Step 2 (Optional) Intel® GPU Support#

If your system has an Intel® GPU, you can speed up larger Gazebo* simulations by making configuration changes.

  1. 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

  2. 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)

GPU Support Missing#

Verify that you are in an environment that works.

  1. Check your connection type:

    echo $DISPLAY

  2. If the result is not :0, switch to an environment that works.

    • Software and hardware environments that work:

      • GNOME* desktop

      • 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:

      • XFCE* desktop

      • Wayland* desktop

      • Headless x11vnc* configurations

      • TigerVNC*

If you are in one of the listed environments that should work but the GPU is still not recognized:

  1. Connect a monitor or other graphical display hardware.

  2. 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