Rviz does not display meshes with GPU enabled

I can also reproduce this in ROS. I have attached some additional log files which may narrow down the issue.

Windows edition: Windows 11 Pro
Windows build number: 10.0.22000.0
WSLg version: 1.0.26
Linux distribution version: Ubuntu 20.04
Linux Mesa version: 21.0.3
Docker version: 20.10.11
GPU: NVIDIA GeForce GTX 1060 6GB
Docker image version: Ubuntu 18.04
Docker Mesa version: 21.2.6 (kisak-mesa PPA)
ROS version: Melodic

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.

```dockerfile # syntax=docker/dockerfile:labs ARG UBUNTU_DISTRIBUTION FROM ubuntu:${UBUNTU_DISTRIBUTION} # Allow downloaded packages to be cached RUN < /etc/apt/apt.conf.d/docker-keep-downloaded-packages EOF # Update the default Ubuntu mirror ARG UBUNTU_MIRROR RUN < /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}-${ROS_PACKAGE} EOF # Install Fetch packages RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt < /etc/sudoers.d/${USERNAME} chmod 440 /etc/sudoers.d/${USERNAME} EOF # Add user files ADD --chown=${USERNAME} ./files/ /home/${USERNAME}/ RUN <

I 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.

``` [ INFO] [1642460598.383688000]: rviz version 1.13.23 [ INFO] [1642460598.383716600]: compiled against Qt version 5.9.5 [ INFO] [1642460598.383723000]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1642460598.391628400]: Forcing OpenGl version 0. [ INFO] [1642460599.599100000]: Creating resource group General [ INFO] [1642460599.599151000]: Creating resource group Internal [ INFO] [1642460599.599164200]: Creating resource group Autodetect [ INFO] [1642460599.599197800]: SceneManagerFactory for type 'DefaultSceneManager' registered. [ INFO] [1642460599.599318300]: Registering ResourceManager for type Material [ INFO] [1642460599.599358300]: Registering ResourceManager for type Mesh [ INFO] [1642460599.599375300]: Registering ResourceManager for type Skeleton [ INFO] [1642460599.599417100]: MovableObjectFactory for type 'ParticleSystem' registered. [ INFO] [1642460599.599503600]: ArchiveFactory for archive type FileSystem registered. [ INFO] [1642460599.599539900]: ArchiveFactory for archive type Zip registered. [ INFO] [1642460599.599549800]: ArchiveFactory for archive type EmbeddedZip registered. [ INFO] [1642460599.599560400]: DDS codec registering [ INFO] [1642460599.599594500]: FreeImage version: 3.17.0 [ INFO] [1642460599.599626200]: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details [ INFO] [1642460599.599702900]: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,g3,sgi,rgb,rgba,bw,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti,x3f,webp,jxr,wdp,hdp [ INFO] [1642460599.599733900]: PVRTC codec registering [ INFO] [1642460599.599745800]: ETC codec registering [ INFO] [1642460599.599775300]: Registering ResourceManager for type HighLevelGpuProgram [ INFO] [1642460599.599812800]: Registering ResourceManager for type Compositor [ INFO] [1642460599.599907600]: MovableObjectFactory for type 'Entity' registered. [ INFO] [1642460599.599938100]: MovableObjectFactory for type 'Light' registered. [ INFO] [1642460599.599947900]: MovableObjectFactory for type 'BillboardSet' registered. [ INFO] [1642460599.599954600]: MovableObjectFactory for type 'ManualObject' registered. [ INFO] [1642460599.599983700]: MovableObjectFactory for type 'BillboardChain' registered. [ INFO] [1642460599.600017600]: MovableObjectFactory for type 'RibbonTrail' registered. [ INFO] [1642460599.600080400]: *-*-* OGRE Initialising [ INFO] [1642460599.600110500]: *-*-* Version 1.9.0 (Ghadamon) [ INFO] [1642460599.600131900]: OverlayElementFactory for type Panel registered. [ INFO] [1642460599.600160900]: OverlayElementFactory for type BorderPanel registered. [ INFO] [1642460599.600191700]: OverlayElementFactory for type TextArea registered. [ INFO] [1642460599.600205000]: Registering ResourceManager for type Font [ INFO] [1642460599.600219700]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/RenderSystem_GL [ INFO] [1642460599.601953500]: Installing plugin: GL RenderSystem [ INFO] [1642460599.601995300]: OpenGL Rendering Subsystem created. [ INFO] [1642460599.604244500]: Plugin successfully installed [ INFO] [1642460599.604281300]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_OctreeSceneManager [ INFO] [1642460599.604862900]: Installing plugin: Octree Scene Manager [ INFO] [1642460599.604897600]: Plugin successfully installed [ INFO] [1642460599.604908600]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_ParticleFX [ INFO] [1642460599.605662700]: Installing plugin: ParticleFX [ INFO] [1642460599.605768500]: Particle Emitter Type 'Point' registered [ INFO] [1642460599.605778600]: Particle Emitter Type 'Box' registered [ INFO] [1642460599.605789500]: Particle Emitter Type 'Ellipsoid' registered [ INFO] [1642460599.605796000]: Particle Emitter Type 'Cylinder' registered [ INFO] [1642460599.605802200]: Particle Emitter Type 'Ring' registered [ INFO] [1642460599.605808800]: Particle Emitter Type 'HollowEllipsoid' registered [ INFO] [1642460599.605815100]: Particle Affector Type 'LinearForce' registered [ INFO] [1642460599.605821200]: Particle Affector Type 'ColourFader' registered [ INFO] [1642460599.605828100]: Particle Affector Type 'ColourFader2' registered [ INFO] [1642460599.605856500]: Particle Affector Type 'ColourImage' registered [ INFO] [1642460599.605866500]: Particle Affector Type 'ColourInterpolator' registered [ INFO] [1642460599.605873300]: Particle Affector Type 'Scaler' registered [ INFO] [1642460599.605879600]: Particle Affector Type 'Rotator' registered [ INFO] [1642460599.605886100]: Particle Affector Type 'DirectionRandomiser' registered [ INFO] [1642460599.605892400]: Particle Affector Type 'DeflectorPlane' registered [ INFO] [1642460599.605898700]: Plugin successfully installed [ INFO] [1642460599.605913800]: CPU Identifier & Features [ INFO] [1642460599.605920100]: ------------------------- [ INFO] [1642460599.605927300]: * CPU ID: GenuineIntel: Intel(R) Core(TM) i5-8600K CPU @ 3.60GHz [ INFO] [1642460599.605954900]: * SSE: yes [ INFO] [1642460599.605963800]: * SSE2: yes [ INFO] [1642460599.605969500]: * SSE3: yes [ INFO] [1642460599.605974800]: * MMX: yes [ INFO] [1642460599.605980200]: * MMXEXT: yes [ INFO] [1642460599.605985900]: * 3DNOW: no [ INFO] [1642460599.605991300]: * 3DNOWEXT: no [ INFO] [1642460599.605996700]: * CMOV: yes [ INFO] [1642460599.606004900]: * TSC: yes [ INFO] [1642460599.606010300]: * FPU: yes [ INFO] [1642460599.606015600]: * PRO: yes [ INFO] [1642460599.606020900]: * HT: no [ INFO] [1642460599.606027000]: ------------------------- [ INFO] [1642460599.606034200]: ****************************** *** Starting GLX Subsystem *** ****************************** [ INFO] [1642460599.606067400]: Registering ResourceManager for type Texture [ INFO] [1642460599.606107300]: GLRenderSystem::_createRenderWindow "OgreWindow(0)", 1x1 windowed miscParams: FSAA=4 contentScalingFactor=1.000000 externalGLControl= externalWindowHandle=6291457 parentWindowHandle=6291457 [ INFO] [1642460599.633691700]: GLXWindow::create used FBConfigID = 230 [ INFO] [1642460599.633922500]: GL_VERSION = 3.1 Mesa 21.2.6 - kisak-mesa PPA [ INFO] [1642460599.633960100]: GL_VENDOR = Microsoft Corporation [ INFO] [1642460599.633971600]: GL_RENDERER = D3D12 (NVIDIA GeForce GTX 1060 6GB) [ INFO] [1642460599.634196600]: GL_EXTENSIONS = GL_ARB_multisample GL_EXT_abgr GL_EXT_bgra GL_EXT_blend_color GL_EXT_blend_minmax GL_EXT_blend_subtract GL_EXT_copy_texture GL_EXT_subtexture GL_EXT_texture_object GL_EXT_vertex_array GL_EXT_compiled_vertex_array GL_EXT_texture GL_EXT_texture3D GL_IBM_rasterpos_clip GL_ARB_point_parameters GL_EXT_draw_range_elements GL_EXT_packed_pixels GL_EXT_point_parameters GL_EXT_rescale_normal GL_EXT_separate_specular_color GL_EXT_texture_edge_clamp GL_SGIS_generate_mipmap GL_SGIS_texture_border_clamp GL_SGIS_texture_edge_clamp GL_SGIS_texture_lod GL_ARB_framebuffer_sRGB GL_ARB_multitexture GL_EXT_framebuffer_sRGB GL_IBM_multimode_draw_arrays GL_IBM_texture_mirrored_repeat GL_ARB_texture_cube_map GL_ARB_texture_env_add GL_ARB_transpose_matrix GL_EXT_blend_func_separate GL_EXT_fog_coord GL_EXT_multi_draw_arrays GL_EXT_secondary_color GL_EXT_texture_env_add GL_EXT_texture_filter_anisotropic GL_EXT_texture_lod_bias GL_INGR_blend_func_separate GL_NV_blend_square GL_NV_light_max_exponent GL_NV_texgen_reflection GL_NV_texture_env_combine4 GL_S3_s3tc GL_SUN_multi_draw_arrays GL_ARB_texture_border_clamp GL_ARB_texture_compression GL_EXT_framebuffer_object GL_EXT_texture_compression_s3tc GL_EXT_texture_env_combine GL_EXT_texture_env_dot3 GL_MESA_window_pos GL_NV_packed_depth_stencil GL_NV_texture_rectangle GL_ARB_depth_texture GL_ARB_occlusion_query GL_ARB_shadow GL_ARB_texture_env_combine GL_ARB_texture_env_crossbar GL_ARB_texture_env_dot3 GL_ARB_texture_mirrored_repeat GL_ARB_window_pos GL_ATI_fragment_shader GL_EXT_stencil_two_side GL_EXT_texture_cube_map GL_NV_copy_depth_to_color GL_NV_depth_clamp GL_NV_fog_distance GL_NV_half_float GL_APPLE_packed_pixels GL_ARB_draw_buffers GL_ARB_fragment_program GL_ARB_fragment_shader GL_ARB_shader_objects GL_ARB_vertex_program GL_ARB_vertex_shader GL_ATI_draw_buffers GL_ATI_texture_env_combine3 GL_ATI_texture_float GL_EXT_shadow_funcs GL_EXT_stencil_wrap GL_MESA_pack_invert GL_NV_primitive_restart GL_ARB_depth_clamp GL_ARB_fragment_program_shadow GL_ARB_half_float_pixel GL_ARB_occlusion_query2 GL_ARB_point_sprite GL_ARB_shading_language_100 GL_ARB_sync GL_ARB_texture_non_power_of_two GL_ARB_vertex_buffer_object GL_ATI_blend_equation_separate GL_EXT_blend_equation_separate GL_OES_read_format GL_ARB_color_buffer_float GL_ARB_pixel_buffer_object GL_ARB_texture_compression_rgtc GL_ARB_texture_float GL_ARB_texture_rectangle GL_EXT_packed_float GL_EXT_pixel_buffer_object GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_rgtc GL_EXT_texture_rectangle GL_EXT_texture_sRGB GL_EXT_texture_shared_exponent GL_ARB_framebuffer_object GL_EXT_framebuffer_blit GL_EXT_framebuffer_multisample GL_EXT_packed_depth_stencil GL_ARB_vertex_array_object GL_ATI_separate_stencil GL_EXT_draw_buffers2 GL_EXT_draw_instanced GL_EXT_gpu_program_parameters GL_EXT_gpu_shader4 GL_EXT_texture_array GL_EXT_texture_integer GL_EXT_texture_sRGB_decode GL_EXT_timer_query GL_OES_EGL_image GL_EXT_texture_buffer_object GL_ARB_copy_buffer GL_ARB_depth_buffer_float GL_ARB_draw_instanced GL_ARB_half_float_vertex GL_ARB_instanced_arrays GL_ARB_map_buffer_range GL_ARB_texture_buffer_object GL_ARB_texture_rg GL_ARB_texture_swizzle GL_ARB_vertex_array_bgra GL_EXT_texture_swizzle GL_EXT_vertex_array_bgra GL_NV_conditional_render GL_AMD_conservative_depth GL_AMD_draw_buffers_blend GL_ARB_ES2_compatibility GL_ARB_blend_func_extended GL_ARB_compatibility GL_ARB_debug_output GL_ARB_draw_buffers_blend GL_ARB_draw_elements_base_vertex GL_ARB_explicit_attrib_location GL_ARB_fragment_coord_conventions GL_ARB_provoking_vertex GL_ARB_sampler_objects GL_ARB_seamless_cube_map GL_ARB_shader_texture_lod GL_ARB_texture_buffer_object_rgb32 GL_ARB_texture_multisample GL_ARB_texture_query_lod GL_ARB_texture_rgb10_a2ui GL_ARB_uniform_buffer_object GL_ARB_vertex_type_2_10_10_10_rev GL_EXT_provoking_vertex GL_EXT_texture_snorm GL_MESA_texture_signed_rgba GL_NV_copy_image GL_ARB_get_program_binary GL_ARB_robustness GL_ARB_separate_shader_objects GL_ARB_shader_bit_encoding GL_ARB_shader_subroutine GL_ARB_timer_query GL_EXT_direct_state_access GL_ANGLE_texture_compression_dxt3 GL_ANGLE_texture_compression_dxt5 GL_ARB_compressed_texture_pixel_storage GL_ARB_conservative_depth GL_ARB_internalformat_query GL_ARB_map_buffer_alignment GL_ARB_shading_language_420pack GL_ARB_shading_language_packing GL_ARB_texture_storage GL_EXT_framebuffer_multisample_blit_scaled GL_EXT_transform_feedback GL_AMD_shader_trinary_minmax GL_ARB_ES3_compatibility GL_ARB_arrays_of_arrays GL_ARB_clear_buffer_object GL_ARB_explicit_uniform_location GL_ARB_invalidate_subdata GL_ARB_program_interface_query GL_ARB_stencil_texturing GL_ARB_texture_buffer_range GL_ARB_texture_query_levels GL_ARB_texture_storage_multisample GL_ARB_vertex_attrib_binding GL_KHR_debug GL_KHR_texture_compression_astc_ldr GL_ARB_internalformat_query2 GL_ARB_multi_bind GL_ARB_shading_language_include GL_ARB_texture_stencil8 GL_ARB_vertex_type_10f_11f_11f_rev GL_EXT_shader_integer_mix GL_ARB_direct_state_access GL_ARB_get_texture_sub_image GL_KHR_context_flush_control GL_ARB_parallel_shader_compile GL_KHR_no_error GL_KHR_texture_compression_astc_sliced_3d GL_MESA_shader_integer_functions GL_ARB_texture_filter_anisotropic GL_KHR_parallel_shader_compile GL_EXT_EGL_image_storage GL_EXT_EGL_sync [ INFO] [1642460599.634342100]: Supported GLX extensions: GLX_ARB_context_flush_control GLX_ARB_create_context GLX_ARB_create_context_no_error GLX_ARB_create_context_profile GLX_ARB_fbconfig_float GLX_ARB_framebuffer_sRGB GLX_ARB_get_proc_address GLX_ARB_multisample GLX_EXT_create_context_es2_profile GLX_EXT_create_context_es_profile GLX_EXT_fbconfig_packed_float GLX_EXT_framebuffer_sRGB GLX_EXT_import_context GLX_EXT_no_config_context GLX_EXT_texture_from_pixmap GLX_EXT_visual_info GLX_EXT_visual_rating GLX_MESA_copy_sub_buffer GLX_MESA_query_renderer GLX_OML_swap_method GLX_SGIS_multisample GLX_SGIX_fbconfig GLX_SGIX_pbuffer GLX_SGIX_visual_select_group GLX_SGI_make_current_read [ INFO] [1642460599.634384600]: *************************** [ INFO] [1642460599.634414800]: *** GL Renderer Started *** [ INFO] [1642460599.634444100]: *************************** [ INFO] [1642460599.638132800]: Registering ResourceManager for type GpuProgram [ INFO] [1642460599.638183700]: GLSL support detected [ INFO] [1642460599.638216800]: GL: Using GL_EXT_framebuffer_object for rendering to textures (best) [ INFO] [1642460599.739343900]: FBO PF_UNKNOWN depth/stencil support: D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.762246300]: FBO PF_L8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.784985100]: FBO PF_L16 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.807753200]: FBO PF_A8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.831481500]: FBO PF_A4L4 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.854174400]: FBO PF_BYTE_LA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.878386100]: FBO PF_R5G6B5 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.901549900]: FBO PF_B5G6R5 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.926470900]: FBO PF_A4R4G4B4 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.951365200]: FBO PF_A1R5G5B5 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460599.976278600]: FBO PF_R8G8B8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.002905100]: FBO PF_B8G8R8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.027580300]: FBO PF_A8R8G8B8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.052996000]: FBO PF_B8G8R8A8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.077897500]: FBO PF_A2R10G10B10 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.103024800]: FBO PF_A2B10G10R10 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.128203300]: FBO PF_FLOAT16_RGB depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.153504200]: FBO PF_FLOAT16_RGBA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.177695000]: FBO PF_FLOAT32_RGB depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.201823800]: FBO PF_FLOAT32_RGBA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.225227900]: FBO PF_X8R8G8B8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.248698400]: FBO PF_X8B8G8R8 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.274275400]: FBO PF_SHORT_RGBA depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.299711000]: FBO PF_R3G3B2 depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.324595700]: FBO PF_FLOAT16_R depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.350069000]: FBO PF_FLOAT32_R depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.377336000]: FBO PF_SHORT_GR depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.402674300]: FBO PF_FLOAT16_GR depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.427035500]: FBO PF_FLOAT32_GR depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.451574600]: FBO PF_SHORT_RGB depth/stencil support: D0S0 D0S1 D0S4 D0S8 D0S16 D16S0 D24S0 D32S0 Packed-D24S8 [ INFO] [1642460600.451898600]: [GL] : Valid FBO targets PF_UNKNOWN PF_L8 PF_L16 PF_A8 PF_A4L4 PF_BYTE_LA PF_R5G6B5 PF_B5G6R5 PF_A4R4G4B4 PF_A1R5G5B5 PF_R8G8B8 PF_B8G8R8 PF_A8R8G8B8 PF_B8G8R8A8 PF_A2R10G10B10 PF_A2B10G10R10 PF_FLOAT16_RGB PF_FLOAT16_RGBA PF_FLOAT32_RGB PF_FLOAT32_RGBA PF_X8R8G8B8 PF_X8B8G8R8 PF_SHORT_RGBA PF_R3G3B2 PF_FLOAT16_R PF_FLOAT32_R PF_SHORT_GR PF_FLOAT16_GR PF_FLOAT32_GR PF_SHORT_RGB [ INFO] [1642460600.451938900]: RenderSystem capabilities [ INFO] [1642460600.451948900]: ------------------------- [ INFO] [1642460600.451955600]: RenderSystem Name: OpenGL Rendering Subsystem [ INFO] [1642460600.451963400]: GPU Vendor: unknown [ INFO] [1642460600.451972600]: Device Name: D3D12 (NVIDIA GeForce GTX 1060 6GB) [ INFO] [1642460600.451980000]: Driver Version: 3.1.0.0 [ INFO] [1642460600.451986300]: * Fixed function pipeline: yes [ INFO] [1642460600.451992600]: * Hardware generation of mipmaps: yes [ INFO] [1642460600.451998400]: * Texture blending: yes [ INFO] [1642460600.452004500]: * Anisotropic texture filtering: yes [ INFO] [1642460600.452012100]: * Dot product texture operation: yes [ INFO] [1642460600.452019200]: * Cube mapping: yes [ INFO] [1642460600.452047100]: * Hardware stencil buffer: yes [ INFO] [1642460600.452078100]: - Stencil depth: 8 [ INFO] [1642460600.452087100]: - Two sided stencil support: yes [ INFO] [1642460600.452092800]: - Wrap stencil values: yes [ INFO] [1642460600.452098800]: * Hardware vertex / index buffers: yes [ INFO] [1642460600.452126400]: * Vertex programs: yes [ INFO] [1642460600.452158200]: * Number of floating-point constants for vertex programs: 2048 [ INFO] [1642460600.452189000]: * Number of integer constants for vertex programs: 0 [ INFO] [1642460600.452197900]: * Number of boolean constants for vertex programs: 0 [ INFO] [1642460600.452203700]: * Fragment programs: yes [ INFO] [1642460600.452210500]: * Number of floating-point constants for fragment programs: 2048 [ INFO] [1642460600.452239200]: * Number of integer constants for fragment programs: 0 [ INFO] [1642460600.452269700]: * Number of boolean constants for fragment programs: 0 [ INFO] [1642460600.452278400]: * Geometry programs: no [ INFO] [1642460600.452284800]: * Number of floating-point constants for geometry programs: 0 [ INFO] [1642460600.452290900]: * Number of integer constants for geometry programs: 0 [ INFO] [1642460600.452337000]: * Number of boolean constants for geometry programs: 0 [ INFO] [1642460600.452346200]: * Tesselation Hull programs: no [ INFO] [1642460600.452352900]: * Number of floating-point constants for tesselation hull programs: 0 [ INFO] [1642460600.452359000]: * Number of integer constants for tesselation hull programs: 0 [ INFO] [1642460600.452365200]: * Number of boolean constants for tesselation hull programs: 0 [ INFO] [1642460600.452374900]: * Tesselation Domain programs: no [ INFO] [1642460600.452382000]: * Number of floating-point constants for tesselation domain programs: 0 [ INFO] [1642460600.452410000]: * Number of integer constants for tesselation domain programs: 0 [ INFO] [1642460600.452419200]: * Number of boolean constants for tesselation domain programs: 0 [ INFO] [1642460600.452425100]: * Compute programs: no [ INFO] [1642460600.452432100]: * Number of floating-point constants for compute programs: 0 [ INFO] [1642460600.452460300]: * Number of integer constants for compute programs: 0 [ INFO] [1642460600.452490800]: * Number of boolean constants for compute programs: 0 [ INFO] [1642460600.452501500]: * Supported Shader Profiles: arbfp1 arbvp1 glsl ps_1_1 ps_1_2 ps_1_3 ps_1_4 [ INFO] [1642460600.452509300]: * Texture Compression: yes [ INFO] [1642460600.452515000]: - DXT: yes [ INFO] [1642460600.452542300]: - VTC: no [ INFO] [1642460600.452571700]: - PVRTC: no [ INFO] [1642460600.452580600]: - ATC: no [ INFO] [1642460600.452586000]: - ETC1: no [ INFO] [1642460600.452592600]: - ETC2: no [ INFO] [1642460600.452599200]: - BC4/BC5: no [ INFO] [1642460600.452605300]: - BC6H/BC7: no [ INFO] [1642460600.452610900]: * Scissor Rectangle: yes [ INFO] [1642460600.452616500]: * Hardware Occlusion Query: yes [ INFO] [1642460600.452621900]: * User clip planes: yes [ INFO] [1642460600.452627900]: * VET_UBYTE4 vertex element type: yes [ INFO] [1642460600.452635600]: * Infinite far plane projection: yes [ INFO] [1642460600.452663000]: * Hardware render-to-texture: yes [ INFO] [1642460600.452692900]: * Floating point textures: yes [ INFO] [1642460600.452701900]: * Non-power-of-two textures: yes [ INFO] [1642460600.452708000]: * 1d textures: yes [ INFO] [1642460600.452714000]: * Volume textures: yes [ INFO] [1642460600.452742400]: * Multiple Render Targets: 8 [ INFO] [1642460600.452772200]: - With different bit depths: yes [ INFO] [1642460600.452780900]: * Point Sprites: yes [ INFO] [1642460600.452786700]: * Extended point parameters: yes [ INFO] [1642460600.452798400]: * Max Point Size: 255 [ INFO] [1642460600.452826300]: * Vertex texture fetch: yes [ INFO] [1642460600.452857100]: * Number of world matrices: 0 [ INFO] [1642460600.452866300]: * Number of texture units: 16 [ INFO] [1642460600.452872500]: * Stencil buffer depth: 8 [ INFO] [1642460600.452878800]: * Number of vertex blend matrices: 0 [ INFO] [1642460600.452907100]: - Max vertex textures: 32 [ INFO] [1642460600.452936900]: - Vertex textures shared: yes [ INFO] [1642460600.452945800]: * Render to Vertex Buffer : no [ INFO] [1642460600.452951500]: * Hardware Atomic Counters: no [ INFO] [1642460600.452958200]: * GL 1.5 without VBO workaround: no [ INFO] [1642460600.452965300]: * Frame Buffer objects: yes [ INFO] [1642460600.452992600]: * Frame Buffer objects (ARB extension): no [ INFO] [1642460600.453022500]: * Frame Buffer objects (ATI extension): no [ INFO] [1642460600.453031100]: * PBuffer support: yes [ INFO] [1642460600.453036900]: * GL 1.5 without HW-occlusion workaround: no [ INFO] [1642460600.453042400]: * Vertex Array Objects: no [ INFO] [1642460600.453080300]: * Separate shader objects: no [ INFO] [1642460600.453636800]: Using FSAA from GL_ARB_multisample extension. [ INFO] [1642460600.454723300]: DefaultWorkQueue('Root') initialising on thread 7fdea10b0cc0. [ INFO] [1642460600.454880000]: DefaultWorkQueue('Root')::WorkerFunc - thread 7fde4bcff700 starting. [ INFO] [1642460600.454943600]: DefaultWorkQueue('Root')::WorkerFunc - thread 7fde4b4fe700 starting. [ INFO] [1642460600.454983200]: DefaultWorkQueue('Root')::WorkerFunc - thread 7fde4acfd700 starting. [ INFO] [1642460600.455042100]: DefaultWorkQueue('Root')::WorkerFunc - thread 7fde4a4fc700 starting. [ INFO] [1642460600.455100800]: DefaultWorkQueue('Root')::WorkerFunc - thread 7fde49cfb700 starting. [ INFO] [1642460600.455157200]: DefaultWorkQueue('Root')::WorkerFunc - thread 7fde494fa700 starting. [ INFO] [1642460600.455215800]: Particle Renderer Type 'billboard' registered [ INFO] [1642460600.460334900]: SceneManagerFactory for type 'OctreeSceneManager' registered. [ INFO] [1642460600.460379400]: Stereo is NOT SUPPORTED [ INFO] [1642460600.460415300]: OpenGL device: D3D12 (NVIDIA GeForce GTX 1060 6GB) [ INFO] [1642460600.460452800]: OpenGl version: 3.1 (GLSL 1.4). [ INFO] [1642460600.460526100]: Creating resource group rviz [ INFO] [1642460600.460617900]: Added resource location '/opt/ros/melodic/share/rviz/ogre_media' of type 'FileSystem' to resource group 'rviz' [ INFO] [1642460600.460677800]: Added resource location '/opt/ros/melodic/share/rviz/ogre_media/textures' of type 'FileSystem' to resource group 'rviz' [ INFO] [1642460600.460742900]: Added resource location '/opt/ros/melodic/share/rviz/ogre_media/fonts' of type 'FileSystem' to resource group 'rviz' [ INFO] [1642460600.460810500]: Added resource location '/opt/ros/melodic/share/rviz/ogre_media/models' of type 'FileSystem' to resource group 'rviz' [ INFO] [1642460600.460877800]: Added resource location '/opt/ros/melodic/share/rviz/ogre_media/materials' of type 'FileSystem' to resource group 'rviz' [ INFO] [1642460600.460948400]: Added resource location '/opt/ros/melodic/share/rviz/ogre_media/materials/scripts' of type 'FileSystem' to resource group 'rviz' [ INFO] [1642460600.461070000]: Added resource location '/opt/ros/melodic/share/rviz/ogre_media/materials/glsl120' of type 'FileSystem' to resource group 'rviz' [ INFO] [1642460600.461143400]: Added resource location '/opt/ros/melodic/share/rviz/ogre_media/materials/glsl120/nogp' of type 'FileSystem' to resource group 'rviz' [ INFO] [1642460600.461214000]: Added resource location '/opt/ros/melodic/share/rviz/ogre_media/materials/scripts120' of type 'FileSystem' to resource group 'rviz' [ INFO] [1642460600.461357600]: Parsing scripts for resource group Autodetect [ INFO] [1642460600.461397200]: Finished parsing scripts for resource group Autodetect [ INFO] [1642460600.461407700]: Creating resources for group Autodetect [ INFO] [1642460600.461436200]: All done [ INFO] [1642460600.461466600]: Parsing scripts for resource group General [ INFO] [1642460600.461477800]: Finished parsing scripts for resource group General [ INFO] [1642460600.461485400]: Creating resources for group General [ INFO] [1642460600.461513200]: All done [ INFO] [1642460600.461543300]: Parsing scripts for resource group Internal [ INFO] [1642460600.461554400]: Finished parsing scripts for resource group Internal [ INFO] [1642460600.461561500]: Creating resources for group Internal [ INFO] [1642460600.461570300]: All done [ INFO] [1642460600.461597700]: Parsing scripts for resource group rviz [ INFO] [1642460600.462236300]: Parsing script glsl120.program [ INFO] [1642460600.463214800]: Parsing script nogp.program [ INFO] [1642460600.463757400]: Parsing script default_pick_and_depth.material [ INFO] [1642460600.463981100]: Parsing script point_cloud_tile.material [ INFO] [1642460600.464156400]: Parsing script indexed_8bit_image.material [ INFO] [1642460600.464268300]: Parsing script point_cloud_point.material [ INFO] [1642460600.464431100]: Parsing script point_cloud_flat_square.material [ INFO] [1642460600.464570100]: Parsing script point_cloud_box.material [ INFO] [1642460600.464702700]: Parsing script point_cloud_sphere.material [ INFO] [1642460600.464840000]: Parsing script point_cloud_square.material [ INFO] [1642460600.464974500]: Parsing script liberation_sans.fontdef [ INFO] [1642460600.465054100]: Finished parsing scripts for resource group rviz [ INFO] [1642460600.465086900]: Creating resources for group rviz [ INFO] [1642460600.465116800]: All done [ INFO] [1642460600.466807700]: GLRenderSystem::_createRenderWindow "OgreWindow(1)", 100x30 windowed miscParams: FSAA=4 contentScalingFactor=1.000000 externalGLControl= externalWindowHandle=4194324 parentWindowHandle=4194324 [ INFO] [1642460600.478652700]: GLXWindow::create used FBConfigID = 230 [ INFO] [1642460600.505926500]: Mesh: Loading rviz_sphere.mesh. [ INFO] [1642460600.516999400]: Texture: SelectionRect0Texture: Loading 1 faces(PF_R8G8B8A8,1x1x1) Internal format is PF_A8R8G8B8,1x1x1. [ INFO] [1642460600.518796900]: Mesh: Loading rviz_cylinder.mesh. [ INFO] [1642460600.524056700]: Mesh: Loading rviz_cone.mesh. [ INFO] [1642460600.624708400]: Material package://fetch_description/meshes/base_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460600.776274300]: Texture: package://fetch_description/meshes/base_link_uv.png: Loading 1 faces(PF_R8G8B8,4096x4096x1) with 12 hardware generated mipmaps from Image. Internal format is PF_X8R8G8B8,4096x4096x1. [ INFO] [1642460601.058997400]: Material package://fetch_description/meshes/elbow_flex_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.112538000]: Texture: package://fetch_description/meshes/elbow_flex_uv.png: Loading 1 faces(PF_A8R8G8B8,2048x2048x1) with 11 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,2048x2048x1. [ INFO] [1642460601.197008500]: Material package://fetch_description/meshes/estop_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.230297200]: Material package://fetch_description/meshes/forearm_roll_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.248541500]: Texture: package://fetch_description/meshes/forearm_roll_uv.png: Loading 1 faces(PF_A8R8G8B8,1024x1024x1) with 10 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,1024x1024x1. [ INFO] [1642460601.287908500]: Material package://fetch_description/meshes/gripper_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.289170800]: Texture: package://fetch_description/meshes/gripper_uv.png: Loading 1 faces(PF_A8R8G8B8,64x64x1) with 6 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,64x64x1. [ INFO] [1642460601.310382300]: Material package://fetch_description/meshes/head_pan_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.314535700]: Texture: package://fetch_description/meshes/head_pan_uv.png: Loading 1 faces(PF_A8R8G8B8,512x512x1) with 9 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,512x512x1. [ INFO] [1642460601.337877800]: Material package://fetch_description/meshes/head_tilt_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.352143000]: Texture: package://fetch_description/meshes/head_tilt_uv.png: Loading 1 faces(PF_A8R8G8B8,1024x1024x1) with 10 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,1024x1024x1. [ INFO] [1642460601.442011200]: Material package://fetch_description/meshes/shoulder_lift_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.460824500]: Texture: package://fetch_description/meshes/shoulder_lift_uv.png: Loading 1 faces(PF_A8R8G8B8,1024x1024x1) with 10 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,1024x1024x1. [ INFO] [1642460601.522163900]: Material package://fetch_description/meshes/shoulder_pan_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.542503900]: Texture: package://fetch_description/meshes/shoulder_pan_uv.png: Loading 1 faces(PF_A8R8G8B8,1024x1024x1) with 10 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,1024x1024x1. [ INFO] [1642460601.577243600]: Material package://fetch_description/meshes/torso_fixed_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.578217700]: Texture: package://fetch_description/meshes/torso_fixed_uv.png: Loading 1 faces(PF_A8R8G8B8,64x64x1) with 6 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,64x64x1. [ INFO] [1642460601.634733300]: Material package://fetch_description/meshes/torso_lift_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.650928800]: Texture: package://fetch_description/meshes/torso_lift_uv.png: Loading 1 faces(PF_A8R8G8B8,1024x1024x1) with 10 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,1024x1024x1. [ INFO] [1642460601.698220300]: Material package://fetch_description/meshes/upperarm_roll_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.717057000]: Texture: package://fetch_description/meshes/upperarm_roll_uv.png: Loading 1 faces(PF_A8R8G8B8,1024x1024x1) with 10 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,1024x1024x1. [ INFO] [1642460601.751735600]: Material package://fetch_description/meshes/wrist_flex_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.766527600]: Texture: package://fetch_description/meshes/wrist_flex_uv.png: Loading 1 faces(PF_A8R8G8B8,1024x1024x1) with 10 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,1024x1024x1. [ INFO] [1642460601.801887500]: Material package://fetch_description/meshes/wrist_roll_link.daeMaterial0 was requested with isManual=true, but this is not applicable for materials; the flag has been reset to false [ INFO] [1642460601.803901300]: Texture: package://fetch_description/meshes/wrist_roll_uv.png: Loading 1 faces(PF_A8R8G8B8,256x256x1) with 8 hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,256x256x1. [ INFO] [1642460601.897039100]: Font Liberation Sans using texture size 2048x1024 [ INFO] [1642460601.899092500]: Info: Freetype returned null for character 32 in font Liberation Sans [ INFO] [1642460601.899802400]: Info: Freetype returned null for character 160 in font Liberation Sans [ INFO] [1642460601.909379600]: Texture: Liberation SansTexture: Loading 1 faces(PF_BYTE_LA,2048x1024x1) Internal format is PF_BYTE_LA,2048x1024x1. [ INFO] [1642460601.991806700]: Using FSAA from GL_ARB_multisample extension. ... logging to /home/scott/.ros/log/a722a622-77e9-11ec-8180-0242ac110002/roslaunch-d249e82a1e61-2095.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://d249e82a1e61:43073/ SUMMARY ======== PARAMETERS * /robot_description:

nturro commented 2 years ago

Same bug here : windows 11 build 22000.613 wsl ubuntu 20, kernel version 5.10.102.1 dell nvidia-smi info : NVIDIA-SMI 510.60.02 Driver Version: 512.15 CUDA Version: 11.6

Bug : rviz don't display robot meshes

Setting LIBGL_ALWAYS_SOFTWARE=true shows the meshes, but rendered using CPU instead of GPU which is slow and is not a proper solution.

microsoft / wslg

Rviz does not display meshes with GPU enabled #554

Environment

Steps to reproduce

Expected behavior

Actual behavior