, which is not really the desired behavior. Displaying scenes with more meshes basically slows down the whole PC because of the load on the CPU. See screenshot from the task manager - the moment I turn on Rviz the load increases significantly. |
hideyukn88
changed the title
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can confirm this bug is also present in rviz2, which also uses ogre3d with gl fixed functions for rendering |
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I can also reproduce this in ROS. I have attached some additional log files which may narrow down the issue. The Docker image is built on top of Ubuntu 18.04 with the kisak-mesa PPA enabled and installed. ROS melodic is installed, along with the Fetch robot packages. Here is my Dockerfile, build and run scripts which may help reproduce the issue. It may reqiure some modification and is certainly not a minimal reproducable example, but hopefully a good start.
# syntax=docker/dockerfile:labs
ARG UBUNTU_DISTRIBUTION
FROM ubuntu:${UBUNTU_DISTRIBUTION}
# Allow downloaded packages to be cached
RUN <<EOF
mv /etc/apt/apt.conf.d/docker-clean /etc/apt
echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/docker-keep-downloaded-packages
EOF
# Update the default Ubuntu mirror
ARG UBUNTU_MIRROR
RUN <<EOF
sed --in-place --regexp-extended "s/(\/\/)(archive\.ubuntu)/\1${UBUNTU_MIRROR}.\2/" /etc/apt/sources.list
EOF
# Unminimize the Ubuntu image
RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt <<EOF
yes | unminimize
EOF
# Update the default locale
ARG LANGUAGE
RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt <<EOF
apt-get update
apt-get install --assume-yes --no-install-recommends locales
EOF
RUN <<EOF
sed --in-place --regexp-extended "/${LANGUAGE}.UTF-8/s/^# //g" /etc/locale.gen
dpkg-reconfigure --frontend noninteractive locales
update-locale LANG=${LANGUAGE}.UTF-8
EOF
ENV LANG="${LANGUAGE}.UTF-8"
ENV LC_ALL="${LANGUAGE}.UTF-8"
# Update the default timezone
ARG TIMEZONE
RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt <<EOF
apt-get update
apt-get install --assume-yes --no-install-recommends tzdata
EOF
RUN <<EOF
ln --force --symbolic /usr/share/zoneinfo/${TIMEZONE} /etc/localtime
dpkg-reconfigure --frontend noninteractive tzdata
EOF
ENV TZ="${TIMEZONE}"
# Install latest Mesa for Windows Subsystem for Linux
RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt <<EOF
apt-get update
apt-get install --assume-yes --no-install-recommends software-properties-common
add-apt-repository ppa:kisak/turtle --yes
apt-get update
apt-get install --assume-yes --no-install-recommends mesa-utils
EOF
# Install ROS packages
RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt <<EOF
apt-get update
apt-get install --assume-yes --no-install-recommends curl gnupg2
EOF
ARG ROS_DISTRIBUTION
ARG ROS_PACKAGE
RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt <<EOF
curl --location --show-error --silent https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | gpg --dearmor > /etc/apt/trusted.gpg.d/ros-keyring.gpg
echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros.list
apt-get update
apt-get install --assume-yes --no-install-recommends ros-${ROS_DISTRIBUTION}-${ROS_PACKAGE}
EOF
# Install Fetch packages
RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt <<EOF
apt-get update
apt-get install --assume-yes --no-install-recommends ros-${ROS_DISTRIBUTION}-fetch-gazebo-demo
EOF
# Install developer packages
RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt <<EOF
apt-get update
apt-get install --assume-yes --no-install-recommends bash-completion curl less sudo tmux unzip vim wget zip
bash -c "$(curl --location --show-error --silent https://starship.rs/install.sh)" -- --yes
EOF
# Create a user account
ARG USERNAME
RUN <<EOF
groupadd ${USERNAME}
useradd --create-home --gid ${USERNAME} --shell /bin/bash --skel /dev/null ${USERNAME}
echo "$USERNAME ALL=(ALL:ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME}
chmod 440 /etc/sudoers.d/${USERNAME}
EOF
# Add user files
ADD --chown=${USERNAME} ./files/ /home/${USERNAME}/
RUN <<EOF
sed --in-place --regexp-extended "s/ROS_DISTRIBUTION/${ROS_DISTRIBUTION}/g" /home/${USERNAME}/.bashrc
EOF
# Disallow downloaded packages to be cached
RUN <<EOF
mv /etc/apt/docker-clean /etc/apt/apt.conf.d
rm --force --recursive /etc/apt/apt.conf.d/docker-keep-downloaded-packages
EOF#!/usr/bin/env bash
docker image build \
--build-arg LANGUAGE="en_US" \
--build-arg ROS_DISTRIBUTION="melodic" \
--build-arg ROS_PACKAGE="desktop" \
--build-arg TIMEZONE="Australia/Melbourne" \
--build-arg UBUNTU_DISTRIBUTION="bionic" \
--build-arg UBUNTU_MIRROR="au" \
--build-arg USERNAME="scott" \
--progress plain \
--tag fetch \
.docker container run \
--device /dev/dxg \
--env DISPLAY="$DISPLAY" \
--env LD_LIBRARY_PATH="/usr/lib/wsl/lib" \
--env PULSE_SERVER="$PULSE_SERVER" \
--env WAYLAND_DISPLAY="$WAYLAND_DISPLAY" \
--env XDG_RUNTIME_DIR="$XDG_RUNTIME_DIR" \
--gpus all \
--interactive \
--rm \
--tty \
--user scott \
--volume /mnt/wslg:/mnt/wslg \
--volume /tmp/.X11-unix:/tmp/.X11-unix \
--volume /usr/lib/wsl:/usr/lib/wsl \
--workdir /home/scott \
fetchI use this launch file to test RVIZ. <launch>
<!-- <env name="LIBGL_ALWAYS_SOFTWARE" value="true" /> -->
<param name="robot_description" textfile="$(find fetch_description)/robots/fetch.urdf" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"></node>
<node args="--display-config $(dirname)/fetch.rviz --ogre-log --verbose" name="rviz" pkg="rviz" output="screen" type="rviz"></node>
</launch>Here are the additional logs from RVIZ and Ogre that may help narrow down the issue.
As discussed |
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Same bug here : Bug : Setting LIBGL_ALWAYS_SOFTWARE=true shows the meshes, but rendered using CPU instead of GPU which is slow and is not a proper solution. |
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Same issue on win11 Pro build 22000.795
-Workaround: must disable GPU hardware rendering using LIBGL_ALWAYS_SOFTWARE=1 Has there been any fix on this so GPU rendering can be used? |
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This issue is still persistent. |
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Issue persistent with environment: But works on CPU setting LIBGL_ALWAYS_SOFTWARE=1 with reduced performance. |
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@KaneLindsay, thanks for checking out, yes, this is the issue in Linux graphics driver provided via WSL, graphics vendor develops the special Linux graphics driver for WSL and we will need to have them to address it, but unfortunately it has not been address. If you don't mind, what version of graphics driver do you have? thanks! |
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@hideyukn88 I see, I am using Nvidia graphics driver version 536.40. |
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Environment
Steps to reproduce
Launch any MoveIt demo launchfiles. Open Rviz, load the
RobotModelplug-in.WSL logs:
pulseaudio.log
weston.log
versions.txt
Expected behavior
Rviz would display the 3D meshes.
Actual behavior
Rviz opens up using the Nvidia GPU. See below for the logs from Rviz. I then load the
RobotModelandTFplug-ins. As seen in the screenshot, the coordinate frames get displayed correctly, but the meshes from the robot model do not.The text was updated successfully, but these errors were encountered: