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All rendering are aborted using gz sim in wsl2 through the quickstart menu #2765

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j3anm1rc opened this issue Feb 11, 2025 · 7 comments
Open
17 tasks

All rendering are aborted using gz sim in wsl2 through the quickstart menu #2765

j3anm1rc opened this issue Feb 11, 2025 · 7 comments
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bug Something isn't working

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@j3anm1rc
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j3anm1rc commented Feb 11, 2025 •
edited
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I follow the installation tutorial and try to run defaults model in gz sim from :
#https://gazebosim.org/api/sim/9/install.html
I run an ubuntu os inside wsl2. Any rendering are aborted with the following error:

: CommandLine Error: Option 'spirv-expand-step' registered more than once!
LLVM ERROR: inconsistency in registered CommandLine options

Environment

  • OS Version: Ubuntu 22.04.5 LTS in wsl2 2.4.10
  • Source or binary build?
gz-sim9-cli/unknown,now 9.0.0-1~jammy amd64 [installed,automatic]
libgz-sim9-dev/unknown,now 9.0.0-1~jammy amd64 [installed]
libgz-sim9/unknown,now 9.0.0-1~jammy amd64 [installed,automatic]
python3-gz-sim9/unknown,now 9.0.0-1~jammy amd64 [installed,automatic]
  • If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.
    • Rendering plugin: [ogre | ogre2].
      • Sensor rendering error.
      • 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)
      • running on real hardware
      • [X ] 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 Linux, provide the outputs of the following commands:
redgy@local:~$ echo "$DISPLAY"
:0
redgy@local:~$ glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'
direct rendering: Yes
    Preferred profile: core (0x1)
    Max core profile version: 4.1
    Max compat profile version: 4.1
    Max GLES1 profile version: 1.1
    Max GLES[23] profile version: 3.0
OpenGL vendor string: Microsoft Corporation
OpenGL renderer string: D3D12 (Intel(R) UHD Graphics)
OpenGL core profile version string: 4.1 (Core Profile) Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL core profile shading language version string: 4.10
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL version string: 4.1 (Compatibility Profile) Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL shading language version string: 4.10
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile
OpenGL ES profile version string: OpenGL ES 3.0 Mesa 23.2.1-1ubuntu3.1~22.04.3
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.00
redgy@local:~$ ps aux | grep Xorg
redgy      15745  0.0  0.0   4032  2004 pts/0    S+   11:59   0:00 grep --color=auto Xorg
redgy@local:~$ sudo env LANG=C X -version
env: ‘X’: No such file or directory
redgy@local:~$
$ sudo gz sim --verbose
(2025-02-11 15:42:33.828) [info] [Gui.cc:332] Gazebo Sim GUI    v9.0.0
(2025-02-11 15:42:34.051) [info] [Gui.cc:246] Gazebo Sim Quick start dialog
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-11 15:42:43.242) [info] [gz.cc:170] Received world [empty.sdf] from the GUI.
(2025-02-11 15:42:43.242) [info] [gz.cc:337] Gazebo Sim Server v9.0.0
(2025-02-11 15:42:43.248) [warning] [Application.cc:933] [GUI] [QT] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-11 15:42:43.253) [info] [Server.cc:145] Loading SDF world file[/usr/share/gz/gz-sim9/worlds/empty.sdf].
: CommandLine Error: Option 'spirv-expand-step' registered more than once!
LLVM ERROR: inconsistency in registered CommandLine options
Stack trace (most recent call last):
#31   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f573559de3f, in
#30   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f573559c488, in
#29   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f573559b87f, in
#28   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f573559bb2b, in
#27   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f573566c6a7, in
#26   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f5735680780, in
#25   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f5735a4335e, in OpenAdapter12
#24   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f5735a4356d, in
#23   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f571674b82c, in
#22   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f57167c3942, in
#21   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f57167eb9fc, in
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574ad676c7, in dlopen
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574ad6712d, in
#18   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574ae4bb62, in _dl_catch_error
#17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574ae4ba97, in _dl_catch_exception
#16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574ad6763b, in
#15   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f574b29a34d, in
#14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574ae4ba97, in _dl_catch_exception
#13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f574b299ff5, in
#12   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574ae4baf4, in _dl_catch_exception
#11   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f574b292567, in
#10   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f574b29247d, in
#9    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f5712f8cf82, in
#8    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f5713372a1a, in
#7    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5710c17bdf, in llvm::cl::Option::addArgument()
#6    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5710c17b5a, in
#5    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5710c1780e, in
#4    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5710c29f9b, in llvm::report_fatal_error(char const*, bool)
#3    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5710c29ee8, in llvm::report_fatal_error(llvm::Twine const&, bool)
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574acff7f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574ad19475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f574ad6d9fc, in pthread_kill
Aborted (Signal sent by tkill() 82872 0)
(2025-02-11 15:42:43.413) [info] [SystemManager.cc:54] Serving entity system service on [/entity/system/add]
(2025-02-11 15:42:43.451) [info] [UserCommands.cc:664] Create service on [/world/empty/create]
(2025-02-11 15:42:43.452) [info] [UserCommands.cc:671] Remove service on [/world/empty/remove]
(2025-02-11 15:42:43.452) [info] [UserCommands.cc:678] Pose service on [/world/empty/set_pose]
(2025-02-11 15:42:43.452) [info] [UserCommands.cc:686] Pose service on [/world/empty/set_pose_vector]
(2025-02-11 15:42:43.452) [info] [UserCommands.cc:693] Light configuration service on [/world/empty/light_config]
(2025-02-11 15:42:43.452) [info] [UserCommands.cc:719] Physics service on [/world/empty/set_physics]
(2025-02-11 15:42:43.453) [info] [UserCommands.cc:727] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
(2025-02-11 15:42:43.453) [info] [UserCommands.cc:736] Enable collision service on [/world/empty/enable_collision]
(2025-02-11 15:42:43.453) [info] [UserCommands.cc:745] Disable collision service on [/world/empty/disable_collision]
(2025-02-11 15:42:43.453) [info] [UserCommands.cc:754] Material service on [/world/empty/visual_config]
(2025-02-11 15:42:43.453) [info] [UserCommands.cc:762] Material service on [/world/empty/wheel_slip]
(2025-02-11 15:42:43.455) [info] [LevelManager.cc:641] Loaded level [default]
(2025-02-11 15:42:43.456) [info] [SimulationRunner.cc:260] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
(2025-02-11 15:42:43.457) [info] [SimulationRunner.cc:286] Serving GUI information on [/world/empty/gui/info]
(2025-02-11 15:42:43.457) [info] [SimulationRunner.cc:289] World [empty] initialized with [1ms] physics profile.
(2025-02-11 15:42:43.457) [info] [SimulationRunner.cc:296] Serving world SDF generation service on [/world/empty/generate_world_sdf]
(2025-02-11 15:42:43.457) [info] [ServerPrivate.cc:334] Serving world names on [/gazebo/worlds]
(2025-02-11 15:42:43.457) [info] [ServerPrivate.cc:347] Resource path add service on [/gazebo/resource_paths/add].
(2025-02-11 15:42:43.457) [info] [ServerPrivate.cc:360] Resource path get service on [/gazebo/resource_paths/get].
(2025-02-11 15:42:43.457) [info] [ServerPrivate.cc:375] Resource path resolve service on [/gazebo/resource_paths/resolve].
(2025-02-11 15:42:43.457) [info] [ServerPrivate.cc:389] Resource paths published on [/gazebo/resource_paths].
(2025-02-11 15:42:43.457) [info] [ServerPrivate.cc:402] Server control service on [/server_control].
(2025-02-11 15:42:43.457) [info] [SimulationRunner.cc:743] Found no publishers on /stats, adding root stats topic
(2025-02-11 15:42:43.457) [info] [SimulationRunner.cc:777] Found no publishers on /clock, adding root clock topic
(2025-02-11 15:42:43.459) [info] [SceneBroadcaster.cc:634] Serving scene information on [/world/empty/scene/info]
(2025-02-11 15:42:43.459) [info] [SceneBroadcaster.cc:643] Serving graph information on [/world/empty/scene/graph]
(2025-02-11 15:42:43.459) [info] [SceneBroadcaster.cc:654] Serving full state on [/world/empty/state]
(2025-02-11 15:42:43.459) [info] [SceneBroadcaster.cc:663] Serving full state (async) on [/world/empty/state_async]
(2025-02-11 15:42:43.459) [info] [SceneBroadcaster.cc:671] Publishing scene information on [/world/empty/scene/info]
(2025-02-11 15:42:43.459) [info] [SceneBroadcaster.cc:680] Publishing entity deletions on [/world/empty/scene/deletion]
(2025-02-11 15:42:43.459) [info] [SceneBroadcaster.cc:689] Publishing state changes on [/world/empty/state]
(2025-02-11 15:42:43.459) [info] [SceneBroadcaster.cc:700] Publishing pose messages on [/world/empty/pose/info]
(2025-02-11 15:42:43.459) [info] [SceneBroadcaster.cc:711] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info]

Description

  • Expected behavior: rendering defaults worlds after following the installation step
  • Actual behavior: rendering aborted

Steps to reproduce

  1. follow the installation describe by #https://gazebosim.org/api/sim/9/install.html inside a wsl 2 with ubuntu
  2. launch gz sim
  3. try to run any world

Output

My LLVM pakages

libllvmspirvlib12/jammy,now 12.0.0-3 amd64 [installed,automatic]
libllvmspirvlib13/jammy,now 13.0.0-3 amd64 [installed,automatic]
libllvmspirvlib14/jammy-updates,now 14.0.0-3~ubuntu0.22.04.1 amd64 [installed,automatic]
libllvmspirvlib15/jammy-updates,jammy-security,now 15.0.0-1~ubuntu0.22.04.2 amd64 [installed,automatic]

WSL config

[wsl2]

localhostforwarding=true


debugConsole=true

kernelCommandLine = vsyscall=emulate
firewall=false
networkingMode=mirrored
[experimental]
hostAddressLoopback=true
bestEffortDnsParsing=true`
@j3anm1rc j3anm1rc added the bug Something isn't working label Feb 11, 2025
@traversaro
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What happens if you try to force software rendering?

@j3anm1rc
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j3anm1rc commented Feb 12, 2025 •
edited
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What happens if you try to force software rendering?

What I understand is that gazebo uses dart as physical rendering and ogre2 as engine for 3d rendering.

I have these libs, they are maybe inconsistent ?

#/usr/lib/x86_64-linux-gnu/gz-physics-8/engine-plugins/libgz-physics-dartsim-plugin.so
 export GZ_SIM_PHYSICS_ENGINE_PATH=/usr/lib/x86_64-linux-gnu/gz-physics-8/engine-plugins/

#/usr/lib/x86_64-linux-gnu/gz-rendering-9/engine-plugins/libgz-rendering-ogre.so
export GZ_SIM_RENDER_ENGINE_PATH=/usr/lib/x86_64-linux-gnu/gz-rendering-9/engine-plugins/

I tried to launch the gz sim defining any renderer options:

$ sudo gz sim  --verbose --render-engine-api-backend opengl
(2025-02-12 11:33:07.338) [info] [Gui.cc:332] Gazebo Sim GUI    v9.0.0
(2025-02-12 11:33:07.556) [info] [Gui.cc:246] Gazebo Sim Quick start dialog
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-12 11:33:13.261) [info] [gz.cc:170] Received world [empty.sdf] from the GUI.
(2025-02-12 11:33:13.263) [info] [gz.cc:337] Gazebo Sim Server v9.0.0
(2025-02-12 11:33:13.269) [warning] [Application.cc:933] [GUI] [QT] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-12 11:33:13.292) [info] [Server.cc:145] Loading SDF world file[/usr/share/gz/gz-sim9/worlds/empty.sdf].
: CommandLine Error: Option 'spirv-expand-step' registered more than once!
LLVM ERROR: inconsistency in registered CommandLine options
(2025-02-12 11:33:13.375) [error] [SignalHandler.cc:178] [GUI] 4 Interrupted system call
Stack trace (most recent call last):
#31   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f346949de3f, in
#30   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f346949c488, in
#29   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f346949b87f, in
#28   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f346949bb2b, in
#27   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f346956c6a7, in
#26   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f3469580780, in
#25   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f3469e0135e, in OpenAdapter12
#24   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f3469e0156d, in
#23   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f344a74b82c, in
#22   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f344a7c3942, in
#21   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f344a7eb9fc, in
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ec6a6c7, in dlopen
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ec6a12d, in
#18   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ed4eb62, in _dl_catch_error
#17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ed4ea97, in _dl_catch_exception
#16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ec6a63b, in
#15   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f347f19d34d, in
#14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ed4ea97, in _dl_catch_exception
#13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f347f19cff5, in
#12   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ed4eaf4, in _dl_catch_exception
#11   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f347f195567, in
#10   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f347f19547d, in
#9    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f3446f8cf82, in
#8    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f3447372a1a, in
#7    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f3444c17bdf, in llvm::cl::Option::addArgument()
#6    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f3444c17b5a, in
#5    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f3444c1780e, in
#4    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f3444c29f9b, in llvm::report_fatal_error(char const*, bool)
#3    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f3444c29ee8, in llvm::report_fatal_error(llvm::Twine const&, bool)
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ec027f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ec1c475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f347ec709fc, in pthread_kill
Aborted (Signal sent by tkill() 7962 0)
(2025-02-12 11:33:13.452) [info] [SystemManager.cc:54] Serving entity system service on [/entity/system/add]
(2025-02-12 11:33:13.586) [info] [UserCommands.cc:664] Create service on [/world/empty/create]
(2025-02-12 11:33:13.586) [info] [UserCommands.cc:671] Remove service on [/world/empty/remove]
(2025-02-12 11:33:13.586) [info] [UserCommands.cc:678] Pose service on [/world/empty/set_pose]
(2025-02-12 11:33:13.586) [info] [UserCommands.cc:686] Pose service on [/world/empty/set_pose_vector]
(2025-02-12 11:33:13.586) [info] [UserCommands.cc:693] Light configuration service on [/world/empty/light_config]
(2025-02-12 11:33:13.586) [info] [UserCommands.cc:719] Physics service on [/world/empty/set_physics]
(2025-02-12 11:33:13.586) [info] [UserCommands.cc:727] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
(2025-02-12 11:33:13.587) [info] [UserCommands.cc:736] Enable collision service on [/world/empty/enable_collision]
(2025-02-12 11:33:13.587) [info] [UserCommands.cc:745] Disable collision service on [/world/empty/disable_collision]
(2025-02-12 11:33:13.587) [info] [UserCommands.cc:754] Material service on [/world/empty/visual_config]
(2025-02-12 11:33:13.587) [info] [UserCommands.cc:762] Material service on [/world/empty/wheel_slip]
(2025-02-12 11:33:13.591) [info] [LevelManager.cc:641] Loaded level [default]
(2025-02-12 11:33:13.592) [info] [SimulationRunner.cc:260] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
(2025-02-12 11:33:13.592) [info] [SimulationRunner.cc:286] Serving GUI information on [/world/empty/gui/info]
(2025-02-12 11:33:13.592) [info] [SimulationRunner.cc:289] World [empty] initialized with [1ms] physics profile.
(2025-02-12 11:33:13.592) [info] [SimulationRunner.cc:296] Serving world SDF generation service on [/world/empty/generate_world_sdf]
(2025-02-12 11:33:13.592) [info] [ServerPrivate.cc:334] Serving world names on [/gazebo/worlds]
(2025-02-12 11:33:13.592) [info] [ServerPrivate.cc:347] Resource path add service on [/gazebo/resource_paths/add].
(2025-02-12 11:33:13.592) [info] [ServerPrivate.cc:360] Resource path get service on [/gazebo/resource_paths/get].
(2025-02-12 11:33:13.592) [info] [ServerPrivate.cc:375] Resource path resolve service on [/gazebo/resource_paths/resolve].
(2025-02-12 11:33:13.592) [info] [ServerPrivate.cc:389] Resource paths published on [/gazebo/resource_paths].
(2025-02-12 11:33:13.592) [info] [ServerPrivate.cc:402] Server control service on [/server_control].
(2025-02-12 11:33:13.592) [info] [SimulationRunner.cc:743] Found no publishers on /stats, adding root stats topic
(2025-02-12 11:33:13.592) [info] [SimulationRunner.cc:777] Found no publishers on /clock, adding root clock topic
(2025-02-12 11:33:13.604) [info] [SceneBroadcaster.cc:634] Serving scene information on [/world/empty/scene/info]
(2025-02-12 11:33:13.604) [info] [SceneBroadcaster.cc:643] Serving graph information on [/world/empty/scene/graph]
(2025-02-12 11:33:13.604) [info] [SceneBroadcaster.cc:654] Serving full state on [/world/empty/state]
(2025-02-12 11:33:13.604) [info] [SceneBroadcaster.cc:663] Serving full state (async) on [/world/empty/state_async]
(2025-02-12 11:33:13.604) [info] [SceneBroadcaster.cc:671] Publishing scene information on [/world/empty/scene/info]
(2025-02-12 11:33:13.605) [info] [SceneBroadcaster.cc:680] Publishing entity deletions on [/world/empty/scene/deletion]
(2025-02-12 11:33:13.605) [info] [SceneBroadcaster.cc:689] Publishing state changes on [/world/empty/state]
(2025-02-12 11:33:13.605) [info] [SceneBroadcaster.cc:700] Publishing pose messages on [/world/empty/pose/info]
(2025-02-12 11:33:13.605) [info] [SceneBroadcaster.cc:711] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info]

or using vulkan 👍

$ sudo gz sim  --verbose --render-engine-api-backend vulkan
(2025-02-12 11:34:19.427) [info] [Gui.cc:332] Gazebo Sim GUI    v9.0.0
(2025-02-12 11:34:19.655) [info] [Gui.cc:246] Gazebo Sim Quick start dialog
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-12 11:34:23.886) [info] [gz.cc:170] Received world [https://fuel.gazebosim.org/1.0/OpenRobotics/worlds/NAO joint control] from the GUI.
(2025-02-12 11:34:23.887) [info] [gz.cc:337] Gazebo Sim Server v9.0.0
(2025-02-12 11:34:23.891) [warning] [Application.cc:933] [GUI] [QT] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-12 11:34:23.891) [warning] [Application.cc:933] [GUI] [QT] QRhi is already configured, request ignored
(2025-02-12 11:34:23.898) [info] [Server.cc:145] Loading SDF world file[/root/.gz/fuel/fuel.gazebosim.org/openrobotics/worlds/nao joint control/1/nao_world.sdf].
: CommandLine Error: Option 'spirv-expand-step' registered more than once!
LLVM ERROR: inconsistency in registered CommandLine options
Stack trace (most recent call last):
#31   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f67c3cb2e3f, in
#30   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f67c3cb1488, in
#29   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f67c3cb087f, in
#28   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f67c3cb0b2b, in
#27   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f67c3d816a7, in
#26   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f67c3d95780, in
#25   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f67dcbe335e, in OpenAdapter12
#24   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f67dcbe356d, in
#23   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f67b9a1782c, in
#22   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f67b9a8f942, in
#21   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f67b9ab79fc, in
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67eda396c7, in dlopen
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67eda3912d, in
#18   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67edb1db62, in _dl_catch_error
#17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67edb1da97, in _dl_catch_exception
#16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67eda3963b, in
#15   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f67edf6c34d, in
#14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67edb1da97, in _dl_catch_exception
#13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f67edf6bff5, in
#12   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67edb1daf4, in _dl_catch_exception
#11   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f67edf64567, in
#10   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f67edf6447d, in
#9    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f67b6258f82, in
#8    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f67b663ea1a, in
#7    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f67b3c9ebdf, in llvm::cl::Option::addArgument()
#6    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f67b3c9eb5a, in
#5    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f67b3c9e80e, in
#4    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f67b3cb0f9b, in llvm::report_fatal_error(char const*, bool)
#3    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f67b3cb0ee8, in llvm::report_fatal_error(llvm::Twine const&, bool)
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67ed9d17f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67ed9eb475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f67eda3f9fc, in pthread_kill
Aborted (Signal sent by tkill() 8416 0)
(2025-02-12 11:34:24.176) [info] [SystemManager.cc:54] Serving entity system service on [/entity/system/add]
(2025-02-12 11:34:24.181) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-physics-system]. Using [gz-sim-physics-system] instead.
(2025-02-12 11:34:24.203) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::Physics]. Using [gz::sim::systems::Physics] instead.
(2025-02-12 11:34:24.210) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-user-commands-system]. Using [gz-sim-user-commands-system] instead.
(2025-02-12 11:34:24.211) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::UserCommands]. Using [gz::sim::systems::UserCommands] instead.
(2025-02-12 11:34:24.211) [info] [UserCommands.cc:664] Create service on [/world/nao_world/create]
(2025-02-12 11:34:24.212) [info] [UserCommands.cc:671] Remove service on [/world/nao_world/remove]
(2025-02-12 11:34:24.212) [info] [UserCommands.cc:678] Pose service on [/world/nao_world/set_pose]
(2025-02-12 11:34:24.212) [info] [UserCommands.cc:686] Pose service on [/world/nao_world/set_pose_vector]
(2025-02-12 11:34:24.212) [info] [UserCommands.cc:693] Light configuration service on [/world/nao_world/light_config]
(2025-02-12 11:34:24.212) [info] [UserCommands.cc:719] Physics service on [/world/nao_world/set_physics]
(2025-02-12 11:34:24.212) [info] [UserCommands.cc:727] SphericalCoordinates service on [/world/nao_world/set_spherical_coordinates]
(2025-02-12 11:34:24.212) [info] [UserCommands.cc:736] Enable collision service on [/world/nao_world/enable_collision]
(2025-02-12 11:34:24.212) [info] [UserCommands.cc:745] Disable collision service on [/world/nao_world/disable_collision]
(2025-02-12 11:34:24.212) [info] [UserCommands.cc:754] Material service on [/world/nao_world/visual_config]
(2025-02-12 11:34:24.213) [info] [UserCommands.cc:762] Material service on [/world/nao_world/wheel_slip]
(2025-02-12 11:34:24.213) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-scene-broadcaster-system]. Using [gz-sim-scene-broadcaster-system] instead.
(2025-02-12 11:34:24.213) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::SceneBroadcaster]. Using [gz::sim::systems::SceneBroadcaster] instead.
(2025-02-12 11:34:24.214) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.216) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.216) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/HeadYaw/0/cmd_pos]
(2025-02-12 11:34:24.216) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.216) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.216) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/HeadPitch/0/cmd_pos]
(2025-02-12 11:34:24.216) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.216) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.216) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LHipYawPitch/0/cmd_pos]
(2025-02-12 11:34:24.216) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.217) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LHipRoll/0/cmd_pos]
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.217) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LHipPitch/0/cmd_pos]
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.217) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LKneePitch/0/cmd_pos]
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.217) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LAnklePitch/0/cmd_pos]
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.217) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LAnkleRoll/0/cmd_pos]
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.217) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.217) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LShoulderPitch/0/cmd_pos]
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.218) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LShoulderRoll/0/cmd_pos]
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.218) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LElbowYaw/0/cmd_pos]
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.218) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LElbowRoll/0/cmd_pos]
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.218) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/LWristYaw/0/cmd_pos]
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.218) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.218) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RHipYawPitch/0/cmd_pos]
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.219) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RHipRoll/0/cmd_pos]
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.219) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RHipPitch/0/cmd_pos]
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.219) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RKneePitch/0/cmd_pos]
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.219) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RAnklePitch/0/cmd_pos]
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.219) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RAnkleRoll/0/cmd_pos]
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.219) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.220) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RShoulderPitch/0/cmd_pos]
(2025-02-12 11:34:24.220) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.220) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.220) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RShoulderRoll/0/cmd_pos]
(2025-02-12 11:34:24.220) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.220) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.220) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RElbowYaw/0/cmd_pos]
(2025-02-12 11:34:24.220) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.220) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.220) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RElbowRoll/0/cmd_pos]
(2025-02-12 11:34:24.220) [warning] [SystemLoader.cc:74] Trying to load deprecated plugin [ignition-gazebo-joint-position-controller-system]. Using [gz-sim-joint-position-controller-system] instead.
(2025-02-12 11:34:24.220) [warning] [SystemLoader.cc:135] Trying to load deprecated plugin name [ignition::gazebo::systems::JointPositionController]. Using [gz::sim::systems::JointPositionController] instead.
(2025-02-12 11:34:24.220) [info] [JointPositionController.cc:298] JointPositionController subscribing to Double messages on [/model/Nao/joint/RWristYaw/0/cmd_pos]
(2025-02-12 11:34:24.221) [info] [LevelManager.cc:641] Loaded level [default]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:664] Create service on [/world/nao_world/create]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:671] Remove service on [/world/nao_world/remove]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:678] Pose service on [/world/nao_world/set_pose]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:686] Pose service on [/world/nao_world/set_pose_vector]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:693] Light configuration service on [/world/nao_world/light_config]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:719] Physics service on [/world/nao_world/set_physics]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:727] SphericalCoordinates service on [/world/nao_world/set_spherical_coordinates]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:736] Enable collision service on [/world/nao_world/enable_collision]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:745] Disable collision service on [/world/nao_world/disable_collision]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:754] Material service on [/world/nao_world/visual_config]
(2025-02-12 11:34:24.222) [info] [UserCommands.cc:762] Material service on [/world/nao_world/wheel_slip]
(2025-02-12 11:34:24.224) [info] [SimulationRunner.cc:260] Serving world controls on [/world/nao_world/control], [/world/nao_world/control/state] and [/world/nao_world/playback/control]
(2025-02-12 11:34:24.225) [info] [SimulationRunner.cc:286] Serving GUI information on [/world/nao_world/gui/info]
(2025-02-12 11:34:24.225) [info] [SimulationRunner.cc:289] World [nao_world] initialized with [1ms] physics profile.
(2025-02-12 11:34:24.225) [info] [SimulationRunner.cc:296] Serving world SDF generation service on [/world/nao_world/generate_world_sdf]
(2025-02-12 11:34:24.225) [info] [ServerPrivate.cc:334] Serving world names on [/gazebo/worlds]
(2025-02-12 11:34:24.225) [info] [ServerPrivate.cc:347] Resource path add service on [/gazebo/resource_paths/add].
(2025-02-12 11:34:24.225) [info] [ServerPrivate.cc:360] Resource path get service on [/gazebo/resource_paths/get].
(2025-02-12 11:34:24.225) [info] [ServerPrivate.cc:375] Resource path resolve service on [/gazebo/resource_paths/resolve].
(2025-02-12 11:34:24.225) [info] [ServerPrivate.cc:389] Resource paths published on [/gazebo/resource_paths].
(2025-02-12 11:34:24.225) [info] [ServerPrivate.cc:402] Server control service on [/server_control].
(2025-02-12 11:34:24.225) [info] [SimulationRunner.cc:743] Found no publishers on /stats, adding root stats topic
(2025-02-12 11:34:24.225) [info] [SimulationRunner.cc:777] Found no publishers on /clock, adding root clock topic
(2025-02-12 11:34:24.231) [info] [WorldFeatures.cc:72] Using [ode] collision detector
(2025-02-12 11:34:24.232) [info] [WorldFeatures.cc:177] Using [DantzigBoxedLcpSolver] solver.
(2025-02-12 11:34:24.237) [info] [SceneBroadcaster.cc:634] Serving scene information on [/world/nao_world/scene/info]
(2025-02-12 11:34:24.237) [info] [SceneBroadcaster.cc:634] Serving scene information on [/world/nao_world/scene/info]
(2025-02-12 11:34:24.237) [info] [SceneBroadcaster.cc:643] Serving graph information on [/world/nao_world/scene/graph]
(2025-02-12 11:34:24.237) [info] [SceneBroadcaster.cc:643] Serving graph information on [/world/nao_world/scene/graph]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:654] Serving full state on [/world/nao_world/state]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:663] Serving full state (async) on [/world/nao_world/state_async]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:671] Publishing scene information on [/world/nao_world/scene/info]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:680] Publishing entity deletions on [/world/nao_world/scene/deletion]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:689] Publishing state changes on [/world/nao_world/state]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:654] Serving full state on [/world/nao_world/state]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:700] Publishing pose messages on [/world/nao_world/pose/info]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:711] Publishing dynamic pose messages on [/world/nao_world/dynamic_pose/info]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:663] Serving full state (async) on [/world/nao_world/state_async]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:671] Publishing scene information on [/world/nao_world/scene/info]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:680] Publishing entity deletions on [/world/nao_world/scene/deletion]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:689] Publishing state changes on [/world/nao_world/state]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:700] Publishing pose messages on [/world/nao_world/pose/info]
(2025-02-12 11:34:24.238) [info] [SceneBroadcaster.cc:711] Publishing dynamic pose messages on [/world/nao_world/dynamic_pose/info]

same behaviours with all as passing arguments :

$ sudo gz sim  --verbose  --physics-engine /usr/lib/x86_64-linux-gnu/gz-physics-8/engine-plugins/libgz-physics-dartsim-plugin.so --render-engine /usr/lib/x86_64-linux-gnu/gz-rendering-9/engine-plugins/libgz-rendering-ogre.so --render-engine-api-backend opengl
(2025-02-12 12:20:06.656) [info] [Gui.cc:332] Gazebo Sim GUI    v9.0.0
(2025-02-12 12:20:06.897) [info] [Gui.cc:246] Gazebo Sim Quick start dialog
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-12 12:20:11.032) [info] [gz.cc:170] Received world [empty.sdf] from the GUI.
(2025-02-12 12:20:11.032) [info] [gz.cc:337] Gazebo Sim Server v9.0.0
(2025-02-12 12:20:11.038) [warning] [Application.cc:933] [GUI] [QT] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-12 12:20:11.041) [info] [Server.cc:145] Loading SDF world file[/usr/share/gz/gz-sim9/worlds/empty.sdf].
: CommandLine Error: Option 'spirv-expand-step' registered more than once!
LLVM ERROR: inconsistency in registered CommandLine options
Stack trace (most recent call last):
#31   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f53a09f5e3f, in
#30   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f53a09f4488, in
#29   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f53a09f387f, in
#28   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f53a09f3b2b, in
#27   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f53a0ac46a7, in
#26   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f53a0ad8780, in
#25   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f53a136535e, in OpenAdapter12
#24   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f53a136556d, in
#23   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f539919082c, in
#22   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f5399208942, in
#21   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f53992309fc, in
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b61c26c7, in dlopen
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b61c212d, in
#18   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b62a6b62, in _dl_catch_error
#17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b62a6a97, in _dl_catch_exception
#16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b61c263b, in
#15   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f53b66f534d, in
#14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b62a6a97, in _dl_catch_exception
#13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f53b66f4ff5, in
#12   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b62a6af4, in _dl_catch_exception
#11   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f53b66ed567, in
#10   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f53b66ed47d, in
#9    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f5388871f82, in
#8    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f5388c57a1a, in
#7    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f537b5b9bdf, in llvm::cl::Option::addArgument()
#6    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f537b5b9b5a, in
#5    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f537b5b980e, in
#4    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f537b5cbf9b, in llvm::report_fatal_error(char const*, bool)
#3    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f537b5cbee8, in llvm::report_fatal_error(llvm::Twine const&, bool)
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b615a7f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b6174475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53b61c89fc, in pthread_kill
Aborted (Signal sent by tkill() 20698 0)
(2025-02-12 12:20:11.191) [info] [SystemManager.cc:54] Serving entity system service on [/entity/system/add]
(2025-02-12 12:20:11.223) [info] [UserCommands.cc:664] Create service on [/world/empty/create]
(2025-02-12 12:20:11.223) [info] [UserCommands.cc:671] Remove service on [/world/empty/remove]
(2025-02-12 12:20:11.223) [info] [UserCommands.cc:678] Pose service on [/world/empty/set_pose]
(2025-02-12 12:20:11.223) [info] [UserCommands.cc:686] Pose service on [/world/empty/set_pose_vector]
(2025-02-12 12:20:11.223) [info] [UserCommands.cc:693] Light configuration service on [/world/empty/light_config]
(2025-02-12 12:20:11.223) [info] [UserCommands.cc:719] Physics service on [/world/empty/set_physics]
(2025-02-12 12:20:11.224) [info] [UserCommands.cc:727] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
(2025-02-12 12:20:11.224) [info] [UserCommands.cc:736] Enable collision service on [/world/empty/enable_collision]
(2025-02-12 12:20:11.224) [info] [UserCommands.cc:745] Disable collision service on [/world/empty/disable_collision]
(2025-02-12 12:20:11.224) [info] [UserCommands.cc:754] Material service on [/world/empty/visual_config]
(2025-02-12 12:20:11.224) [info] [UserCommands.cc:762] Material service on [/world/empty/wheel_slip]
(2025-02-12 12:20:11.225) [info] [LevelManager.cc:641] Loaded level [default]
(2025-02-12 12:20:11.226) [info] [SimulationRunner.cc:260] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
(2025-02-12 12:20:11.226) [info] [SimulationRunner.cc:286] Serving GUI information on [/world/empty/gui/info]
(2025-02-12 12:20:11.226) [info] [SimulationRunner.cc:289] World [empty] initialized with [1ms] physics profile.
(2025-02-12 12:20:11.226) [info] [SimulationRunner.cc:296] Serving world SDF generation service on [/world/empty/generate_world_sdf]
(2025-02-12 12:20:11.226) [info] [ServerPrivate.cc:334] Serving world names on [/gazebo/worlds]
(2025-02-12 12:20:11.226) [info] [ServerPrivate.cc:347] Resource path add service on [/gazebo/resource_paths/add].
(2025-02-12 12:20:11.226) [info] [ServerPrivate.cc:360] Resource path get service on [/gazebo/resource_paths/get].
(2025-02-12 12:20:11.226) [info] [ServerPrivate.cc:375] Resource path resolve service on [/gazebo/resource_paths/resolve].
(2025-02-12 12:20:11.226) [info] [ServerPrivate.cc:389] Resource paths published on [/gazebo/resource_paths].
(2025-02-12 12:20:11.226) [info] [ServerPrivate.cc:402] Server control service on [/server_control].
(2025-02-12 12:20:11.226) [info] [SimulationRunner.cc:743] Found no publishers on /stats, adding root stats topic
(2025-02-12 12:20:11.226) [info] [SimulationRunner.cc:777] Found no publishers on /clock, adding root clock topic
(2025-02-12 12:20:11.228) [info] [SceneBroadcaster.cc:634] Serving scene information on [/world/empty/scene/info]
(2025-02-12 12:20:11.228) [info] [SceneBroadcaster.cc:643] Serving graph information on [/world/empty/scene/graph]
(2025-02-12 12:20:11.228) [info] [SceneBroadcaster.cc:654] Serving full state on [/world/empty/state]
(2025-02-12 12:20:11.228) [info] [SceneBroadcaster.cc:663] Serving full state (async) on [/world/empty/state_async]
(2025-02-12 12:20:11.228) [info] [SceneBroadcaster.cc:671] Publishing scene information on [/world/empty/scene/info]
(2025-02-12 12:20:11.228) [info] [SceneBroadcaster.cc:680] Publishing entity deletions on [/world/empty/scene/deletion]
(2025-02-12 12:20:11.228) [info] [SceneBroadcaster.cc:689] Publishing state changes on [/world/empty/state]
(2025-02-12 12:20:11.228) [info] [SceneBroadcaster.cc:700] Publishing pose messages on [/world/empty/pose/info]
(2025-02-12 12:20:11.228) [info] [SceneBroadcaster.cc:711] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info]

@traversaro
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Contributor

Actually I meant to set LIBGL_ALWAYS_SOFTWARE=1 env variable so that we understand if the issue is in your hardware-accelerated graphics rendering. However, I am a bit confused about your settings:

  • Why are you running gz sim under sudo? You should be able to just run gz sim.
  • Why are you explicitly setting GZ_SIM_PHYSICS_ENGINE_PATH ? The default physics engine should work out of the box.

More in general, is this a vanilla WSL2 Ubuntu 22.04 or there is something strange about it?

@j3anm1rc
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Actually I meant to set LIBGL_ALWAYS_SOFTWARE=1 env variable so that we understand if the issue is in your hardware-accelerated graphics rendering.

With LIBGL_ALWAYS_SOFTWARE=1 gz sim does run properly despite some warnings

$ gz sim --verbose
(2025-02-12 14:46:50.403) [info] [Gui.cc:332] Gazebo Sim GUI    v9.0.0
(2025-02-12 14:46:50.639) [info] [Gui.cc:246] Gazebo Sim Quick start dialog
QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
(2025-02-12 14:46:56.224) [info] [gz.cc:170] Received world [empty.sdf] from the GUI.
(2025-02-12 14:46:56.225) [info] [gz.cc:337] Gazebo Sim Server v9.0.0
(2025-02-12 14:46:56.230) [warning] [Application.cc:933] [GUI] [QT] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
(2025-02-12 14:46:56.234) [info] [Server.cc:145] Loading SDF world file[/usr/share/gz/gz-sim9/worlds/empty.sdf].
(2025-02-12 14:46:56.387) [info] [SystemManager.cc:54] Serving entity system service on [/entity/system/add]
(2025-02-12 14:46:56.465) [info] [UserCommands.cc:664] Create service on [/world/empty/create]
(2025-02-12 14:46:56.465) [info] [UserCommands.cc:671] Remove service on [/world/empty/remove]
(2025-02-12 14:46:56.465) [info] [UserCommands.cc:678] Pose service on [/world/empty/set_pose]
(2025-02-12 14:46:56.465) [info] [UserCommands.cc:686] Pose service on [/world/empty/set_pose_vector]
(2025-02-12 14:46:56.466) [info] [UserCommands.cc:693] Light configuration service on [/world/empty/light_config]
(2025-02-12 14:46:56.466) [info] [UserCommands.cc:719] Physics service on [/world/empty/set_physics]
(2025-02-12 14:46:56.466) [info] [UserCommands.cc:727] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
(2025-02-12 14:46:56.466) [info] [UserCommands.cc:736] Enable collision service on [/world/empty/enable_collision]
(2025-02-12 14:46:56.466) [info] [UserCommands.cc:745] Disable collision service on [/world/empty/disable_collision]
(2025-02-12 14:46:56.466) [info] [UserCommands.cc:754] Material service on [/world/empty/visual_config]
(2025-02-12 14:46:56.466) [info] [UserCommands.cc:762] Material service on [/world/empty/wheel_slip]
(2025-02-12 14:46:56.468) [info] [LevelManager.cc:641] Loaded level [default]
(2025-02-12 14:46:56.468) [info] [SimulationRunner.cc:260] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
(2025-02-12 14:46:56.468) [info] [SimulationRunner.cc:286] Serving GUI information on [/world/empty/gui/info]
(2025-02-12 14:46:56.468) [info] [SimulationRunner.cc:289] World [empty] initialized with [1ms] physics profile.
(2025-02-12 14:46:56.469) [info] [SimulationRunner.cc:296] Serving world SDF generation service on [/world/empty/generate_world_sdf]
(2025-02-12 14:46:56.469) [info] [ServerPrivate.cc:334] Serving world names on [/gazebo/worlds]
(2025-02-12 14:46:56.469) [info] [ServerPrivate.cc:347] Resource path add service on [/gazebo/resource_paths/add].
(2025-02-12 14:46:56.469) [info] [ServerPrivate.cc:360] Resource path get service on [/gazebo/resource_paths/get].
(2025-02-12 14:46:56.469) [info] [ServerPrivate.cc:375] Resource path resolve service on [/gazebo/resource_paths/resolve].
(2025-02-12 14:46:56.469) [info] [ServerPrivate.cc:389] Resource paths published on [/gazebo/resource_paths].
(2025-02-12 14:46:56.469) [info] [ServerPrivate.cc:402] Server control service on [/server_control].
(2025-02-12 14:46:56.469) [info] [SimulationRunner.cc:743] Found no publishers on /stats, adding root stats topic
(2025-02-12 14:46:56.469) [info] [SimulationRunner.cc:777] Found no publishers on /clock, adding root clock topic
(2025-02-12 14:46:56.471) [info] [SceneBroadcaster.cc:634] Serving scene information on [/world/empty/scene/info]
(2025-02-12 14:46:56.471) [info] [SceneBroadcaster.cc:643] Serving graph information on [/world/empty/scene/graph]
(2025-02-12 14:46:56.471) [info] [SceneBroadcaster.cc:654] Serving full state on [/world/empty/state]
(2025-02-12 14:46:56.471) [info] [SceneBroadcaster.cc:663] Serving full state (async) on [/world/empty/state_async]
(2025-02-12 14:46:56.471) [info] [SceneBroadcaster.cc:671] Publishing scene information on [/world/empty/scene/info]
(2025-02-12 14:46:56.471) [info] [SceneBroadcaster.cc:680] Publishing entity deletions on [/world/empty/scene/deletion]
(2025-02-12 14:46:56.471) [info] [SceneBroadcaster.cc:689] Publishing state changes on [/world/empty/state]
(2025-02-12 14:46:56.471) [info] [SceneBroadcaster.cc:700] Publishing pose messages on [/world/empty/pose/info]
(2025-02-12 14:46:56.471) [info] [SceneBroadcaster.cc:711] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info]
(2025-02-12 14:46:56.713) [info] [Application.cc:766] [GUI] Added plugin [3D View] to main window
(2025-02-12 14:46:56.714) [info] [Application.cc:652] [GUI] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/gz-gui-9/plugins/libMinimalScene.so]
(2025-02-12 14:46:56.717) [info] [EntityContextMenu.cc:134] [GUI] Currently tracking topic on [/gui/currently_tracked]
(2025-02-12 14:46:56.722) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.722) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.733) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.733) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.734) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.734) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.735) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.735) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.735) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.735) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.735) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.735) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:56.736) [info] [Application.cc:766] [GUI] Added plugin [Entity Context Menu] to main window
(2025-02-12 14:46:56.736) [info] [Application.cc:652] [GUI] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libEntityContextMenuPlugin.so]
(2025-02-12 14:46:56.742) [warning] [Component.hh:144] Trying to serialize component with data type [N3sdf3v155WorldE], which doesn't have `operator<<`. Component will not be serialized.
(2025-02-12 14:46:56.846) [info] [Application.cc:766] [GUI] Added plugin [Scene Manager] to main window
(2025-02-12 14:46:56.846) [info] [Application.cc:652] [GUI] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libGzSceneManager.so]
(2025-02-12 14:46:56.849) [info] [InteractiveViewControl.cc:409] [GUI] Camera view controller topic advertised on [/gui/camera/view_control]
(2025-02-12 14:46:56.849) [info] [InteractiveViewControl.cc:417] [GUI] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
(2025-02-12 14:46:56.850) [info] [InteractiveViewControl.cc:427] [GUI] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
(2025-02-12 14:46:56.878) [info] [Application.cc:766] [GUI] Added plugin [Interactive view control] to main window
(2025-02-12 14:46:56.879) [info] [Application.cc:652] [GUI] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-9/plugins/libInteractiveViewControl.so]
(2025-02-12 14:46:56.906) [info] [Application.cc:766] [GUI] Added plugin [Camera tracking] to main window
(2025-02-12 14:46:56.906) [info] [Application.cc:652] [GUI] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/gz-gui-9/plugins/libCameraTracking.so]
(2025-02-12 14:46:56.909) [info] [MarkerManager.cc:752] [GUI] Listening to stats on [/world/empty/stats]
(2025-02-12 14:46:56.923) [info] [Application.cc:766] [GUI] Added plugin [Marker Manager] to main window
(2025-02-12 14:46:56.923) [info] [Application.cc:652] [GUI] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/gz-gui-9/plugins/libMarkerManager.so]
(2025-02-12 14:46:56.938) [info] [Application.cc:766] [GUI] Added plugin [Select entities] to main window
(2025-02-12 14:46:56.938) [info] [Application.cc:652] [GUI] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libSelectEntities.so]
(2025-02-12 14:46:56.955) [info] [Application.cc:766] [GUI] Added plugin [Spawn] to main window
(2025-02-12 14:46:56.955) [info] [Application.cc:652] [GUI] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libSpawn.so]
(2025-02-12 14:46:56.958) [info] [VisualizationCapabilities.cc:2869] [GUI] View as transparent service on [/gui/view/transparent]
(2025-02-12 14:46:56.958) [info] [VisualizationCapabilities.cc:2876] [GUI] View as wireframes service on [/gui/view/wireframes]
(2025-02-12 14:46:56.958) [info] [VisualizationCapabilities.cc:2883] [GUI] View center of mass service on [/gui/view/com]
(2025-02-12 14:46:56.958) [info] [VisualizationCapabilities.cc:2890] [GUI] View inertia service on [/gui/view/inertia]
(2025-02-12 14:46:56.958) [info] [VisualizationCapabilities.cc:2898] [GUI] View collisions service on [/gui/view/collisions]
(2025-02-12 14:46:56.958) [info] [VisualizationCapabilities.cc:2906] [GUI] View joints service on [/gui/view/joints]
(2025-02-12 14:46:56.958) [info] [VisualizationCapabilities.cc:2913] [GUI] View frames service on [/gui/view/frames]
(2025-02-12 14:46:56.972) [info] [Application.cc:766] [GUI] Added plugin [Visualization capabilities] to main window
(2025-02-12 14:46:56.972) [info] [Application.cc:652] [GUI] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libVisualizationCapabilities.so]
(2025-02-12 14:46:56.978) [info] [WorldControl.cc:152] [GUI] Using world control service [/world/empty/control]
(2025-02-12 14:46:56.978) [info] [WorldControl.cc:225] [GUI] Listening to stats on [/world/empty/stats]
(2025-02-12 14:46:56.996) [info] [Application.cc:766] [GUI] Added plugin [World control] to main window
(2025-02-12 14:46:56.996) [info] [Application.cc:652] [GUI] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/gz-gui-9/plugins/libWorldControl.so]
(2025-02-12 14:46:56.998) [info] [WorldStats.cc:156] [GUI] Listening to stats on [/world/empty/stats]
(2025-02-12 14:46:57.010) [info] [Application.cc:766] [GUI] Added plugin [World stats] to main window
(2025-02-12 14:46:57.010) [info] [Application.cc:652] [GUI] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/gz-gui-9/plugins/libWorldStats.so]
(2025-02-12 14:46:57.026) [info] [Application.cc:766] [GUI] Added plugin [Shapes] to main window
(2025-02-12 14:46:57.026) [info] [Application.cc:652] [GUI] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libShapes.so]
(2025-02-12 14:46:57.045) [info] [Application.cc:766] [GUI] Added plugin [Lights] to main window
(2025-02-12 14:46:57.045) [info] [Application.cc:652] [GUI] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libLights.so]
(2025-02-12 14:46:57.072) [info] [Application.cc:766] [GUI] Added plugin [Transform control] to main window
(2025-02-12 14:46:57.073) [info] [Application.cc:652] [GUI] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libTransformControl.so]
(2025-02-12 14:46:57.077) [info] [Screenshot.cc:97] [GUI] Screenshot service on [/gui/screenshot]
(2025-02-12 14:46:57.088) [info] [Application.cc:766] [GUI] Added plugin [Screenshot] to main window
(2025-02-12 14:46:57.088) [info] [Application.cc:652] [GUI] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/gz-gui-9/plugins/libScreenshot.so]
(2025-02-12 14:46:57.102) [info] [Application.cc:766] [GUI] Added plugin [Copy/Paste] to main window
(2025-02-12 14:46:57.102) [info] [Application.cc:652] [GUI] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libCopyPaste.so]
(2025-02-12 14:46:57.152) [info] [Application.cc:766] [GUI] Added plugin [Component inspector] to main window
(2025-02-12 14:46:57.152) [info] [Application.cc:652] [GUI] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libComponentInspector.so]
(2025-02-12 14:46:57.158) [info] [EntityContextMenu.cc:134] [GUI] Currently tracking topic on [/gui/currently_tracked]
(2025-02-12 14:46:57.168) [warning] [Application.cc:933] [GUI] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:57.176) [info] [Application.cc:766] [GUI] Added plugin [Entity tree] to main window
(2025-02-12 14:46:57.176) [info] [Application.cc:652] [GUI] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/gz-sim-9/plugins/gui/libEntityTree.so]
(2025-02-12 14:46:57.180) [warning] [Component.hh:189] [GUI] Trying to deserialize component with data type [N3sdf3v155WorldE], which doesn't have `operator>>`. Component will not be deserialized.
(2025-02-12 14:46:57.248) [warning] [Application.cc:933] [GUI] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
(2025-02-12 14:46:57.250) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:57.250) [warning] [Application.cc:933] [GUI] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
(2025-02-12 14:46:57.325) [info] [RenderEngineManager.cc:467] [GUI] Loading plugin [gz-rendering-ogre2]
libEGL warning: Not allowed to force software rendering when API explicitly selects a hardware device.
libEGL warning: MESA-LOADER: failed to open vgem: /usr/lib/dri/vgem_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)

(2025-02-12 14:46:57.817) [warning] [Ogre2RenderTarget.cc:668] [GUI] Anti-aliasing level of ' is not supported; valid FSAA levels are: [ 0 4 ]. Setting to 1
(2025-02-12 14:46:57.962) [info] [CameraTracking.cc:224] [GUI] Move to service on [/gui/move_to]
(2025-02-12 14:46:57.962) [info] [CameraTracking.cc:231] [GUI] Follow service on [/gui/follow] (deprecated)
(2025-02-12 14:46:57.962) [info] [CameraTracking.cc:238] [GUI] Tracking topic on [/gui/track]
(2025-02-12 14:46:57.962) [info] [CameraTracking.cc:245] [GUI] Tracking status topic on [/gui/currently_tracked]
(2025-02-12 14:46:57.962) [info] [CameraTracking.cc:253] [GUI] Move to pose service on [/gui/move_to/pose]
(2025-02-12 14:46:57.963) [info] [CameraTracking.cc:260] [GUI] Camera pose topic advertised on [/gui/camera/pose]
(2025-02-12 14:46:57.963) [info] [CameraTracking.cc:267] [GUI] Follow offset service on [/gui/follow/offset] (deprecated)

However, I am a bit confused about your settings:

* Why are you running `gz sim` under `sudo`?  You should be able to just run `gz sim`.

You right using sudo is causing the same error

/mnt/c/Users/jm4$ export LIBGL_ALWAYS_SOFTWARE=1
(gazebo) redgy@local:/mnt/c/Users/jm4$ sudo gz sim --verbose
(2025-02-12 15:00:25.008) [info] [Gui.cc:332] Gazebo Sim GUI    v9.0.0
(2025-02-12 15:00:25.246) [info] [Gui.cc:246] Gazebo Sim Quick start dialog
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-12 15:00:49.559) [info] [gz.cc:170] Received world [empty.sdf] from the GUI.
(2025-02-12 15:00:49.560) [info] [gz.cc:337] Gazebo Sim Server v9.0.0
(2025-02-12 15:00:49.569) [warning] [Application.cc:933] [GUI] [QT] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
(2025-02-12 15:00:49.571) [info] [Server.cc:145] Loading SDF world file[/usr/share/gz/gz-sim9/worlds/empty.sdf].
: CommandLine Error: Option 'spirv-expand-step' registered more than once!
LLVM ERROR: inconsistency in registered CommandLine options
Stack trace (most recent call last):
#31   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fef322cce3f, in
#30   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fef322cb488, in
#29   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fef322ca87f, in
#28   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fef322cab2b, in
#27   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fef3239b6a7, in
#26   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7fef323af780, in
#25   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7fef32c3c35e, in OpenAdapter12
#24   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7fef32c3c56d, in
#23   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7fef30b4282c, in
#22   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7fef30bba942, in
#21   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7fef30be29fc, in
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fa966c7, in dlopen
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fa9612d, in
#18   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fb7ab62, in _dl_catch_error
#17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fb7aa97, in _dl_catch_exception
#16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fa9663b, in
#15   Object "/lib64/ld-linux-x86-64.so.2", at 0x7fef4ffc934d, in
#14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fb7aa97, in _dl_catch_exception
#13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7fef4ffc8ff5, in
#12   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fb7aaf4, in _dl_catch_exception
#11   Object "/lib64/ld-linux-x86-64.so.2", at 0x7fef4ffc1567, in
#10   Object "/lib64/ld-linux-x86-64.so.2", at 0x7fef4ffc147d, in
#9    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7fef177a4f82, in
#8    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7fef17b8aa1a, in
#7    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7fef15adcbdf, in llvm::cl::Option::addArgument()
#6    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7fef15adcb5a, in
#5    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7fef15adc80e, in
#4    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7fef15aeef9b, in llvm::report_fatal_error(char const*, bool)
#3    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7fef15aeeee8, in llvm::report_fatal_error(llvm::Twine const&, bool)
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fa2e7f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fa48475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fef4fa9c9fc, in pthread_kill
Aborted (Signal sent by tkill() 65769 0)
(2025-02-12 15:00:49.734) [info] [SystemManager.cc:54] Serving entity system service on [/entity/system/add]
(2025-02-12 15:00:49.774) [info] [UserCommands.cc:664] Create service on [/world/empty/create]
(2025-02-12 15:00:49.774) [info] [UserCommands.cc:671] Remove service on [/world/empty/remove]
(2025-02-12 15:00:49.774) [info] [UserCommands.cc:678] Pose service on [/world/empty/set_pose]
(2025-02-12 15:00:49.775) [info] [UserCommands.cc:686] Pose service on [/world/empty/set_pose_vector]
(2025-02-12 15:00:49.775) [info] [UserCommands.cc:693] Light configuration service on [/world/empty/light_config]
(2025-02-12 15:00:49.775) [info] [UserCommands.cc:719] Physics service on [/world/empty/set_physics]
(2025-02-12 15:00:49.775) [info] [UserCommands.cc:727] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
(2025-02-12 15:00:49.775) [info] [UserCommands.cc:736] Enable collision service on [/world/empty/enable_collision]
(2025-02-12 15:00:49.775) [info] [UserCommands.cc:745] Disable collision service on [/world/empty/disable_collision]
(2025-02-12 15:00:49.775) [info] [UserCommands.cc:754] Material service on [/world/empty/visual_config]
(2025-02-12 15:00:49.775) [info] [UserCommands.cc:762] Material service on [/world/empty/wheel_slip]
(2025-02-12 15:00:49.777) [info] [LevelManager.cc:641] Loaded level [default]
(2025-02-12 15:00:49.777) [info] [SimulationRunner.cc:260] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
(2025-02-12 15:00:49.778) [info] [SimulationRunner.cc:286] Serving GUI information on [/world/empty/gui/info]
(2025-02-12 15:00:49.778) [info] [SimulationRunner.cc:289] World [empty] initialized with [1ms] physics profile.
(2025-02-12 15:00:49.778) [info] [SimulationRunner.cc:296] Serving world SDF generation service on [/world/empty/generate_world_sdf]
(2025-02-12 15:00:49.778) [info] [ServerPrivate.cc:334] Serving world names on [/gazebo/worlds]
(2025-02-12 15:00:49.778) [info] [ServerPrivate.cc:347] Resource path add service on [/gazebo/resource_paths/add].
(2025-02-12 15:00:49.778) [info] [ServerPrivate.cc:360] Resource path get service on [/gazebo/resource_paths/get].
(2025-02-12 15:00:49.779) [info] [ServerPrivate.cc:375] Resource path resolve service on [/gazebo/resource_paths/resolve].
(2025-02-12 15:00:49.779) [info] [ServerPrivate.cc:389] Resource paths published on [/gazebo/resource_paths].
(2025-02-12 15:00:49.779) [info] [ServerPrivate.cc:402] Server control service on [/server_control].
(2025-02-12 15:00:49.779) [info] [SimulationRunner.cc:743] Found no publishers on /stats, adding root stats topic
(2025-02-12 15:00:49.779) [info] [SimulationRunner.cc:777] Found no publishers on /clock, adding root clock topic
(2025-02-12 15:00:49.781) [info] [SceneBroadcaster.cc:634] Serving scene information on [/world/empty/scene/info]
(2025-02-12 15:00:49.781) [info] [SceneBroadcaster.cc:643] Serving graph information on [/world/empty/scene/graph]
(2025-02-12 15:00:49.781) [info] [SceneBroadcaster.cc:654] Serving full state on [/world/empty/state]
(2025-02-12 15:00:49.781) [info] [SceneBroadcaster.cc:663] Serving full state (async) on [/world/empty/state_async]
(2025-02-12 15:00:49.781) [info] [SceneBroadcaster.cc:671] Publishing scene information on [/world/empty/scene/info]
(2025-02-12 15:00:49.782) [info] [SceneBroadcaster.cc:680] Publishing entity deletions on [/world/empty/scene/deletion]
(2025-02-12 15:00:49.782) [info] [SceneBroadcaster.cc:689] Publishing state changes on [/world/empty/state]
(2025-02-12 15:00:49.782) [info] [SceneBroadcaster.cc:700] Publishing pose messages on [/world/empty/pose/info]
(2025-02-12 15:00:49.782) [info] [SceneBroadcaster.cc:711] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info]

* Why are you explicitly setting `GZ_SIM_PHYSICS_ENGINE_PATH`  ? The default physics engine should work out of the box.

I misunderstood your previous comment about forcing rendering.

More in general, is this a vanilla WSL2 Ubuntu 22.04 or there is something strange about it?

It's a wsl2 ubuntu 22.04 but without any vanilla package.

Another attempt to run gz sim with GPU support without sudo :

redgy@local:/mnt/c/Users/jm4$ export LIBGL_ALWAYS_SOFTWARE=0
redgy@local:/mnt/c/Users/jm4$ gz sim --verbose
(2025-02-12 15:09:14.542) [info] [Gui.cc:332] Gazebo Sim GUI    v9.0.0
(2025-02-12 15:09:14.783) [info] [Gui.cc:246] Gazebo Sim Quick start dialog
QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
(2025-02-12 15:09:21.634) [info] [gz.cc:170] Received world [empty.sdf] from the GUI.
(2025-02-12 15:09:21.641) [warning] [Application.cc:933] [GUI] [QT] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
(2025-02-12 15:09:21.668) [info] [gz.cc:337] Gazebo Sim Server v9.0.0
(2025-02-12 15:09:21.678) [info] [Server.cc:145] Loading SDF world file[/usr/share/gz/gz-sim9/worlds/empty.sdf].
: CommandLine Error: Option 'spirv-expand-step' registered more than once!
LLVM ERROR: inconsistency in registered CommandLine options
Stack trace (most recent call last):
#31   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f5b60b6ce3f, in
#30   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f5b60b6b488, in
#29   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f5b60b6a87f, in
#28   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f5b60b6ab2b, in
#27   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f5b60c3b6a7, in
#26   Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7f5b60c4f780, in
#25   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f5b6100535e, in OpenAdapter12
#24   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12umd64.so", at 0x7f5b6100556d, in
#23   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f5b5912482c, in
#22   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f5b5919c942, in
#21   Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigd12um64xel.so", at 0x7f5b591c49fc, in
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da6a6c7, in dlopen
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da6a12d, in
#18   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8db4eb62, in _dl_catch_error
#17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8db4ea97, in _dl_catch_exception
#16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da6a63b, in
#15   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f5b8e40034d, in
#14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8db4ea97, in _dl_catch_exception
#13   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f5b8e3ffff5, in
#12   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8db4eaf4, in _dl_catch_exception
#11   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f5b8e3f8567, in
#10   Object "/lib64/ld-linux-x86-64.so.2", at 0x7f5b8e3f847d, in
#9    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f5b3987ff82, in
#8    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libigc.so", at 0x7f5b39c65a1a, in
#7    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5b4898dbdf, in llvm::cl::Option::addArgument()
#6    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5b4898db5a, in
#5    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5b4898d80e, in
#4    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5b4899ff9b, in llvm::report_fatal_error(char const*, bool)
#3    Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_1822c4fce94b7cb9/libLLVM-14.so", at 0x7f5b4899fee8, in llvm::report_fatal_error(llvm::Twine const&, bool)
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da027f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da1c475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da709fc, in pthread_kill
Aborted (Signal sent by tkill() 68105 1000)
(2025-02-12 15:09:21.841) [info] [SystemManager.cc:54] Serving entity system service on [/entity/system/add]
(2025-02-12 15:09:21.967) [info] [UserCommands.cc:664] Create service on [/world/empty/create]
(2025-02-12 15:09:21.968) [info] [UserCommands.cc:671] Remove service on [/world/empty/remove]
(2025-02-12 15:09:21.968) [info] [UserCommands.cc:678] Pose service on [/world/empty/set_pose]
(2025-02-12 15:09:21.968) [info] [UserCommands.cc:686] Pose service on [/world/empty/set_pose_vector]
(2025-02-12 15:09:21.969) [info] [UserCommands.cc:693] Light configuration service on [/world/empty/light_config]
(2025-02-12 15:09:21.969) [info] [UserCommands.cc:719] Physics service on [/world/empty/set_physics]
(2025-02-12 15:09:21.969) [info] [UserCommands.cc:727] SphericalCoordinates service on [/world/empty/set_spherical_coordinates]
(2025-02-12 15:09:21.969) [info] [UserCommands.cc:736] Enable collision service on [/world/empty/enable_collision]
(2025-02-12 15:09:21.970) [info] [UserCommands.cc:745] Disable collision service on [/world/empty/disable_collision]
(2025-02-12 15:09:21.970) [info] [UserCommands.cc:754] Material service on [/world/empty/visual_config]
(2025-02-12 15:09:21.970) [info] [UserCommands.cc:762] Material service on [/world/empty/wheel_slip]
(2025-02-12 15:09:21.976) [info] [LevelManager.cc:641] Loaded level [default]
(2025-02-12 15:09:21.978) [info] [SimulationRunner.cc:260] Serving world controls on [/world/empty/control], [/world/empty/control/state] and [/world/empty/playback/control]
(2025-02-12 15:09:21.978) [info] [SimulationRunner.cc:286] Serving GUI information on [/world/empty/gui/info]
(2025-02-12 15:09:21.978) [info] [SimulationRunner.cc:289] World [empty] initialized with [1ms] physics profile.
(2025-02-12 15:09:21.978) [info] [SimulationRunner.cc:296] Serving world SDF generation service on [/world/empty/generate_world_sdf]
(2025-02-12 15:09:21.979) [info] [ServerPrivate.cc:334] Serving world names on [/gazebo/worlds]
(2025-02-12 15:09:21.979) [info] [ServerPrivate.cc:347] Resource path add service on [/gazebo/resource_paths/add].
(2025-02-12 15:09:21.979) [info] [ServerPrivate.cc:360] Resource path get service on [/gazebo/resource_paths/get].
(2025-02-12 15:09:21.979) [info] [ServerPrivate.cc:375] Resource path resolve service on [/gazebo/resource_paths/resolve].
(2025-02-12 15:09:21.979) [info] [ServerPrivate.cc:389] Resource paths published on [/gazebo/resource_paths].
(2025-02-12 15:09:21.980) [info] [ServerPrivate.cc:402] Server control service on [/server_control].
(2025-02-12 15:09:21.980) [info] [SimulationRunner.cc:743] Found no publishers on /stats, adding root stats topic
(2025-02-12 15:09:21.980) [info] [SimulationRunner.cc:777] Found no publishers on /clock, adding root clock topic
(2025-02-12 15:09:21.995) [info] [SceneBroadcaster.cc:634] Serving scene information on [/world/empty/scene/info]
(2025-02-12 15:09:21.995) [info] [SceneBroadcaster.cc:643] Serving graph information on [/world/empty/scene/graph]
(2025-02-12 15:09:21.995) [info] [SceneBroadcaster.cc:654] Serving full state on [/world/empty/state]
(2025-02-12 15:09:21.995) [info] [SceneBroadcaster.cc:663] Serving full state (async) on [/world/empty/state_async]
(2025-02-12 15:09:21.996) [info] [SceneBroadcaster.cc:671] Publishing scene information on [/world/empty/scene/info]
(2025-02-12 15:09:21.996) [info] [SceneBroadcaster.cc:680] Publishing entity deletions on [/world/empty/scene/deletion]
(2025-02-12 15:09:21.996) [info] [SceneBroadcaster.cc:689] Publishing state changes on [/world/empty/state]
(2025-02-12 15:09:21.996) [info] [SceneBroadcaster.cc:700] Publishing pose messages on [/world/empty/pose/info]
(2025-02-12 15:09:21.996) [info] [SceneBroadcaster.cc:711] Publishing dynamic pose messages on [/world/empty/dynamic_pose/info]
double free or corruption (fasttop)
Stack trace (most recent call last):
#21   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#20   Object "gz sim server", at 0x55f8681300fd, in
#19   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da03e3f, in __libc_start_main
#18   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da03d8f, in
#17   Object "gz sim server", at 0x55f8681300b7, in
#16   Object "/home/redgy/.conda/envs/gazebo/bin/../lib/libruby.so.3.4", at 0x7f5b8df1413a, in ruby_run_node
#15   Object "/home/redgy/.conda/envs/gazebo/bin/../lib/libruby.so.3.4", at 0x7f5b8df105d9, in
#14   Object "/home/redgy/.conda/envs/gazebo/bin/../lib/libruby.so.3.4", at 0x7f5b8e0b54b9, in
#13   Object "/home/redgy/.conda/envs/gazebo/bin/../lib/libruby.so.3.4", at 0x7f5b8e0b11a6, in
#12   Object "/home/redgy/.conda/envs/gazebo/bin/../lib/libruby.so.3.4", at 0x7f5b8e0ab6a2, in
#11   Object "/home/redgy/.conda/envs/gazebo/bin/../lib/libruby.so.3.4", at 0x7f5b8e09f3a1, in
#10   Object "/home/redgy/.conda/envs/gazebo/bin/../lib/libruby.so.3.4", at 0x7f5b8dfe0627, in
#9    Object "/home/redgy/.conda/envs/gazebo/bin/../lib/libruby.so.3.4", at 0x7f5b8df140b1, in ruby_stop
#8    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da1f60f, in exit
#7    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da1f494, in
#6    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da7f452, in free
#5    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da7c9c9, in
#4    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da7acfb, in
#3    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da63676, in
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da027f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da1c475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5b8da709fc, in pthread_kill
Aborted (Signal sent by tkill() 68102 1000)
Escalating to SIGKILL on [Gazebo Sim Server]

@traversaro
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Are you experiencing the same problem with other OpenGL-programs like glxgears ? If yes, probably the problem is not gz-sim but something in your WSL2 setup, see for example https://stackoverflow.com/questions/78987897/error-running-paraview-on-wsl-spirv-expand-step-registered-more-than-once .

@j3anm1rc
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j3anm1rc commented Feb 12, 2025 •
edited
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Are you experiencing the same problem with other OpenGL-programs like glxgears ? If yes, probably the problem is not gz-sim but something in your WSL2 setup, see for example https://stackoverflow.com/questions/78987897/error-running-paraview-on-wsl-spirv-expand-step-registered-more-than-once .

I think it's not directly caused by wsl config. I did remove the docker -desktop from wsl list as your post suggest , nevertheless it didn't change anything.

Running nvidia-smi from wls bash don't display any warning :

redgy@local:/mnt/c/Users/jm4$ nvidia-smi
Wed Feb 12 15:40:52 2025
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 570.86.09              Driver Version: 571.96         CUDA Version: 12.8     |
|-----------------------------------------+------------------------+----------------------+
| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |
| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |
|                                         |                        |               MIG M. |
|=========================================+========================+======================|
|   0  NVIDIA T600 Laptop GPU         On  |   00000000:01:00.0 Off |                  N/A |
| N/A   54C    P8              2W /   40W |       0MiB /   4096MiB |      0%      Default |
|                                         |                        |                  N/A |
+-----------------------------------------+------------------------+----------------------+

+-----------------------------------------------------------------------------------------+
| Processes:                                                                              |
|  GPU   GI   CI              PID   Type   Process name                        GPU Memory |
|        ID   ID                                                               Usage      |
|=========================================================================================|
|  No running processes found                                                             |
+-----------------------------------------------------------------------------------------+

I try to test 3d rendering with #https://www.simplified.guide/linux/3d-acceleration-check
And the result seems fine :

redgy@local:/mnt/c/Users/jm4$ glxinfo | grep "direct rendering"
direct rendering: Yes
redgy@local:/mnt/c/Users/jm4$ glxgears
508 frames in 5.0 seconds = 101.545 FPS
483 frames in 5.0 seconds = 96.569 FPS
223 frames in 5.6 seconds = 39.477 FPS
489 frames in 5.0 seconds = 97.699 FPS
529 frames in 5.0 seconds = 105.657 FPS
525 frames in 5.0 seconds = 104.937 FPS
X connection to :0 broken (explicit kill or server shutdown).

but indeed I suppose there is some inconsistency inside the WSL ubuntu packages. I will try to remove all the package locally and reinstall gz from source .

@j3anm1rc
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Eventually it turns out that gz sim -s and gs sim -g works , even if we don't have access to the quick start dialog this way.

@j3anm1rc j3anm1rc changed the title All rendering are aborted using gz sim in wsl2 All rendering are aborted using gz sim in wsl2 through the quickstart menu Feb 13, 2025
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