Failed to run the Irrlicht visualizer on Linux

[S-Dafarra]

Whenever I try to launch a iDynTree::Visualizer instance on Ubuntu 20.04, I get the following error:

X Error of failed request:  BadMatch (invalid parameter attributes)
  Major opcode of failed request:  152 (GLX)
  Minor opcode of failed request:  31 (X_GLXCreateWindow)
  Serial number of failed request:  27
  Current serial number in output stream:  28
Irrlicht Engine version 1.8.4
Linux 5.15.0-84-generic #93~20.04.1-Ubuntu SMP Wed Sep 6 16:15:40 UTC 2023 x86_64

Getting into it, I noticed that the error occurs when initializing irrlicht in

idyntree/src/visualization/src/Visualizer.cpp

Line 511 in c453ba0

pimpl->m_irrDevice = irr::createDeviceEx(irrDevParams);

and not when creating the window, which is done earlier in

idyntree/src/visualization/src/Visualizer.cpp

Line 455 in c453ba0

pimpl->m_window = glfwCreateWindow(visualizerOptions.winWidth, visualizerOptions.winHeight, "iDynTree Visualizer", nullptr, nullptr);

Currently, I am using the nvidia-driver-525

[S-Dafarra]

I noticed that if I comment the lines

idyntree/src/visualization/src/Visualizer.cpp

Lines 486 to 487 in c453ba0

	pimpl->m_windowId = glfwGetX11Window(pimpl->m_window);
	irrDevParams.WindowId = (void*)(pimpl->m_windowId);

it works.

I am planning to open a PR to use the classical window creation in Linux, while keeping the use of SDL for Windows and Mac

[traversaro]

Do you think this was a regression of #1071 ?

[traversaro]

I am planning to open a PR to use the classical window creation in Linux, while keeping the use of SDL for Windows and Mac

SDL or glfw?

[S-Dafarra]

I think so, although I am not sure why it is happening now. I did test it on Linux back in time. As a mater of fact, I developed it in the very same machine.

I am planning to open a PR to use the classical window creation in Linux, while keeping the use of SDL for Windows and Mac

SDL or glfw?

glfw to create the window and SDL on the irrlicht side. Since on Ubuntu with irrlicht from apt we cannot use SDL, maybe we can still let irrlicht create the window on Ubuntu, since there are no resize issues

[S-Dafarra]

Relevant commit: S-Dafarra@6c51ff8

I will test it on Windows too

[S-Dafarra]

Relevant commit: S-Dafarra@6c51ff8

I will test it on Windows too

Tested and working (actually on the Windows and Mac side, nothing should have changed). Corresponding PR: #1119