gazebo rvizで躓いたところ

やること

Gazeboの起動 Rvizの起動

手順

Gazeboを起動

gazebo

出力結果

libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast

VcXsrvの設定を変更
Extra settingでAdditional parameters for VcXsrvに-nowglを追加

再度gazebo起動

shared memfd open() failed: Function not implemented
ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
[Err] [REST.cc:205] Error in REST request

なんかエラーっぽいのが出てるけど一応成功

gazebo

rvizを起動

roscore

でrosを立ち上げてから、ctl+zで一度抜ける

rosrun rviz rviz

を入力すると

rviz

起動しました。