Regression in Gazebo 11.10 on Windows

[traversaro]

• I read the conda-forge documentation and could not find the solution for my problem there.

Issue:

On Windows Gazebo/gzserver does not start correctly with error:

EXCEPTION: unable to find OpenGL rendering system

Complete out:

(gazebo11100) C:\Users\STraversaro>gzserver --verbose
Gazebo multi-robot simulator, version 11.10.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.17.192.1
[Err] [..\gazebo\rendering\RenderEngine.cc:687] EXCEPTION: unable to find OpenGL rendering system. OGRE is probably installed incorrectly. Double check the OGRE cmake output, and make sure OpenGL is enabled.

[Err] [..\gazebo\rendering\RenderingIface.cc:41] Failed to load the Rendering engine subsystem
unable to find OpenGL rendering system. OGRE is probably installed incorrectly. Double check the OGRE cmake output, and make sure OpenGL is enabled.
[Err] [..\gazebo\gazebo.cc:80] Unable to load sensors
[Err] [..\gazebo\Server.cc:328] Unable to load gazebo

Both 11.10.1 and 11.10.0 have the problem, while 11.9.1 is working fine.

Environment (conda list):

$ conda list

Details about conda and system ( conda info ):

$ conda info

c:\src\isaac-wp1>conda info

     active environment : None
            shell level : 0
       user config file : C:\Users\STraversaro\.condarc
 populated config files : C:\Users\STraversaro\AppData\Local\mambaforge\.condarc
                          C:\Users\STraversaro\.condarc
          conda version : 4.10.3
    conda-build version : not installed
         python version : 3.9.7.final.0
       virtual packages : __cuda=11.6=0
                          __win=0=0
                          __archspec=1=x86_64
       base environment : C:\Users\STraversaro\AppData\Local\mambaforge  (writable)
      conda av data dir : C:\Users\STraversaro\AppData\Local\mambaforge\etc\conda
  conda av metadata url : None
           channel URLs : https://conda.anaconda.org/conda-forge/win-64
                          https://conda.anaconda.org/conda-forge/noarch
          package cache : C:\Users\STraversaro\AppData\Local\mambaforge\pkgs
                          C:\Users\STraversaro\.conda\pkgs
                          C:\Users\STraversaro\AppData\Local\conda\conda\pkgs
       envs directories : C:\Users\STraversaro\AppData\Local\mambaforge\envs
                          C:\Users\STraversaro\.conda\envs
                          C:\Users\STraversaro\AppData\Local\conda\conda\envs
               platform : win-64
             user-agent : conda/4.10.3 requests/2.26.0 CPython/3.9.7 Windows/10 Windows/10.0.22000
          administrator : False
             netrc file : None
           offline mode : False

[traversaro]

With a quick diff between the env variables set by gazebo 11.9.1 and 11.10., I saw that the issue is that for Gazebo 11.10 the OGRE_RESOURCE_PATH env variable is not properly set.

A workaround is to set set OGRE_RESOURCE_PATH=%CONDA_PREFIX%\Library\bin. After this 11.10.1 works fine, while 11.10.0 fails with:

[Msg] Publicized address: 172.17.192.1
[Err] [..\gazebo\server_main.cc:57] Ogre Error:ItemIdentityException: Resource with the name shadow_caster_vp_glsl already exists. in ResourceManager::add at ..\OgreMain\src\OgreResourceManager.cpp (line 158)
[Err] [..\gazebo\transport\Connection.cc:273] The I/O operation has been aborted because of either a thread exit or an application requestValue[995]

However, this problem should be fixed by gazebosim/gazebo-classic#3161, so we can just focalize in getting 11.10.1 to work.

[traversaro]

Working setup.bat:

@echo off
set HOME=%HOMEDRIVE%%HOMEPATH%
set GAZEBO_MASTER_URI=http://localhost:11345
set GAZEBO_MODEL_DATABASE_URI=http://models.gazebosim.org
set GAZEBO_RESOURCE_PATH=C:/Users/STraversaro/AppData/Local/mambaforge/envs/gazebo11091\Library\share\gazebo-11;%GAZEBO_RESOURCE_PATH%
set GAZEBO_PLUGIN_PATH=C:/Users/STraversaro/AppData/Local/mambaforge/envs/gazebo11091\Library\bin\gazebo-11\plugins;%GAZEBO_PLUGIN_PATH%
set GAZEBO_MODEL_PATH=C:/Users/STraversaro/AppData/Local/mambaforge/envs/gazebo11091\Library\share\gazebo-11\models;%GAZEBO_MODEL_PATH%
set LD_LIBRARY_PATH=%LD_LIBRARY_PATH%;C:/Users/STraversaro/AppData/Local/mambaforge/envs/gazebo11091\Library\bin\gazebo-11\plugins
set OGRE_RESOURCE_PATH=C:/Users/STraversaro/AppData/Local/mambaforge/envs/gazebo11091\Library\bin
set PATH=%LD_LIBRARY_PATH%;%PATH%

Non-working one:

@echo off
set HOME=%HOMEDRIVE%%HOMEPATH%
set GAZEBO_MASTER_URI=http://localhost:11345
set GAZEBO_MODEL_DATABASE_URI=http://models.gazebosim.org
set GAZEBO_RESOURCE_PATH=C:/Users/STraversaro/AppData/Local/mambaforge/envs/gazebo11101/Library/share/gazebo-11;%GAZEBO_RESOURCE_PATH%
set GAZEBO_PLUGIN_PATH=C:/Users/STraversaro/AppData/Local/mambaforge/envs/gazebo11101/Library/bin/gazebo-11/plugins;%GAZEBO_PLUGIN_PATH%
set GAZEBO_MODEL_PATH=C:/Users/STraversaro/AppData/Local/mambaforge/envs/gazebo11101/Library/share/gazebo-11/models;%GAZEBO_MODEL_PATH%
set LD_LIBRARY_PATH=%LD_LIBRARY_PATH%;C:/Users/STraversaro/AppData/Local/mambaforge/envs/gazebo11101/Library/bin/gazebo-11/plugins
set OGRE_RESOURCE_PATH=D:\bld\gazebo_1642729896000\_h_env\Library\bin
set PATH=%LD_LIBRARY_PATH%;%PATH%

In the latter case, the initial part of OGRE_RESOURCE_PATH is not correctly relocated.

[traversaro]

I opened the setup.bat in the package before being installed.

Working:

@echo off
set HOME=%HOMEDRIVE%%HOMEPATH%
set GAZEBO_MASTER_URI=http://localhost:11345
set GAZEBO_MODEL_DATABASE_URI=http://models.gazebosim.org
set GAZEBO_RESOURCE_PATH=D:\bld\gazebo_1639424301851\_h_env\Library\share\gazebo-11;%GAZEBO_RESOURCE_PATH%
set GAZEBO_PLUGIN_PATH=D:\bld\gazebo_1639424301851\_h_env\Library\bin\gazebo-11\plugins;%GAZEBO_PLUGIN_PATH%
set GAZEBO_MODEL_PATH=D:\bld\gazebo_1639424301851\_h_env\Library\share\gazebo-11\models;%GAZEBO_MODEL_PATH%
set LD_LIBRARY_PATH=%LD_LIBRARY_PATH%;D:\bld\gazebo_1639424301851\_h_env\Library\bin\gazebo-11\plugins
set OGRE_RESOURCE_PATH=D:\bld\gazebo_1639424301851\_h_env\Library\bin
set PATH=%LD_LIBRARY_PATH%;%PATH%

Not Working:

@echo off
set HOME=%HOMEDRIVE%%HOMEPATH%
set GAZEBO_MASTER_URI=http://localhost:11345
set GAZEBO_MODEL_DATABASE_URI=http://models.gazebosim.org
set GAZEBO_RESOURCE_PATH=D:/bld/gazebo_1642729896000/_h_env/Library/share/gazebo-11;%GAZEBO_RESOURCE_PATH%
set GAZEBO_PLUGIN_PATH=D:/bld/gazebo_1642729896000/_h_env/Library/bin/gazebo-11/plugins;%GAZEBO_PLUGIN_PATH%
set GAZEBO_MODEL_PATH=D:/bld/gazebo_1642729896000/_h_env/Library/share/gazebo-11/models;%GAZEBO_MODEL_PATH%
set LD_LIBRARY_PATH=%LD_LIBRARY_PATH%;D:/bld/gazebo_1642729896000/_h_env/Library/bin/gazebo-11/plugins
set OGRE_RESOURCE_PATH=D:\bld\gazebo_1642729896000\_h_env\Library\bin
set PATH=%LD_LIBRARY_PATH%;%PATH%

The problem in the non-working one seems to be that now the initial path between the different variables is different, I guess this is confusing the relocation logic, regardless of wheter it make more sense to use \ or / in the setup.bat script.