Meshes do not display with WSLg on NVIDIA graphics

[jorolf]

The RobotModel is invisible even though there are no visible errors:

Adding a TF display shows the frames of the robot correctly:

I tried both the panda and the fanuc robot and neither displayed the robot mesh

Your environment

• OS Version: Windows 11 Pro 21H2 (22000.675) running WSL2 with Ubuntu 20.04

• ROS Distro: Noetic

• RViz, Qt, OGRE, OpenGl version as printed by rviz:

  rviz version 1.14.14
  compiled against Qt version 5.12.8
  compiled against OGRE version 1.9.0 (Ghadamon)
  Forcing OpenGl version 0.
  Stereo is NOT SUPPORTED
  OpenGL device: D3D12 (NVIDIA GeForce GTX 1050)
  OpenGl version: 3.1 (GLSL 1.4).
  

• echo "$LANG, $LC_NUMERIC" prints C.UTF-8
  Using LANG=C rviz does not help

• Running glxinfo prints this:

  Click to expand

  direct rendering: Yes
  server glx vendor string: SGI
  server glx version string: 1.4
  server glx extensions:
      GLX_ARB_context_flush_control, GLX_ARB_create_context,
      GLX_ARB_create_context_no_error, GLX_ARB_create_context_profile,
      GLX_ARB_fbconfig_float, GLX_ARB_framebuffer_sRGB, GLX_ARB_multisample,
      GLX_EXT_create_context_es2_profile, GLX_EXT_create_context_es_profile,
      GLX_EXT_fbconfig_packed_float, GLX_EXT_framebuffer_sRGB,
      GLX_EXT_import_context, GLX_EXT_libglvnd, GLX_EXT_no_config_context,
      GLX_EXT_texture_from_pixmap, GLX_EXT_visual_info, GLX_EXT_visual_rating,
      GLX_MESA_copy_sub_buffer, GLX_OML_swap_method, GLX_SGIS_multisample,
      GLX_SGIX_fbconfig, GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group,
      GLX_SGI_make_current_read
  client glx vendor string: Mesa Project and SGI
  client glx version string: 1.4
  client glx extensions:
      GLX_ARB_context_flush_control, GLX_ARB_create_context,
      GLX_ARB_create_context_no_error, GLX_ARB_create_context_profile,
      GLX_ARB_create_context_robustness, GLX_ARB_fbconfig_float,
      GLX_ARB_framebuffer_sRGB, GLX_ARB_get_proc_address, GLX_ARB_multisample,
      GLX_ATI_pixel_format_float, GLX_EXT_buffer_age,
      GLX_EXT_create_context_es2_profile, GLX_EXT_create_context_es_profile,
      GLX_EXT_fbconfig_packed_float, GLX_EXT_framebuffer_sRGB,
      GLX_EXT_import_context, GLX_EXT_no_config_context, GLX_EXT_swap_control,
      GLX_EXT_swap_control_tear, GLX_EXT_texture_from_pixmap,
      GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_INTEL_swap_event,
      GLX_MESA_copy_sub_buffer, GLX_MESA_multithread_makecurrent,
      GLX_MESA_query_renderer, GLX_MESA_swap_control, GLX_NV_float_buffer,
      GLX_OML_swap_method, GLX_OML_sync_control, GLX_SGIS_multisample,
      GLX_SGIX_fbconfig, GLX_SGIX_pbuffer, GLX_SGIX_visual_select_group,
      GLX_SGI_make_current_read, GLX_SGI_swap_control, GLX_SGI_video_sync
  GLX version: 1.4
  GLX extensions:
      GLX_ARB_context_flush_control, GLX_ARB_create_context,
      GLX_ARB_create_context_no_error, GLX_ARB_create_context_profile,
      GLX_ARB_fbconfig_float, GLX_ARB_framebuffer_sRGB,
      GLX_ARB_get_proc_address, GLX_ARB_multisample,
      GLX_EXT_create_context_es2_profile, GLX_EXT_create_context_es_profile,
      GLX_EXT_fbconfig_packed_float, GLX_EXT_framebuffer_sRGB,
      GLX_EXT_import_context, GLX_EXT_no_config_context,
      GLX_EXT_texture_from_pixmap, GLX_EXT_visual_info, GLX_EXT_visual_rating,
      GLX_MESA_copy_sub_buffer, GLX_MESA_query_renderer, GLX_OML_swap_method,
      GLX_SGIS_multisample, GLX_SGIX_fbconfig, GLX_SGIX_pbuffer,
      GLX_SGIX_visual_select_group, GLX_SGI_make_current_read
  Extended renderer info (GLX_MESA_query_renderer):
      Vendor: Microsoft Corporation (0xffffffff)
      Device: D3D12 (NVIDIA GeForce GTX 1050) (0xffffffff)
      Version: 21.2.6
      Accelerated: yes
      Video memory: 6012MB
      Unified memory: no
      Preferred profile: core (0x1)
      Max core profile version: 3.3
      Max compat profile version: 3.1
      Max GLES1 profile version: 1.1
      Max GLES[23] profile version: 3.0
  OpenGL vendor string: Microsoft Corporation
  OpenGL renderer string: D3D12 (NVIDIA GeForce GTX 1050)
  OpenGL core profile version string: 3.3 (Core Profile) Mesa 21.2.6
  OpenGL core profile shading language version string: 3.30
  OpenGL core profile context flags: (none)
  OpenGL core profile profile mask: core profile
  OpenGL core profile extensions:
      GL_AMD_conservative_depth, GL_AMD_draw_buffers_blend,
      GL_AMD_shader_trinary_minmax, GL_ANGLE_texture_compression_dxt3,
      GL_ANGLE_texture_compression_dxt5, GL_ARB_ES2_compatibility,
      GL_ARB_ES3_compatibility, GL_ARB_arrays_of_arrays,
      GL_ARB_blend_func_extended, GL_ARB_clear_buffer_object,
      GL_ARB_compressed_texture_pixel_storage, GL_ARB_conservative_depth,
      GL_ARB_copy_buffer, GL_ARB_debug_output, GL_ARB_depth_buffer_float,
      GL_ARB_depth_clamp, GL_ARB_direct_state_access, GL_ARB_draw_buffers,
      GL_ARB_draw_buffers_blend, GL_ARB_draw_elements_base_vertex,
      GL_ARB_draw_instanced, GL_ARB_explicit_attrib_location,
      GL_ARB_explicit_uniform_location, GL_ARB_fragment_coord_conventions,
      GL_ARB_fragment_shader, GL_ARB_framebuffer_object,
      GL_ARB_framebuffer_sRGB, GL_ARB_get_program_binary,
      GL_ARB_get_texture_sub_image, GL_ARB_half_float_pixel,
      GL_ARB_half_float_vertex, GL_ARB_instanced_arrays,
      GL_ARB_internalformat_query, GL_ARB_internalformat_query2,
      GL_ARB_invalidate_subdata, GL_ARB_map_buffer_alignment,
      GL_ARB_map_buffer_range, GL_ARB_multi_bind, GL_ARB_occlusion_query2,
      GL_ARB_parallel_shader_compile, GL_ARB_pixel_buffer_object,
      GL_ARB_point_sprite, GL_ARB_program_interface_query,
      GL_ARB_provoking_vertex, GL_ARB_robustness, GL_ARB_sampler_objects,
      GL_ARB_seamless_cube_map, GL_ARB_separate_shader_objects,
      GL_ARB_shader_bit_encoding, GL_ARB_shader_objects,
      GL_ARB_shader_subroutine, GL_ARB_shader_texture_lod,
      GL_ARB_shading_language_420pack, GL_ARB_shading_language_include,
      GL_ARB_shading_language_packing, GL_ARB_stencil_texturing, GL_ARB_sync,
      GL_ARB_texture_buffer_object, GL_ARB_texture_buffer_object_rgb32,
      GL_ARB_texture_buffer_range, GL_ARB_texture_compression_rgtc,
      GL_ARB_texture_filter_anisotropic, GL_ARB_texture_float,
      GL_ARB_texture_multisample, GL_ARB_texture_non_power_of_two,
      GL_ARB_texture_query_levels, GL_ARB_texture_query_lod,
      GL_ARB_texture_rectangle, GL_ARB_texture_rg, GL_ARB_texture_rgb10_a2ui,
      GL_ARB_texture_stencil8, GL_ARB_texture_storage,
      GL_ARB_texture_storage_multisample, GL_ARB_texture_swizzle,
      GL_ARB_timer_query, GL_ARB_uniform_buffer_object,
      GL_ARB_vertex_array_bgra, GL_ARB_vertex_array_object,
      GL_ARB_vertex_attrib_binding, GL_ARB_vertex_buffer_object,
      GL_ARB_vertex_shader, GL_ARB_vertex_type_10f_11f_11f_rev,
      GL_ARB_vertex_type_2_10_10_10_rev, GL_ATI_blend_equation_separate,
      GL_ATI_texture_float, GL_EXT_EGL_image_storage, GL_EXT_EGL_sync,
      GL_EXT_abgr, GL_EXT_blend_equation_separate, GL_EXT_draw_buffers2,
      GL_EXT_draw_instanced, GL_EXT_framebuffer_blit,
      GL_EXT_framebuffer_multisample, GL_EXT_framebuffer_multisample_blit_scaled,
      GL_EXT_framebuffer_object, GL_EXT_framebuffer_sRGB,
      GL_EXT_packed_depth_stencil, GL_EXT_packed_float,
      GL_EXT_pixel_buffer_object, GL_EXT_provoking_vertex,
      GL_EXT_shader_integer_mix, GL_EXT_texture_array,
      GL_EXT_texture_compression_dxt1, GL_EXT_texture_compression_rgtc,
      GL_EXT_texture_compression_s3tc, GL_EXT_texture_filter_anisotropic,
      GL_EXT_texture_integer, GL_EXT_texture_sRGB, GL_EXT_texture_sRGB_decode,
      GL_EXT_texture_shared_exponent, GL_EXT_texture_snorm,
      GL_EXT_texture_swizzle, GL_EXT_timer_query, GL_EXT_transform_feedback,
      GL_EXT_vertex_array_bgra, GL_IBM_multimode_draw_arrays,
      GL_KHR_context_flush_control, GL_KHR_debug, GL_KHR_no_error,
      GL_KHR_parallel_shader_compile, GL_KHR_texture_compression_astc_ldr,
      GL_KHR_texture_compression_astc_sliced_3d, GL_MESA_pack_invert,
      GL_MESA_shader_integer_functions, GL_MESA_texture_signed_rgba,
      GL_NV_conditional_render, GL_NV_copy_image, GL_NV_depth_clamp,
      GL_NV_packed_depth_stencil, GL_OES_EGL_image, GL_S3_s3tc
  
  OpenGL version string: 3.1 Mesa 21.2.6
  OpenGL shading language version string: 1.40
  OpenGL context flags: (none)
  OpenGL extensions:
      GL_AMD_conservative_depth, GL_AMD_draw_buffers_blend,
      GL_AMD_shader_trinary_minmax, GL_ANGLE_texture_compression_dxt3,
      GL_ANGLE_texture_compression_dxt5, GL_APPLE_packed_pixels,
      GL_ARB_ES2_compatibility, GL_ARB_ES3_compatibility,
      GL_ARB_arrays_of_arrays, GL_ARB_blend_func_extended,
      GL_ARB_clear_buffer_object, GL_ARB_color_buffer_float,
      GL_ARB_compatibility, GL_ARB_compressed_texture_pixel_storage,
      GL_ARB_conservative_depth, GL_ARB_copy_buffer, GL_ARB_debug_output,
      GL_ARB_depth_buffer_float, GL_ARB_depth_clamp, GL_ARB_depth_texture,
      GL_ARB_direct_state_access, GL_ARB_draw_buffers,
      GL_ARB_draw_buffers_blend, GL_ARB_draw_elements_base_vertex,
      GL_ARB_draw_instanced, GL_ARB_explicit_attrib_location,
      GL_ARB_explicit_uniform_location, GL_ARB_fragment_coord_conventions,
      GL_ARB_fragment_program, GL_ARB_fragment_program_shadow,
      GL_ARB_fragment_shader, GL_ARB_framebuffer_object,
      GL_ARB_framebuffer_sRGB, GL_ARB_get_program_binary,
      GL_ARB_get_texture_sub_image, GL_ARB_half_float_pixel,
      GL_ARB_half_float_vertex, GL_ARB_instanced_arrays,
      GL_ARB_internalformat_query, GL_ARB_internalformat_query2,
      GL_ARB_invalidate_subdata, GL_ARB_map_buffer_alignment,
      GL_ARB_map_buffer_range, GL_ARB_multi_bind, GL_ARB_multisample,
      GL_ARB_multitexture, GL_ARB_occlusion_query, GL_ARB_occlusion_query2,
      GL_ARB_parallel_shader_compile, GL_ARB_pixel_buffer_object,
      GL_ARB_point_parameters, GL_ARB_point_sprite,
      GL_ARB_program_interface_query, GL_ARB_provoking_vertex,
      GL_ARB_robustness, GL_ARB_sampler_objects, GL_ARB_seamless_cube_map,
      GL_ARB_separate_shader_objects, GL_ARB_shader_bit_encoding,
      GL_ARB_shader_objects, GL_ARB_shader_subroutine,
      GL_ARB_shader_texture_lod, GL_ARB_shading_language_100,
      GL_ARB_shading_language_420pack, GL_ARB_shading_language_include,
      GL_ARB_shading_language_packing, GL_ARB_shadow, GL_ARB_stencil_texturing,
      GL_ARB_sync, GL_ARB_texture_border_clamp, GL_ARB_texture_buffer_object,
      GL_ARB_texture_buffer_object_rgb32, GL_ARB_texture_buffer_range,
      GL_ARB_texture_compression, GL_ARB_texture_compression_rgtc,
      GL_ARB_texture_cube_map, GL_ARB_texture_env_add,
      GL_ARB_texture_env_combine, GL_ARB_texture_env_crossbar,
      GL_ARB_texture_env_dot3, GL_ARB_texture_filter_anisotropic,
      GL_ARB_texture_float, GL_ARB_texture_mirrored_repeat,
      GL_ARB_texture_multisample, GL_ARB_texture_non_power_of_two,
      GL_ARB_texture_query_levels, GL_ARB_texture_query_lod,
      GL_ARB_texture_rectangle, GL_ARB_texture_rg, GL_ARB_texture_rgb10_a2ui,
      GL_ARB_texture_stencil8, GL_ARB_texture_storage,
      GL_ARB_texture_storage_multisample, GL_ARB_texture_swizzle,
      GL_ARB_timer_query, GL_ARB_transpose_matrix, GL_ARB_uniform_buffer_object,
      GL_ARB_vertex_array_bgra, GL_ARB_vertex_array_object,
      GL_ARB_vertex_attrib_binding, GL_ARB_vertex_buffer_object,
      GL_ARB_vertex_program, GL_ARB_vertex_shader,
      GL_ARB_vertex_type_10f_11f_11f_rev, GL_ARB_vertex_type_2_10_10_10_rev,
      GL_ARB_window_pos, GL_ATI_blend_equation_separate, GL_ATI_draw_buffers,
      GL_ATI_fragment_shader, GL_ATI_separate_stencil,
      GL_ATI_texture_env_combine3, GL_ATI_texture_float,
      GL_EXT_EGL_image_storage, GL_EXT_EGL_sync, GL_EXT_abgr, GL_EXT_bgra,
      GL_EXT_blend_color, GL_EXT_blend_equation_separate,
      GL_EXT_blend_func_separate, GL_EXT_blend_minmax, GL_EXT_blend_subtract,
      GL_EXT_compiled_vertex_array, GL_EXT_copy_texture,
      GL_EXT_direct_state_access, GL_EXT_draw_buffers2, GL_EXT_draw_instanced,
      GL_EXT_draw_range_elements, GL_EXT_fog_coord, GL_EXT_framebuffer_blit,
      GL_EXT_framebuffer_multisample, GL_EXT_framebuffer_multisample_blit_scaled,
      GL_EXT_framebuffer_object, GL_EXT_framebuffer_sRGB,
      GL_EXT_gpu_program_parameters, GL_EXT_gpu_shader4,
      GL_EXT_multi_draw_arrays, GL_EXT_packed_depth_stencil,
      GL_EXT_packed_float, GL_EXT_packed_pixels, GL_EXT_pixel_buffer_object,
      GL_EXT_point_parameters, GL_EXT_provoking_vertex, GL_EXT_rescale_normal,
      GL_EXT_secondary_color, GL_EXT_separate_specular_color,
      GL_EXT_shader_integer_mix, GL_EXT_shadow_funcs, GL_EXT_stencil_two_side,
      GL_EXT_stencil_wrap, GL_EXT_subtexture, GL_EXT_texture, GL_EXT_texture3D,
      GL_EXT_texture_array, GL_EXT_texture_buffer_object,
      GL_EXT_texture_compression_dxt1, GL_EXT_texture_compression_rgtc,
      GL_EXT_texture_compression_s3tc, GL_EXT_texture_cube_map,
      GL_EXT_texture_edge_clamp, GL_EXT_texture_env_add,
      GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3,
      GL_EXT_texture_filter_anisotropic, GL_EXT_texture_integer,
      GL_EXT_texture_lod_bias, GL_EXT_texture_object, GL_EXT_texture_rectangle,
      GL_EXT_texture_sRGB, GL_EXT_texture_sRGB_decode,
      GL_EXT_texture_shared_exponent, GL_EXT_texture_snorm,
      GL_EXT_texture_swizzle, GL_EXT_timer_query, GL_EXT_transform_feedback,
      GL_EXT_vertex_array, GL_EXT_vertex_array_bgra,
      GL_IBM_multimode_draw_arrays, GL_IBM_rasterpos_clip,
      GL_IBM_texture_mirrored_repeat, GL_INGR_blend_func_separate,
      GL_KHR_context_flush_control, GL_KHR_debug, GL_KHR_no_error,
      GL_KHR_parallel_shader_compile, GL_KHR_texture_compression_astc_ldr,
      GL_KHR_texture_compression_astc_sliced_3d, GL_MESA_pack_invert,
      GL_MESA_shader_integer_functions, GL_MESA_texture_signed_rgba,
      GL_MESA_window_pos, GL_NV_blend_square, GL_NV_conditional_render,
      GL_NV_copy_depth_to_color, GL_NV_copy_image, GL_NV_depth_clamp,
      GL_NV_fog_distance, GL_NV_half_float, GL_NV_light_max_exponent,
      GL_NV_packed_depth_stencil, GL_NV_primitive_restart,
      GL_NV_texgen_reflection, GL_NV_texture_env_combine4,
      GL_NV_texture_rectangle, GL_OES_EGL_image, GL_OES_read_format,
      GL_S3_s3tc, GL_SGIS_generate_mipmap, GL_SGIS_texture_border_clamp,
      GL_SGIS_texture_edge_clamp, GL_SGIS_texture_lod, GL_SUN_multi_draw_arrays
  
  OpenGL ES profile version string: OpenGL ES 3.0 Mesa 21.2.6
  OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.00
  OpenGL ES profile extensions:
      GL_ANGLE_pack_reverse_row_order, GL_ANGLE_texture_compression_dxt3,
      GL_ANGLE_texture_compression_dxt5, GL_APPLE_texture_max_level,
      GL_EXT_EGL_image_storage, GL_EXT_blend_func_extended, GL_EXT_blend_minmax,
      GL_EXT_color_buffer_float, GL_EXT_compressed_ETC1_RGB8_sub_texture,
      GL_EXT_depth_clamp, GL_EXT_discard_framebuffer,
      GL_EXT_disjoint_timer_query, GL_EXT_draw_buffers,
      GL_EXT_draw_buffers_indexed, GL_EXT_draw_elements_base_vertex,
      GL_EXT_draw_instanced, GL_EXT_float_blend, GL_EXT_frag_depth,
      GL_EXT_map_buffer_range, GL_EXT_multi_draw_arrays,
      GL_EXT_occlusion_query_boolean, GL_EXT_read_format_bgra,
      GL_EXT_sRGB_write_control, GL_EXT_separate_shader_objects,
      GL_EXT_shader_integer_mix, GL_EXT_texture_border_clamp,
      GL_EXT_texture_compression_dxt1, GL_EXT_texture_compression_rgtc,
      GL_EXT_texture_compression_s3tc, GL_EXT_texture_compression_s3tc_srgb,
      GL_EXT_texture_filter_anisotropic, GL_EXT_texture_format_BGRA8888,
      GL_EXT_texture_query_lod, GL_EXT_texture_rg, GL_EXT_texture_sRGB_decode,
      GL_EXT_texture_type_2_10_10_10_REV, GL_EXT_unpack_subimage,
      GL_KHR_context_flush_control, GL_KHR_debug, GL_KHR_no_error,
      GL_KHR_parallel_shader_compile, GL_KHR_texture_compression_astc_ldr,
      GL_KHR_texture_compression_astc_sliced_3d, GL_MESA_bgra,
      GL_MESA_framebuffer_flip_y, GL_MESA_shader_integer_functions,
      GL_NV_conditional_render, GL_NV_draw_buffers, GL_NV_fbo_color_attachments,
      GL_NV_pixel_buffer_object, GL_NV_read_buffer, GL_NV_read_depth,
      GL_NV_read_depth_stencil, GL_NV_read_stencil, GL_OES_EGL_image,
      GL_OES_EGL_image_external, GL_OES_EGL_image_external_essl3,
      GL_OES_EGL_sync, GL_OES_compressed_ETC1_RGB8_texture, GL_OES_depth24,
      GL_OES_depth_texture, GL_OES_depth_texture_cube_map,
      GL_OES_draw_buffers_indexed, GL_OES_draw_elements_base_vertex,
      GL_OES_element_index_uint, GL_OES_fbo_render_mipmap,
      GL_OES_get_program_binary, GL_OES_mapbuffer, GL_OES_packed_depth_stencil,
      GL_OES_required_internalformat, GL_OES_rgb8_rgba8,
      GL_OES_standard_derivatives, GL_OES_stencil8, GL_OES_surfaceless_context,
      GL_OES_texture_3D, GL_OES_texture_border_clamp, GL_OES_texture_float,
      GL_OES_texture_float_linear, GL_OES_texture_half_float,
      GL_OES_texture_half_float_linear, GL_OES_texture_npot,
      GL_OES_texture_stencil8, GL_OES_vertex_array_object,
      GL_OES_vertex_half_float
  

How to reproduce

Setup Ubuntu VM:
Inside Powershell or Cmd run

wsl --install -d Ubuntu-20.04

and follow the instructions.

After installation run sudo apt update and sudo apt upgrade.
Then follow this tutorial until step 1.4 where ros-noetic-desktop-full should be installed.
Finally install ros-noetic-moveit and ros-noetic-moveit-resources and run:

roslaunch moveit_resources_panda_moveit_config test_environment.launch &
rviz

It used to work a few weeks ago, I'm not exactly sure what broke it. (Maybe apt upgrade?)
It could be something related to the shader considering that it's a rendering only bug?
I'm also not sure if this is a local problem since I only have a single Windows 11 machine to test this on. (which supports WSLg)

If there's anything I have missed or I should try let me know.

[rhaschke]

I can confirm this issue on another WSLg installation, also employing an NVIDIA card.
I filed an issue upstream: microsoft/wslg#744

[rhaschke]

A laptop with an Intel GPU only, doesn't exhibit this issue. It seems to be related to Microsoft's D3D12 renderer.

[rhaschke]

As a workaround, you can set the environment variable LIBGL_ALWAYS_SOFTWARE=true, thus disabling accelerated rendering and instead enabling software rendering via llvmpipe.