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If your system has an Intel® GPU, you can speed up larger Gazebo* simulations by making configuration changes.
Verify that your system has an Intel® GPU.
sudo lshw -c video |grep driver
Example output for Intel® Iris® Xe Integrated Graphics:
configuration: depth=32 *driver=i915* latency=0 mode=1280x1024 visual=truecolor xres=1280 yres=1024
Verify that the drivers are working and enabled:
sudo apt install mesa-utils
glxinfo| grep -i "opengl renderer"
Examples of output:
10th Generation Intel® Core™ microprocessor:
OpenGL renderer string: Mesa Intel(R) UHD Graphics 630 (CML GT2)
11th Generation Intel® Core™ microprocessor:
OpenGL renderer string: Mesa Intel(R) Xe Graphics (TGL GT2)
GPU support missing (pure slow software rendering):
OpenGL renderer string: llvmpipe (LLVM 12.0.0m 256 bits)
Verify that you are in an environment that works.
Check your connection type:
If the result is not :0, switch to an environment that works.
Software and hardware environments that work:
Direct access with a monitor
Remote access using KVM over IP
Remote access using x11vnc* without any headless configurations
Software and hardware environments that do not work:
Headless x11vnc* configurations
If you are in one of the listed environments that should work but the GPU is still not recognized:
Connect a monitor or other graphical display hardware.
Remove headless configurations:
sudo rm -rf /etc/X11/xorg.conf
sudo rm -rf /usr/share/X11/xorg.conf.d/xorg.conf
sudo mv ~/.Xauthority ~/.Xauthority.backup
sudo apt install --reinstall xserver-xorg-video-intel
sudo apt-get install --reinstall xserver-xorg
sudo apt-get install --reinstall x11vnc
sudo systemctl enable x11vnc
sudo apt install --reinstall gdm3 ubuntu-desktop gnome-shell
sudo systemctl reboot
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