MacBook Air M1虚拟机中Ubuntu22.04 ARM版Gazebo启动即崩溃

问题 #

在M1芯片MacBook Air上通过Parallels Desktop 18运行Ubuntu 22.04 ARM系统，搭配ROS2 Humble及Gazebo Gardens做仿真。Rviz运行正常，但执行gz sim启动Gazebo后，点击空白项目或演示项目时窗口立刻崩溃，终端输出错误日志如下：

libGL error: pci id for fd 42: 1ab8:0010, driver (null)
pci id for fd 43: 1ab8:0010, driver (null)
libGL error: pci id for fd 44: 1ab8:0010, driver (null)
pci id for fd 52: 1ab8:0010, driver (null)
libEGL warning: pci id for fd 64: 1ab8:0010, driver (null)

pci id for fd 65: 1ab8:0010, driver (null)
terminate called after throwing an instance of 'Ogre::UnimplementedException'
  what():  OGRE EXCEPTION(9:UnimplementedException):  in GL3PlusTextureGpu::copyTo at ./RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 685)
Stack trace (most recent call last):
#31   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff93fcb06b, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#30   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff9402b523, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#29   Object "/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffff92e02f13, in g_main_context_iteration
#28   Object "/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffff92e5aeab, in 
#27   Object "/lib/aarch64-linux-gnu/libglib-2.0.so.0", at 0xffff92e05a6f, in g_main_context_dispatch
#26   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff9402c057, in 
#25   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff93fcff87, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#24   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff93fccb8f, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#23   Object "/lib/aarch64-linux-gnu/libQt5Widgets.so.5", at 0xffff95472abf, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#22   Object "/lib/aarch64-linux-gnu/libQt5Core.so.5", at 0xffff93ffcfd3, in QObject::event(QEvent*)
#21   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff58337dd7, in gz::gui::plugins::RenderWindowItem::Ready()
#20   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff58337917, in gz::gui::plugins::RenderThread::Initialize[abi:cxx11]()
#19   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff58343d17, in gz::gui::plugins::RenderThreadRhiOpenGL::Initialize[abi:cxx11]()
#18   Object "/usr/lib/aarch64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0xffff5833b10f, in gz::gui::plugins::GzRenderer::Initialize[abi:cxx11]()
#17   Object "/lib/aarch64-linux-gnu/libgz-rendering7.so.7", at 0xffff582c39c3, in gz::rendering::v7::BaseRenderEngine::CreateScene(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#16   Object "/lib/aarch64-linux-gnu/libgz-rendering7.so.7", at 0xffff582cc03f, in gz::rendering::v7::BaseRenderEngine::CreateScene(unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#15   Object "/lib/aarch64-linux-gnu/libgz-rendering7.so.7", at 0xffff582dfff3, in gz::rendering::v7::BaseScene::CreateMaterials()
#14   Object "/usr/lib/aarch64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0xffff33b50423, in gz::rendering::v7::Ogre2Material::SetTextureMapImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Ogre::PbsTextureTypes)
#13   Object "/usr/lib/aarch64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0xffff337ab46b, in Ogre::TextureGpuManager::_waitFor(Ogre::TextureGpu*, bool)
#12   Object "/usr/lib/aarch64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0xffff337ab0af, in Ogre::TextureGpuManager::_update(bool)
#11   Object "/usr/lib/aarch64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0xffff3368ebaf, in Ogre::ObjCmdBuffer::execute()
#10   Object "/usr/lib/aarch64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0xffff3368cf37, in Ogre::ObjCmdBuffer::NotifyDataIsReady::execute()
#9    Object "/usr/lib/aarch64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0xffff3379cef3, in Ogre::TextureFilter::GenerateHwMipmaps::_executeSerial(Ogre::TextureGpu*)
#8    Object "/usr/lib/aarch64-linux-gnu/OGRE-2.3/OGRE/RenderSystem_GL3Plus.so", at 0xffff330f2633, in Ogre::GL3PlusTextureGpu::copyTo(Ogre::TextureGpu*, Ogre::TextureBox const&, unsigned char, Ogre::TextureBox const&, unsigned char, bool, Ogre::CopyEncTransitionMode::CopyEncTransitionMode, Ogre::CopyEncTransitionMode::CopyEncTransitionMode)
#7    Object "/usr/lib/aarch64-linux-gnu/OGRE-2.3/OGRE/RenderSystem_GL3Plus.so", at 0xffff330b4997, in 
#6    Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff971e2d23, in __cxa_throw
#5    Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff971e2a3f, in std::terminate()
#4    Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff971e29db, in 
#3    Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff971e51fb, in __gnu_cxx::__verbose_terminate_handler()
#2    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff9b22712f, in abort
#1    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff9b23a67b, in raise
#0    Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff9b27f200, in 
Aborted (Signal sent by tkill() 13395 1000)

解决方案 #

• 强制启用软件渲染：Parallels的ARM GPU虚拟化对OpenGL部分特性支持不足，启动Gazebo前设置环境变量export LIBGL_ALWAYS_SOFTWARE=1，再执行gz sim；或者直接用命令LIBGL_ALWAYS_SOFTWARE=1 gz sim临时启用。
• 调整Parallels虚拟机GPU配置：打开虚拟机设置，找到“硬件”-“显卡”，将图形内存调至4GB及以上，确保“启用3D加速”和“使用Metal API”选项处于开启状态，重启虚拟机后再尝试启动Gazebo。
• 切换Gazebo版本：Gazebo Gardens对ARM平台兼容性有待优化，换成Gazebo Fortress（ROS2 Humble官方兼容版本），卸载现有Gardens后安装Fortress，命令如下：

  sudo apt remove gz-gardens
  sudo apt install gz-fortress
  

  启动时用gz sim -v 7（Fortress对应版本号7）。
• 更新Parallels Desktop：升级到最新版本，官方会持续修复ARM Ubuntu的GPU虚拟化问题，新版本可能直接解决OpenGL相关崩溃。

内容的提问来源于stack exchange，提问作者Nike Lepz