On Windows Gazebo does not start in Powershell or Git Bash

[traversaro]

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

At the moment gazebo on Windows does not start correctly in Powershell or Git Bash, and it works correctly only when launched on Command Prompt. I am not sure if this is expected or not, but having an issue open at least can be helpful for confused users.

In both Powershell and Git Bash, the error is the following:

(robsup) PS C:\Users\STraversaro> gazebo --verbose
Gazebo multi-robot simulator, version 11.3.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 11.3.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.26.160.1
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.26.160.1
[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:81] Unable to load sensors
[Err] [..\gazebo\Server.cc:306] Unable to load gazebo
[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.
[Wrn] [..\gazebo\rendering\RenderEngine.cc:292] Cannot initialize render engine since render path type is NONE. Ignore this warning ifrendering has been turned off on purpose.

This is probably caused by the fact that the activation script is running only when the activated bash is Command Prompt. The easiest solution for this may be to roll our our own https://github.com/wolfv/multisheller scripts instead of relying on the one provided by Gazebo.

Environment (conda list):

$ conda list
# packages in environment at C:\Users\STraversaro\Miniforge3\envs\robsup:
#
# Name                    Version                   Build  Channel
ace                       6.5.12               h0e60522_1    conda-forge
asio                      1.14.1               he025d50_0    conda-forge
boost                     1.74.0           py36h9a8d428_2    conda-forge
boost-cpp                 1.74.0               h54f0996_1    conda-forge
bzip2                     1.0.8                h8ffe710_4    conda-forge
ca-certificates           2020.12.5            h5b45459_0    conda-forge
certifi                   2020.12.5        py36ha15d459_0    conda-forge
clangdev                  5.0.0                   flang_3  [flang]  conda-forge
console_bridge            1.0.1                h7ef1ec2_0    conda-forge
cppzmq                    4.7.1                h276ee43_0    conda-forge
curl                      7.71.1               h4b64cdc_8    conda-forge
dlfcn-win32               1.2.0                he025d50_0    conda-forge
eigen                     3.3.9                h2d74725_0    conda-forge
ffmpeg                    4.3.1                ha925a31_0    conda-forge
freeglut                  3.2.1                h0e60522_0    conda-forge
freeimage                 3.18.0               h33f27b4_0    conda-forge
freetype                  2.10.4               h546665d_0    conda-forge
gazebo                    11.3.0               h49d8821_2    conda-forge
gettext                   0.19.8.1          h1a89ca6_1005    conda-forge
glew                      2.1.0                h39d44d4_2    conda-forge
glfw                      3.3.2                h2fa13f4_1    conda-forge
glib                      2.66.3               h0e60522_1    conda-forge
gsl                       2.6                  hdfb1a43_1    conda-forge
gts                       0.7.6                hee8e781_1    conda-forge
hdf5                      1.10.6          nompi_h5268f04_1112    conda-forge
icu                       67.1                 h33f27b4_0    conda-forge
ilmbase                   2.5.3                h7bd577a_0    conda-forge
intel-openmp              2020.3             h57928b3_311    conda-forge
ipopt                     3.13.3               hf6be2e5_5    conda-forge
jasper                    2.0.14               hdc05fd1_1    conda-forge
jpeg                      9d                   h8ffe710_0    conda-forge
jsoncpp                   1.8.4             h1ad3211_1002    conda-forge
krb5                      1.17.2               hbae68bd_0    conda-forge
libblas                   3.8.0                    21_mkl    conda-forge
libcblas                  3.8.0                    21_mkl    conda-forge
libclang                  10.0.1          default_hf44288c_1    conda-forge
libcurl                   7.71.1               h4b64cdc_8    conda-forge
libffi                    3.3                  h0e60522_2    conda-forge
libflang                  5.0.0           h6538335_20180525    conda-forge
libglib                   2.66.3               h8c8e623_1    conda-forge
libiconv                  1.16                 he774522_0    conda-forge
libignition-cmake2        2.5.0                h39d44d4_3    conda-forge
libignition-common3       3.7.0                h162260a_4    conda-forge
libignition-fuel-tools4   4.2.1                h961be0a_1    conda-forge
libignition-math6         6.7.0                h13ae965_0    conda-forge
libignition-msgs5         5.3.0                h13ae965_2    conda-forge
libignition-tools1        1.0.0                h57928b3_3    conda-forge
libignition-transport8    8.1.0                h2130529_2    conda-forge
libjpeg-turbo             2.0.5                he774522_0    conda-forge
liblapack                 3.8.0                    21_mkl    conda-forge
liblapacke                3.8.0                    21_mkl    conda-forge
libmatio                  1.5.19               h216f7ef_0    conda-forge
libode                    0.16.2               ha925a31_2    conda-forge
libopencv                 4.5.0                    py36_3    conda-forge
libpng                    1.6.37               h1d00b33_2    conda-forge
libprotobuf               3.13.0.1             h200bbdf_0    conda-forge
libsdformat               9.3.0                h4bf3a07_2    conda-forge
libsodium                 1.0.18               h8d14728_1    conda-forge
libssh2                   1.9.0                hb06d900_5    conda-forge
libtiff                   4.1.0                hc10be44_6    conda-forge
libwebp-base              1.1.0                h8ffe710_3    conda-forge
libxml2                   2.9.10               h1006b36_2    conda-forge
libzip                    1.7.3                hfed4ece_0    conda-forge
lz4-c                     1.9.2                h62dcd97_2    conda-forge
m2w64-gcc-libgfortran     5.3.0                         6
m2w64-gcc-libs            5.3.0                         7
m2w64-gcc-libs-core       5.3.0                         7
m2w64-gmp                 6.1.0                         2
m2w64-libwinpthread-git   5.0.0.4634.697f757               2
metis                     5.1.0             h0e60522_1006    conda-forge
mkl                       2020.4             hb70f87d_311    conda-forge
msys2-conda-epoch         20160418                      1
mumps-seq                 5.2.1               hb3f9cae_10    conda-forge
numpy                     1.19.4           py36hd1b969e_1    conda-forge
ogre                      1.10.12              h71cedee_6    conda-forge
opencv                    4.5.0                    py36_3    conda-forge
openexr                   2.5.3                h5dfd299_0    conda-forge
openmp                    5.0.0                    vc14_0    conda-forge
openssl                   1.1.1h               he774522_0    conda-forge
pcre                      8.44                 ha925a31_0    conda-forge
pip                       20.3.1             pyhd8ed1ab_0    conda-forge
pkg-config                0.29.2            h2bf4dc2_1008    conda-forge
portaudio                 19.6.0               hca4a3dc_3    conda-forge
protobuf                  3.4.1               py36_vc14_0    conda-forge
pugixml                   1.10                 ha925a31_1    conda-forge
py-opencv                 4.5.0            py36h7b2dad6_3    conda-forge
python                    3.6.11          h39d44d4_3_cpython    conda-forge
python_abi                3.6                     1_cp36m    conda-forge
qt                        5.12.9               hb2cf2c5_0    conda-forge
qwt                       6.1.5                h265ddaf_0    conda-forge
ruby                      2.7.2                h8b1b97a_3    conda-forge
sdl                       1.2.15               h21ff451_1    conda-forge
sdl2                      2.0.12               h0e60522_1    conda-forge
setuptools                49.6.0           py36hd36e781_2    conda-forge
six                       1.15.0             pyh9f0ad1d_0    conda-forge
sqlite                    3.34.0               h8ffe710_0    conda-forge
tbb                       2019.9               he980bc4_1    conda-forge
tbb-devel                 2019.9               he980bc4_1    conda-forge
tiny-process-library      2.0.4                h0e60522_0    conda-forge
tinyxml                   2.6.2                h7ef1ec2_1    conda-forge
tinyxml2                  8.0.0                h33f27b4_1    conda-forge
tk                        8.6.10               he774522_1    conda-forge
urdfdom                   2.3.3                h7ef1ec2_0    conda-forge
urdfdom_headers           1.0.5                h7ef1ec2_2    conda-forge
vc                        14.1                 h869be7e_1    conda-forge
vs2015_runtime            14.16.27012          h30e32a0_2    conda-forge
wheel                     0.36.1             pyhd3deb0d_0    conda-forge
wincertstore              0.2             py36h9f0ad1d_1005    conda-forge
xz                        5.2.5                h62dcd97_1    conda-forge
yaml                      0.2.5                he774522_0    conda-forge
zeromq                    4.3.2                ha925a31_4    conda-forge
zlib                      1.2.11            h62dcd97_1010    conda-forge
zstd                      1.4.5                h1f3a1b7_2    conda-forge
zziplib                   0.13.69              ha81a0f5_1    conda-forge

Details about conda and system ( conda info ):

$ conda info

(robsup) PS C:\Users\STraversaro> conda info

     active environment : robsup
    active env location : C:\Users\STraversaro\Miniforge3\envs\robsup
            shell level : 2
       user config file : C:\Users\STraversaro\.condarc
 populated config files : C:\Users\STraversaro\Miniforge3\.condarc
                          C:\Users\STraversaro\.condarc
          conda version : 4.9.2
    conda-build version : 3.20.5
         python version : 3.8.6.final.0
       virtual packages : __cuda=10.2=0
                          __win=0=0
                          __archspec=1=x86_64
       base environment : C:\Users\STraversaro\Miniforge3  (writable)
           channel URLs : https://conda.anaconda.org/conda-forge/win-64
                          https://conda.anaconda.org/conda-forge/noarch
                          https://repo.anaconda.com/pkgs/main/win-64
                          https://repo.anaconda.com/pkgs/main/noarch
                          https://repo.anaconda.com/pkgs/r/win-64
                          https://repo.anaconda.com/pkgs/r/noarch
                          https://repo.anaconda.com/pkgs/msys2/win-64
                          https://repo.anaconda.com/pkgs/msys2/noarch
                          https://conda.anaconda.org/msys2/win-64
                          https://conda.anaconda.org/msys2/noarch
          package cache : C:\Users\STraversaro\Miniforge3\pkgs
                          C:\Users\STraversaro\.conda\pkgs
                          C:\Users\STraversaro\AppData\Local\conda\conda\pkgs
       envs directories : C:\Users\STraversaro\Miniforge3\envs
                          C:\Users\STraversaro\.conda\envs
                          C:\Users\STraversaro\AppData\Local\conda\conda\envs
               platform : win-64
             user-agent : conda/4.9.2 requests/2.25.0 CPython/3.8.6 Windows/10 Windows/10.0.19041
          administrator : False
             netrc file : None
           offline mode : False

(robsup) PS C:\Users\STraversaro>

[traversaro]

In https://github.com/wolfv/multisheller/pull/8 I added support in multisheller to add and remove values from env variables list, that could be useful for this.

Example of their use can be found for example in the files in https://github.com/traversaro/robotology-superbuild/tree/6199a7d9e67de85d5c9024905f687f094ad37e8c/conda/multisheller, while the snippet of code to generate the actual scripts from the msh files can be found in https://github.com/traversaro/robotology-superbuild/blob/6199a7d9e67de85d5c9024905f687f094ad37e8c/conda/python/generate_conda_recipes_from_metadatadata.py#L57 .