Gazebo Ignition 打开报错 terminate called after throwing an instance of ‘Ogre::UnimplementedException‘

项目场景：

Gazebo Harmonic 安装记录
Windows 下 WSL2 安装 ROS2 Iron 和 GAZEBO

---

问题描述

Gazebo Ignition 打开闪退，报错内容如下：

terminate called after throwing an instance of 'Ogre::UnimplementedException'
  what():  OGRE EXCEPTION(9:UnimplementedException):  in GL3PlusTextureGpu::copyTo at /build/ogre-next-UFfg83/ogre-next-2.2.5+dfsg3/RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 677)

libEGL warning: failed to open /dev/dri/renderD128: Permission denied

libEGL warning: failed to open /dev/dri/renderD128: Permission denied

Stack trace (most recent call last) in thread 1197:
#10   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#9    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f337c9c4a3f, in
#8    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f337c932ac2, in
#7    Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f337720899d, in
#6    Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f3377206f90, in qTerminate()
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f3378ed0276, in std::terminate()
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f3378ed020b, in
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f3378ec4b9d, in
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f337c8c67f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f337c8e0475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f337c9349fc, in pthread_kill
Aborted (Signal sent by tkill() 1064 1000)

---

原因分析：

---

解决方案：

参考
临时的解决方法：
暂时指定 OGRE
或者试试指定 OGRE2
不同的 Gazebo 版本对 OGRE 版本要求不同

ign gazebo  --render-engine ogre2 shapes.sdf -v4

最新版本的 harmonic 没有这个问题，但是该版本目前正在开发，并且 harmonic 全面支持 Python 编写插件操作

Gazebo 版本太乱了，版本之间不兼容

Gazebo Harmonic 安装记录

---

如果觉得内容不错，请点赞、收藏、关注