TB4 Sim Crashes With Accelerate 3D Graphics (OpenGL 4.1)

[slowrunner]

Issue: Turtlebot4 Ignition Gazebo simulation (standard or lite) crashes with OpenGL 4.1 3D Acceleration enabled

Configuration information:

• OS: Ubuntu 20.04.5 LTS Desktop
• ROS Distro: Galactic
• apt installed ros-galactic-desktop
• Package version:

  $ sudo dpkg -l | grep ros-galactic-turtlebot4
  ii  ros-galactic-turtlebot4-description                 0.1.2-1focal.20220916.170821          amd64     
  ii  ros-galactic-turtlebot4-desktop                     0.1.0-1focal.20220916.172304          amd64     
  ii  ros-galactic-turtlebot4-ignition-bringup            0.1.1-1focal.20221016.143037          amd64    
  ii  ros-galactic-turtlebot4-ignition-gui-plugins        0.1.1-1focal.20220509.183119          amd64   
  ii  ros-galactic-turtlebot4-ignition-toolbox            0.1.1-1focal.20220916.171656          amd64       
  ii  ros-galactic-turtlebot4-msgs                        0.1.2-1focal.20220916.170727          amd64       
  ii  ros-galactic-turtlebot4-navigation                  0.1.2-1focal.20221016.142546          amd64        
  ii  ros-galactic-turtlebot4-node                        0.1.2-1focal.20220916.172120          amd64        
  ii  ros-galactic-turtlebot4-simulator                   0.1.1-1focal.20221016.143508          amd64      
  ii  ros-galactic-turtlebot4-viz                         0.1.0-1focal.20220916.171830          amd64      

  • OpenGL Environment:

    
    $ glxinfo | grep -i opengl
    OpenGL vendor string: VMware, Inc.
    OpenGL renderer string: SVGA3D; build: RELEASE;  LLVM;
    OpenGL core profile version string: 4.1 (Core Profile) Mesa 21.2.6
    OpenGL core profile shading language version string: 4.10
    OpenGL core profile context flags: (none)
    OpenGL core profile profile mask: core profile
    OpenGL core profile extensions:
    OpenGL version string: 4.1 (Compatibility Profile) Mesa 21.2.6
    OpenGL shading language version string: 4.10
    OpenGL context flags: (none)
    OpenGL profile mask: compatibility profile
    OpenGL extensions:
    OpenGL ES profile version string: OpenGL ES 2.0 Mesa 21.2.6
    OpenGL ES profile shading language version string: OpenGL ES GLSL ES 1.0.16
    OpenGL ES profile extensions:

- Virtual Machine: VMware Fusion 12.2.4 player 
- Host Machine OS:  macOS Monterey 12.16.1
- Host Machine: Mac Mini 2018 3.2 GHz 6-Core Intel Core I7 with 32GB RAM
- Graphics Card: eGPU with Radeon RX 580 8GB VRAM

**Expected Behavior**
TurtleBot 4 lite simulation should run at near real-time
(w/o 3D acceleration checked the sim does not crash but runs at 3% real-time)

 **Unexpected Behavior: Turtlebot 4 Simulation Crash**

(Note crash only occurs with Turtlebot 4 simulation, visualize_lidar.sdf does not crash)

Ignition Gazebo window opens for a while with Create3 HMI and Teleop panels showing, 
then disappears with console output showing:

... [Msg] Loading plugin [ignition-rendering-ogre] [ign gazebo-1] [Wrn] [ColladaLoader.cc:1894] emission texture not supported [ign gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:1894] emission texture not supported [ign gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:1894] emission texture not supported [ign gazebo-1] [Wrn] [ColladaLoader.cc:1894] emission texture not supported [ign gazebo-1] [Wrn] [ColladaLoader.cc:1894] emission texture not supported [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: ROOF. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: WALLS. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: PILLERS. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FANS. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: INTERCOM. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FireAlarm. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FireAlarmPole. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: Pipes. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: STAIRS. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: BOXSET. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FLOOR. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FanBack. Checking first set with index: 0 [ign gazebo-1] [Wrn] [SubMesh.cc:446] Multiple texture coordinate sets exist in submesh: FAN1. Checking first set with index: 0 [ign gazebo-1] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported [ign gazebo-1] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported

... [ign gazebo-1] [Dbg] [Lidar.cc:122] Laser scans for [standard_dock::green_buoy_link::green_buoy] advertised on [world/depot/model/standard_dock/link/green_buoy_link/sensor/green_buoy/scan] [ign gazebo-1] [Wrn] [OgreGpuRays.cc:253] Horizontal FOV for GPU rays is capped at 180 degrees. [ign gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported [ign gazebo-1] [GUI] [Wrn] [ColladaLoader.cc:2394] Triangle input semantic: 'COLOR' is currently not supported [INFO] [ign gazebo-1]: process has finished cleanly [pid 3896] [ign gazebo-1] [Dbg] [GpuLidar

**To Reproduce**
1) ros2 launch turtlebot4_ignition_bringup ignition.launch.py model:=lite

**Other notes**
Crashes: Ubuntu 22.04.5 is running in Fusion 12.2.4 VMware player, "Accelerate 3D Graphics - Supports OpenGL 4.1)" checked
Does not crash: "Accelerate 3D Graphics" not checked **BUT** will only run at 3% real-time
Does not crash: world:=maze (and remove obstacles) even with "Accelerate 3D Graphics" checked - runs at 12-20% realtime.

Non-Turtlebot simulation does not crash with "Accelerate 3D Graphics" checked: ign gazebo -v 4 -r visualize_lidar.sdf
[ros_logs.tgz](https://github.com/turtlebot/turtlebot4_simulator/files/10005675/ros_logs.tgz)
[ignition_logs.tgz](https://github.com/turtlebot/turtlebot4_simulator/files/10005676/ignition_logs.tgz)

[slowrunner]

Closing: This seems to be a limitation specific to my particular computing environment. The sim does not crash if I run maze world, (and I prefer the simpler world).