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VirtualBox 虚拟机中 无法打开Rviz的临时解决办法



  • 在VirtualBox 虚拟机中使用ros 的rviz可视化组件可能会出现如下错误:

    VirtualBox:~$ rviz
    [ INFO] [1458826436.975227564]: rviz version 1.11.10
    [ INFO] [1458826436.975437443]: compiled against OGRE version 1.8.1 (Byatis)
    pci id for fd 24: 80ee:beef, driver (null)
    OpenGL Warning: glFlushVertexArrayRangeNV not found in mesa table
    OpenGL Warning: glVertexArrayRangeNV not found in mesa table
    OpenGL Warning: glCombinerInputNV not found in mesa table
    OpenGL Warning: glCombinerOutputNV not found in mesa table
    OpenGL Warning: glCombinerParameterfNV not found in mesa table
    OpenGL Warning: glCombinerParameterfvNV not found in mesa table
    OpenGL Warning: glCombinerParameteriNV not found in mesa table
    OpenGL Warning: glCombinerParameterivNV not found in mesa table
    OpenGL Warning: glFinalCombinerInputNV not found in mesa table
    OpenGL Warning: glGetCombinerInputParameterfvNV not found in mesa table
    OpenGL Warning: glGetCombinerInputParameterivNV not found in mesa table
    OpenGL Warning: glGetCombinerOutputParameterfvNV not found in mesa table
    OpenGL Warning: glGetCombinerOutputParameterivNV not found in mesa table
    OpenGL Warning: glGetFinalCombinerInputParameterfvNV not found in mesa table
    OpenGL Warning: glGetFinalCombinerInputParameterivNV not found in mesa table
    OpenGL Warning: glDeleteFencesNV not found in mesa table
    OpenGL Warning: glFinishFenceNV not found in mesa table
    OpenGL Warning: glGenFencesNV not found in mesa table
    OpenGL Warning: glGetFenceivNV not found in mesa table
    OpenGL Warning: glIsFenceNV not found in mesa table
    OpenGL Warning: glSetFenceNV not found in mesa table
    OpenGL Warning: glTestFenceNV not found in mesa table
    libGL error: core dri or dri2 extension not found
    libGL error: failed to load driver: vboxvideo
    [ INFO] [1458826438.108511921]: Stereo is NOT SUPPORTED
    [ INFO] [1458826438.110075462]: OpenGl version: 2.1 (GLSL 1.2).
    Segmentation fault (core dumped)
    

    启动失败原因是因为虚拟机的OPENGL驱动存在问题,这部分驱动涉及虚拟机的3d加速支持扩展包,暂时没有好的解决办法。通过设置环境变量,强制Rviz使用软件OPRNGL模式,就可以暂时使用Rviz了,指令如下,留意重启控制台使更改生效

    echo "export LIBGL_ALWAYS_SOFTWARE=1" >> ~/.bashrc
    

    点击参考这个链接



  • windows环境下,建议使用vmware,可以完美开启rviz


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