Failed to launch Gazebo Fortress on MacOS

[atinfinity]

Environment

• OS Version: macOS Sonoma 14.3
• Source or binary build?: binary build

• If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.

  • Rendering plugin: ogre2
    • [ ] Sensor rendering error.
    • [x] GUI rendering error.
  • EGL headless mode:
    • [ ] Running in EGL headless mode
  • Generally, mention all circumstances that might affect rendering capabilities:
    • [ ] running on a dual GPU machine (integrated GPU + discrete GPU)
    • [ ] running on a multi-GPU machine (it has multiple discrete GPUs)
    • [x] running on real hardware
    • [ ] running in virtual machine
    • [ ] running in Docker/Singularity
    • [ ] running remotely (e.g. via SSH)
    • [ ] running in a cloud
    • [ ] using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
    • [ ] GPU is concurrently used for other tasks
    • [ ] desktop acceleration
    • [ ] video decoding (i.e. a playing Youtube video)
    • [ ] video encoding
    • [ ] CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
    • [ ] multiple simulators running at the same time
    • [ ] other...

  • Rendering system info:

    • On Mac OS, open a terminal and type system_profiler SPDisplaysDataType. Copy the output here.

      $ system_profiler SPDisplaysDataType
      Graphics/Displays:
      
        Apple M1:
      
          Chipset Model: Apple M1
          Type: GPU
          Bus: Built-In
          Total Number of Cores: 8
          Vendor: Apple (0x106b)
          Metal Support: Metal 3
          Displays:
            Color LCD:
              Display Type: Built-In Retina LCD
              Resolution: 2560 x 1600 Retina
              Main Display: Yes
              Mirror: Off
              Online: Yes
              Automatically Adjust Brightness: Yes
              Connection Type: Internal

  • [ ] Please, attach the ogre.log or ogre2.log file from ~/.gz/rendering

There is no ~/.gz/rendering directory.

``` # paste log here ```

Description

• Expected behavior:

I run the following command.

ign gazebo -s

I expected that Gazebo Fortress launch.

• Actual behavior:

I run the following command.

ign gazebo -s

But, Gazebo Fortress failed to launch.

Steps to reproduce

1. Install Gazebo Fortress on macOS(https://gazebosim.org/docs/fortress/install_osx).
2. run ign gazebo -s

Output

$ ign gazebo -v 4 -s                
[Msg] Ignition Gazebo Server v6.16.0
[Msg] Loading default world.
[Msg] Serving entity system service on [/entity/system/add]
[Msg] Loaded level [3]
[Msg] No systems loaded from SDF, loading defaults
[Dbg] [ServerConfig.cc:1043] Loaded (3) plugins from file [/Users/dandelion/.ignition/gazebo/6/server.config]
[Dbg] [Physics.cc:804] Loaded [ignition::physics::dartsim::Plugin] from library [/opt/homebrew/Cellar/ignition-physics5/5.3.2_5/lib/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.dylib]
[Dbg] [SystemManager.cc:70] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/default/create]
[Msg] Remove service on [/world/default/remove]
[Msg] Pose service on [/world/default/set_pose]
[Msg] Pose service on [/world/default/set_pose_vector]
[Msg] Light configuration service on [/world/default/light_config]
[Msg] Physics service on [/world/default/set_physics]
[Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates]
[Msg] Enable collision service on [/world/default/enable_collision]
[Msg] Disable collision service on [/world/default/disable_collision]
[Msg] Material service on [/world/default/visual_config]
[Msg] Material service on [/world/default/wheel_slip]
[Dbg] [SystemManager.cc:70] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:70] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control]
[Msg] Serving GUI information on [/world/default/gui/info]
[Msg] World [default] initialized with [default_physics] physics profile.
[Msg] Serving world SDF generation service on [/world/default/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 path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:496] Creating PostUpdate worker threads: 2
[Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (0)
[Msg] Serving scene information on [/world/default/scene/info]
[Msg] Serving graph information on [/world/default/scene/graph]
[Msg] Serving full state on [/world/default/state]
[Msg] Serving full state (async) on [/world/default/state_async]
[Msg] Publishing scene information on [/world/default/scene/info]
[Msg] Publishing entity deletions on [/world/default/scene/deletion]
[Msg] Publishing state changes on [/world/default/state]
[Msg] Publishing pose messages on [/world/default/pose/info]
[Msg] Publishing dynamic pose messages on [/world/default/dynamic_pose/info]

$ brew config
HOMEBREW_VERSION: 4.2.8
ORIGIN: https://github.com/Homebrew/brew
HEAD: eb7338abba43112e16e178d4329d5483d6d8fd6f
Last commit: 3 days ago
Core tap JSON: 14 Feb 14:29 UTC
Core cask tap JSON: 14 Feb 14:04 UTC
HOMEBREW_PREFIX: /opt/homebrew
HOMEBREW_CASK_OPTS: []
HOMEBREW_DISPLAY: /private/tmp/com.apple.launchd.U1q1efnuAt/org.xquartz:0
HOMEBREW_MAKE_JOBS: 8
Homebrew Ruby: 3.1.4 => /opt/homebrew/Library/Homebrew/vendor/portable-ruby/3.1.4/bin/ruby
CPU: octa-core 64-bit arm_firestorm_icestorm
Clang: 15.0.0 build 1500
Git: 2.39.3 => /Applications/Xcode.app/Contents/Developer/usr/bin/git
Curl: 8.4.0 => /usr/bin/curl
macOS: 14.3-arm64
CLT: 15.1.0.0.1.1700200546
Xcode: 15.2
Rosetta 2: false

[azeey]

It looks like you started the server with the -s option. You'll also need to start the GUI in another terminal. See https://gazebosim.org/docs/fortress/getstarted#macos

I'm not sure if Fortress works well on macOS though. Your best bet is to try Gazebo Harmonic, which got a bunch of fixes to make it work well on macOS.