Gazebo “Building a world” demo libEGL error

Issue Overview

Users are experiencing a recurring issue when attempting to run the Gazebo simulation for the "Building a world" demo on the Nvidia Jetson Orin Nano Dev board. The specific symptoms include the following error messages:

• libEGL warning: egl: failed to create dri2 screen
• libEGL warning: egl: failed to create dri2 screen

This problem occurs when users execute the command $ gz sim building_robot.sdf, indicating that the issue arises during the simulation setup phase.

The hardware specifications noted include the Jetson Orin Nano with 8GB RAM, running JetPack version 6.0. The issue appears to be consistent among users attempting to run this specific demo, leading to significant frustration and hindering their ability to utilize the Gazebo simulation effectively.

The impact of this problem is substantial, as it prevents users from proceeding with their projects that rely on Gazebo for simulation, thereby affecting their overall development workflow.

Possible Causes

The following potential causes for the observed issue have been identified:

• Hardware Incompatibilities: The demo may not be fully compatible with ARM64 architecture, which is used by the Jetson Orin Nano. This could lead to failures in rendering or initializing graphical components.

• Software Bugs or Conflicts: There may be bugs in Gazebo or its dependencies that specifically affect ARM devices, particularly in how they handle graphics rendering.

• Configuration Errors: Incorrect settings in Gazebo’s configuration files could lead to issues with initializing graphical components.

• Driver Issues: Incompatibilities or bugs in the graphics drivers used by the Jetson Orin Nano could prevent proper initialization of EGL.

• Environmental Factors: Power supply issues or overheating might also contribute to hardware performance problems.

• User Errors or Misconfigurations: Users may inadvertently misconfigure their environments or overlook required dependencies.

Troubleshooting Steps, Solutions & Fixes

To address the libEGL error encountered during Gazebo simulations, follow these troubleshooting steps and potential solutions:

1. Verify Compatibility:

   • Check if the "Building a world" demo is officially supported on ARM64 devices. Consult Gazebo documentation and community forums for any updates on compatibility.

2. Update Software and Drivers:

   • Ensure that you are using the latest version of JetPack and Gazebo. Update your system with:

     sudo apt update
     sudo apt upgrade
     

   • Look for any available driver updates specific to Nvidia graphics on your device.

3. Check Configuration Files:

   • Review Gazebo configuration files for any incorrect settings that may affect rendering. Look into files like ~/.gazebo/gazebo.conf and ensure all paths and parameters are correctly set.

4. Run in Different Environments:

   • Test running Gazebo in a different environment (e.g., using a different user account) to rule out user-specific configuration issues.

5. Use Alternative Graphics Options:

   • If available, try running Gazebo with different rendering options or backends that might bypass EGL issues. You can set environment variables like:

     export LIBGL_ALWAYS_SOFTWARE=1
     

   • This forces software rendering, which might help identify if it’s a driver-related issue.

6. Check Logs for Additional Errors:

   • Examine system logs for more detailed error messages that could provide further insights into what is failing. Use:

     dmesg | grep -i egl
     

7. Consult Community Resources:

   • Engage with community forums or GitHub issues related to Gazebo and Jetson devices for shared experiences and solutions. For instance, refer to the GitHub issue linked in the forum discussion regarding EGL errors for additional context.

8. Consider Cross-Compilation:

   • If you are attempting to run binaries not compiled for ARM64, consider cross-compiling them specifically for your architecture as mentioned by users in the forum discussion.

9. Document Findings:

   • Keep track of any changes made during troubleshooting and their effects on system behavior to assist in future diagnostics or when seeking further help.

10. Future Prevention:

    • Regularly check for updates from Nvidia and Gazebo regarding compatibility and performance improvements for ARM devices.
    • Maintain backups of working configurations before making significant changes.

By following these steps, users should be able to diagnose and potentially resolve the libEGL error encountered while using Gazebo on the Nvidia Jetson Orin Nano Dev board.