Ignition Gazebo (Gazebo Sim 6) Crash with Intel Iris Xe Graphics (D3D12 Backend) in WSLg

[Siyuen23]

I am attempting to run Ignition Gazebo 6 within a WSL2 (Ubuntu 22.04) environment on Windows 11, utilizing an Intel(R) Iris(R) Xe Graphics card. Despite successfully enabling OpenGL hardware acceleration (indicated by direct rendering: Yes) and verifying that other OpenGL applications (such as Qt OpenGL examples and Rviz2) run smoothly, Ignition Gazebo consistently encounters a fatal error and crashes upon launch.

Detailed Issue:

When attempting to launch Ignition Gazebo 6 (via ros2 launch ros_gz_sim gz_sim.launch.py), the application immediately crashes, displaying the following error messages:

CommandLine Error: Option 'spirv-expand-step' registered more than once! LLVM ERROR: inconsistency in registered CommandLine options Stack trace (most recent call last): ... #7 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at ... in llvm::cl::Option::addArgument() ... Aborted [cite: 5]

This error indicates a deep-seated conflict during shader compilation or LLVM option registration between the WSLg's Direct3D12/LLVM backend and the Intel graphics driver components (specifically

libLLVM-14.so and libd3d12core.so ).

Given that other OpenGL applications, including Rviz2, function correctly in the same hardware-accelerated environment, and Gazebo (which uses the Ogre rendering engine) crashes due to this specific LLVM error, I suspect this may be a compatibility issue unique to Intel Iris Xe Graphics and the WSLg's D3D12 backend, particularly when handling Gazebo/Ogre's more complex shader compilation processes.

Additional Information:

I have also attempted to use an alternative setup involving ROS2 + PyBullet + Rviz, but I consistently encounter display issues. Upon detailed debugging, similar conflicts with the WSLg backend and the Intel graphics driver were identified. Therefore, I am seeking a comprehensive resolution that addresses this underlying compatibility problem.

Request for Assistance:

I kindly request your team's assistance in diagnosing this issue and providing a solution or a workaround. Your time and support are greatly appreciated.

Attachments:

• debug_output.txt: Contains the full debug log output.

• system_info.docx: Includes detailed version numbers and hardware information (Windows 11 version, WSL2 version, Ubuntu version, Intel CPU model, Intel Iris Xe Graphics driver version, etc.).

[Mike_Intel]

Hello Siyuen23,

Thank you for posting in Intel community Forum.

For me to better understand and diagnose the issue further, let me ask you to provide detailed responses to the following questions. This information will help me isolate the problem and determine the most appropriate course of action moving forward.

1. Are you using desktop pr laptop? Can you provide the brand and model of your system?
2. Was it working fine before or this is your first try to run this game/app?
3. Are you getting an error message during the crash? Can you share a screenshot?
4. Please help generate the SSU logs of your system. Kindly refer to the link below on where to download the SSU for Linux.

Intel® System Support Utility for the Linux* Operating System

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Siyuen23]

Dear Michael L.,

Thank you for your prompt response and continued assistance. I appreciate your efforts to help diagnose this issue.

I have collected the requested information and logs. Please find the detailed responses to your questions and all relevant files below.

1. System Information:

• Are you using a desktop or laptop? Can you provide the brand and model of your system?
  I am using a laptop. My laptop's brand is ASUS Notebook PC and the specific model is FX507. The CPU is a 13th Gen Intel® Core™ i9-13900H, and the integrated GPU is Intel® Iris® Xe Graphics.

• Was it working fine before or this is your first try to run this game/app?
  This is my first attempt to run Ignition Gazebo 6 within the WSL2/WSLg environment on this specific system. It has never worked in this setup, consistently crashing with the LLVM ERROR I previously reported. Other OpenGL applications, such as Qt OpenGL examples and Rviz2, launch and function correctly within the WSLg environment. This suggests the underlying WSLg graphics acceleration is generally functional, but Gazebo specifically encounters this issue. I have attached a screenshot of Rviz2 running successfully (rviz2_working.png) for your reference.

2. Crash Details and Logs:

• Are you getting an error message during the crash? Can you share a screenshot?
  Yes, I am getting a consistent and specific error message during the crash. The crash occurs when I try to launch the lights.sdf world in Ignition Gazebo 6 using the command: ros2 launch ros_gz_sim gz_sim.launch.py world:=/usr/share/ignition/ignition-gazebo6/worlds/lights.sdf gz_args:="-v 4" 2>&1 | tee gazebo_lights_crash_log.txt

  Below is the complete console output at the time of the crash. I have also attached a screenshot of this terminal output (gazebo_crash_terminal_screenshot.png) for visual confirmation.

  • • gazebo_crash_terminal_screenshot1.png 

    • gazebo_crash_terminal_screenshot2.png

    • gazebo_lights_crash_log.txt

3. System Support Utility (SSU) Log:

• Please help generate the SSU logs of your system. I have generated the SSU logs using the Intel System Support Utility for Linux (version 3.0.0.2). Although the tool displayed a warning message "This product is not supported on this operating system" when run, I proceeded with the scan as suggested. The generated ssu_report.xml file is attached to this email.

  •  ssu_report.xml 

4. Environment Summary:

For your complete reference, here is a detailed summary of my environment:

• Operating System: Windows 11 家庭中文版, Version 24H2, OS build 26100.4652

• Graphics Card: Intel(R) Iris(R) Xe Graphics, Driver Version: 32.0.101.6913

• WSL Version:

  • WSL version: 2.5.9.0

  • Kernel version: 6.6.87.2-1

  • WSLG version: 1.0.66

  • MSRDC version: 1.2.6074

  • Direct3D version: 1.611.1-81528511

  • Windows: 10.0.26100.4652

• Linux Distribution: Ubuntu 22.04.5 LTS

• ROS 2 Version: Humble Hawksbill

• Ignition Gazebo Version: 6.16.0

• Mesa Version: 23.2.1-1ubuntu3.1~22.04.3 (confirmed via glxinfo -B output)

5. Issue Analysis (for Intel's context):

The LLVM ERROR: inconsistency in registered CommandLine options with the stack trace pointing to libLLVM-14.so and libd3d12core.so within the WSLg driver path (/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/) strongly suggests a conflict or incompatibility in LLVM option registration during shader compilation. This appears to be specific to how Ignition Gazebo interacts with the Intel driver and the WSLg graphics stack. Given that other OpenGL applications function correctly, the issue may lie in a particular feature or an advanced graphics capability that Gazebo attempts to utilize, which then triggers this conflict.

I have also opened a corresponding bug report on the WSLg GitHub repository for Microsoft's awareness, as the error seems to involve the interaction between the the Intel driver and the WSLg graphics stack.

Thank you again for your time and assistance in investigating this matter. I look forward to your findings.

Hope this reply can help you!

Best regards,

siyuen

[Mike_Intel]

Hello Siyuen23,

Thank you for the information provided.  

I will do further research on this matter and post the response on this thread once it is available.

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Mike_Intel]

Hello Siyuen23,

I hope this message finds you well.

I just want to update you that I am actively recreating the issue that you raised with the integrated graphics.

I will provide an update as soon as possible.

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Mike_Intel]

Hello Siyuen23,

I hope you are having a good day.

I just want to update you that I am trying to re-create or simulate this issue in our lab. While doing it, I have some questions below that I want to ask you for me to make sure that the step of simulation is correct.

1. You mentioned before that you are using ROS 2 in Ubuntu 22.04? the latest version of this software is Kilted Kaiju that operates only in Ubuntu 24.04. please provide the exact instructions or step by step guide on how to install the ROS 2?
2. Are you using Foxy Fitzroy?
3. Are you installing Gazebo or ROS 2 using binaries or compiled from source?

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Siyuen23]

Dear Michael L.,

Thank you for the update. I'm glad to hear you are attempting to reproduce the issue in your lab. I will do my best to provide the precise information you need.

Regarding your questions about my ROS 2 and Gazebo installation, here is my reply:

• ROS 2 Version and Ubuntu Compatibility: You are correct that ROS 2 Humble Hawksbill (Humble) is indeed designed for Ubuntu 22.04 LTS (Jammy Jellyfish). My current Linux distribution is Ubuntu 22.04.5 LTS, as stated in my previous email, which is fully compatible with ROS 2 Humble. The latest ROS 2 distribution, Kilted Kaiju, is indeed for Ubuntu 24.04, but I am specifically using Humble with Ubuntu 22.04. I am not using Foxy Fitzroy.

• Gazebo Version and Installation Method (ROS 2 and Gazebo): My system has both Gazebo Classic and Ignition Gazebo installed due to ROS 2 Humble's dependencies.

  • Via the gazebo --version command, my Gazebo Classic version is 11.10.2.

  • The command I run that leads to the crash, ros2 launch ros_gz_sim gz_sim.launch.py , is used to launch Ignition Gazebo. The crash log also clearly showed "Ignition Gazebo Server v6.16.0", so the issue indeed occurs with Ignition Gazebo 6.16.0.

  • Both ROS 2 Humble and Ignition Gazebo 6 were installed using binaries from the official repositories, not compiled from source. This is the recommended and standard installation method for these versions.

Exact Installation Instructions (Step-by-step): Below are the exact instructions I followed to set up my WSL Ubuntu environment, install ROS 2 Humble, and Ignition Gazebo 6. These steps are directly from the official ROS 2 documentation and Ignition Gazebo documentation:

1. Set up Locale (WSL Ubuntu Terminal):


sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8


(Note: After this, I usually restart the WSL instance via wsl --shutdown in Windows CMD and then reopen it, though it might not be strictly necessary for the locale change to take effect immediately).

2. Set up Sources (WSL Ubuntu Terminal):


sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null


3. Install ROS 2 Humble (Desktop Full - WSL Ubuntu Terminal):


sudo apt update
sudo apt upgrade -y
sudo apt install ros-humble-desktop-full -y


4. Environment Setup (WSL Ubuntu Terminal):


echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc


5. Install Ignition Gazebo 6 (as part of ros_gz_sim - WSL Ubuntu Terminal): I installed ros-humble-ros-gz-sim which includes Ignition Gazebo 6 dependencies.


sudo apt install ros-humble-ros-gz-sim -y


This package installs Ignition Gazebo 6 as a dependency. The specific version 6.16.0 is also evident in the crash logs.

6. Test the Installation (Example, leading to crash):


ros2 launch ros_gz_sim gz_sim.launch.py world:=/usr/share/ignition/ignition-gazebo6/worlds/lights.sdf gz_args:="-v 4"


This is the command that consistently leads to the LLVM error and crash.

I hope these detailed steps and version information clarify my setup and assist you in reproducing the issue. Please let me know if you require any further information.

Best regards,

Siyuen

[Mike_Intel]

Hello Siyuen23,

Thank you for the quick reply.

I will go ahead and try this again in our lab.

I will provide an update on this as soon as possible.

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Mike_Intel]

Hello Siyuen23,

I hope this message finds you well.

I just want to update you that we've tried the commands provided by the customer. We are getting the following malformed error message:

Upon checking, the command was correctly recorded by was encountering errors:

To work around this issue, I tried using the official documentation and have successfully installed humble hawksbill - https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html

I was also able to install and follow the command to install Ignition Gazebo 6.16 that you left.

Afterwards, I tried the command that you mentioned and encountered another error message.

Please confirm if the steps we've followed is correct or if there are other possible ways to initiate the software for us the check the issue in our lab.

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Siyuen23]

Dear Michael L.,

Thank you for your update and for sharing the issues you encountered while trying to reproduce the problem. I am glad to see you have started investigating.
I'm sorry that I forgot to reply you the message. Hope it's not late for you.

I have carefully reviewed the screenshots you shared and can confirm that the two issues you ran into are different from the GPU driver conflict I initially reported. Both of these problems appear to be due to incomplete ROS 2 environment configuration.

1. Regarding the Malformed entry 1 in list file error:

The Malformed entry 1 in list file error you received is likely because the $(. /etc/os-release && echo UBUNTU_CODENAME) part of the echo command was not correctly parsed, or there was an issue when executing it as part of a multi-line command.

To resolve this, I recommend using the following more robust, step-by-step commands to add the ROS 2 sources list:

(Command line instructions:)

# First, execute this command to ensure UBUNTU_CODENAME is correctly resolved
UBUNTU_CODENAME=$(. /etc/os-release && echo UBUNTU_CODENAME)
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu ${UBUNTU_CODENAME} main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

# Alternatively, you can manually add the following line to the /etc/apt/sources.list.d/ros2.list file:
# deb [arch=amd64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu jammy main
#
# You can also use a text editor like nano or vim to manually add it:
# sudo nano /etc/apt/sources.list.d/ros2.list

2. Regarding the ValueError for gz_sim.launch.py:

The ValueError: 'ros2 launch' is not a valid package name or file path error you saw typically occurs when the ROS 2 environment script (/opt/ros/humble/setup.bash) has not been sourced. This prevents the system from recognizing the ros2 command.

Before running any ros2 command, please ensure you execute the following command in the terminal to load the ROS 2 environment:

(Command line instructions:)

source /opt/ros/humble/setup.bash

Important Note: Regarding the World File Path

I would like to add an important tip, as I encountered a similar issue during my own setup. If you receive a "file not found" error when running the Gazebo launch command, it might mean the path to the lights.sdf file is different on your system.

You can run the following commands to confirm the exact path to lights.sdf and adjust the command accordingly:

(Command line instructions:)

find / -name lights.sdf 2>/dev/null
# Or, if you know the general location:
ls /usr/share/ignition/ignition-gazebo6/worlds/lights.sdf

Please use the correct path returned by the find command to replace the path after world:= in the launch command.

If you continue to experience any issues after following these steps, please let me know.

Best regards,

Siyuen

[Mike_Intel]

Hello Siyuen23,

I hope this message finds you well. 

Were you able to check the previous post?

Please let us know if you still need assistance.

Best regards,

Michael L.

Intel Customer Support Technician

[Mike_Intel]

Hello Siyuen23,

Thank you for the quick update.

Thank you for providing the steps, I will try this again and update this thread.

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Mike_Intel]

Hello Siyuen23,

I hope you are having a good day.

I tried to run the your installation instructions with no success.

This prompted me to find installation instructions for Humble Hawksbill in Ros which can be found here: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html

By the way, I apologize regarding the confusion on the community post from the 28th of August, ROS 2 website was directing me to Foxy Fitzroy while showing prompts to use Kilted Kaiju.

After following the instructions from the website and your installation instruction, I was able to run Gazebo without any error messages.

Below are the steps I followed, (apologies for the inelegant presentation):

Open powershell type the following command wsl --install

Once done, open Microsoft Store

Locate and install Ubuntu 22.04.5

Once installed, press Open

Follow the ROS - Humble Hawksbill installation by copy+pasting and executing the following commands from https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html

# start copy + pasting here

locale # check for UTF-8

sudo apt update && sudo apt install locales

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

locale # verify settings

sudo apt install software-properties-common

sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y

export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')

curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivates use $UBUNTU_CODENAME

sudo dpkg -i /tmp/ros2-apt-source.deb

sudo apt update

sudo apt upgrade

sudo apt install ros-humble-desktop

sudo apt install ros-humble-ros-base

sudo apt install ros-dev-tools

# stop copy + pasting here

Install Ignition Gazebo 6 using the following command: 

sudo apt install ros-humble-ros-gz-sim -y

Once done type in and execute the following command: 

ros2 launch ros_gz_sim gz_sim.launch.py world:=/usr/share/ignition/ignition-gazebo6/worlds/lights.sdf gz_args:="-v 4"

 

Close out the Gazebo quick start window

Close the Ubuntu terminal

Open new ubuntu terminal 

follow the installation instructions for Ubuntu 22.04

Input the following commands:

# start copy + pasting here

wget -qO - https://repositories.intel.com/gpu/intel-graphics.key | \

 sudo gpg --yes --dearmor --output /usr/share/keyrings/intel-graphics.gpg

echo "deb [arch=amd64,i386 signed-by=/usr/share/keyrings/intel-graphics.gpg] https://repositories.intel.com/gpu/ubuntu jammy unified" | \

 sudo tee /etc/apt/sources.list.d/intel-gpu-jammy.list

sudo apt update

sudo apt-get install -y libze-intel-gpu1 libze1 intel-opencl-icd clinfo

sudo apt-get install -y libze-dev intel-ocloc

sudo apt-get install -y intel-level-zero-gpu-raytracing

# end copy + pasting here 

Verify the graphics installation by copy+pasting and executing the command below: 

clinfo | grep "Device Name"

Attempt to start Gazebo again: 

ros2 launch ros_gz_sim gz_sim.launch.py world:=/usr/share/ignition/ignition-gazebo6/worlds/lights.sdf gz_args:="-v 4"

 

Please try the steps above and update me if the issue still persists after following the steps.

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Siyuen23]

Dear Michael L.,

Firstly, I'm sorry that I reply to you so late.

Thank you very much for this detailed update and the step-by-step instructions. I'm glad to hear that you were able to run Gazebo without the crash error on your end.

I will follow your exact steps and reinstall my WSL Ubuntu environment, including the additional Intel graphics drivers you mentioned. I will perform the test on my system and get back to you with the results as soon as possible.

I really appreciate your thorough work on this issue.

Best regards,
Siyuen

[Mike_Intel]

Hello Siyuen23,

Thank you for letting us know.

I will just wait for your update once you tried to follow the steps I provided.

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Siyuen23]

Dear Michael L.,

Thank you for the detailed installation steps in your last email. I have followed your instructions and have completely uninstalled and reinstalled my WSL Ubuntu environment, including all ROS 2 and Intel Linux GPU drivers.

However, I must report that the issue has not been resolved. When I try to load a world in the Gazebo GUI, the program still crashes with the exact same LLVM ERROR as before.

To clearly reproduce the issue, I have executed the following precise steps:

1. Launch Command: In my WSL Ubuntu terminal, I ran the following command to launch the Gazebo server and GUI:

Plaintext

ros2 launch ros_gz_sim gz_sim.launch.py

2. GUI Operation and Crash: The Gazebo GUI successfully popped up, as figure 1, but it did not automatically load any world file. I manually clicked on the first world file (empty.sdf) in the left-hand panel of the GUI and selected the "Run" button. At this point, the program immediately crashed and the Gazebo window automatically closed.

3. Full Crash Log: Below is the complete terminal output log from that operation, which includes the crash information:

Plaintext

[INFO] [launch]: All log files can be found below /home/siyuen/.ros/log/2025-08-22-00-32-32-075444-LAPTOP-6V9FOV9K-1379
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [1380]
[ign gazebo-1] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[ign gazebo-1] : CommandLine Error: Option 'spirv-expand-step' registered more than once!
[ign gazebo-1] LLVM ERROR: inconsistency in registered CommandLine options
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7b8c39ab2e3f, in
[ign gazebo-1] #30 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7b8c39ab1488, in
[ign gazebo-1] #29 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7b8c39ab087f, in
[ign gazebo-1] #28 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7b8c39ab0b2b, in
[ign gazebo-1] #27 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7b8c39b816a7, in
[ign gazebo-1] #26 Object "/usr/lib/wsl/lib/libd3d12core.so", at 0x7b8c39b95780, in
[ign gazebo-1] #25 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12umd64.so", at 0x7b8c4ed6076a, in OpenAdapter12
[ign gazebo-1] #24 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12umd64.so", at 0x7b8c4ed609bd, in
[ign gazebo-1] #23 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12um64xel.so", at 0x7b8c4c55f9fc, in
[ign gazebo-1] #22 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12um64xel.so", at 0x7b8c4c5eb37e, in
[ign gazebo-1] #21 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigd12um64xel.so", at 0x7b8c4c618afe, in
[ign gazebo-1] #20 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61a906c7, in dlopen
[ign gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61a9012d, in
[ign gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61b74b62, in _dl_catch_error
[ign gazebo-1] #17 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61b74a97, in _dl_catch_exception
[ign gazebo-1] #16 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61a9063b, in
[ign gazebo-1] #15 Object "/lib64/ld-linux-x86-64.so.2", at 0x7b8c622fe34d, in
[ign gazebo-1] #14 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61b74a97, in _dl_catch_exception
[ign gazebo-1] #13 Object "/lib64/ld-linux-x86-64.so.2", at 0x7b8c622fdff5, in
[ign gazebo-1] #12 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61b74af4, in _dl_catch_exception
[ign gazebo-1] #11 Object "/lib64/ld-linux-x86-64.so.2", at 0x7b8c622f6567, in
[ign gazebo-1] #10 Object "/lib64/ld-linux-x86-64.so.2", at 0x7b8c622f647d, in
[ign gazebo-1] #9 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigc.so", at 0x7b8c291fc862, in
[ign gazebo-1] #8 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libigc.so", at 0x7b8c295b297a, in
[ign gazebo-1] #7 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7b8c27550bdf, in llvm::cl::Option::addArgument()
[ign gazebo-1] #6 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7b8c27550b5a, in
[ign gazebo-1] #5 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7b8c2755080e, in
[ign gazebo-1] #4 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7b8c27562f9b, in llvm::report_fatal_error(char const*, bool)
[ign gazebo-1] #3 Object "/usr/lib/wsl/drivers/iigd_dch.inf_amd64_507e62014afcde30/libLLVM-14.so", at 0x7b8c27562ee8, in llvm::report_fatal_error(llvm::Twine const&, bool)
[ign gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61a287f2, in abort
[ign gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61a42475, in raise
[ign gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7b8c61a969fc, in pthread_kill
[ign gazebo-1] Aborted (Signal sent by tkill() 1384 1000)
[ign gazebo-1] Escalating to SIGKILL on [Ignition Gazebo Server]
[INFO] [ign gazebo-1]: process has finished cleanly [pid 1380]
[INFO] [launch]: process[ign gazebo-1] was required: shutting down launched system

You will find that the key information in the crash log is exactly the same as I reported initially: LLVM ERROR: inconsistency in registered CommandLine options. This indicates that the underlying issue persists even after reinstalling all official Intel drivers.

4. My System and Driver Information: To assist with your diagnosis, here is the latest information about my system and drivers:

• Laptop Model: ASUS Notebook PC, FX507

• CPU: 13th Gen Intel® Core™ i9-13900H

• Integrated GPU: Intel® Iris® Xe Graphics

• WSL Version:

  Plaintext

  NAME STATE VERSION
  * Ubuntu-22.04 Running 2

• Ubuntu Version:

  Plaintext

  No LSB modules are available.
  Distributor ID: Ubuntu
  Description: Ubuntu 22.04.5 LTS
  Release: 22.04
  Codename: jammy

• clinfo Output:  see in the annex

• Installed Intel Driver Packages:

  Plaintext

  ii intel-igc-cm 1.0.225.54093-1136~22.04 amd64 Intel(R) C for Metal Compiler -- CM Frontend lib
  ii intel-level-zero-gpu-raytracing 1.1.0-97~u22.04 amd64 oneAPI Level Zero Ray Tracing Support
  ii intel-media-va-driver:amd64 22.3.1+dfsg1-1ubuntu2 amd64 VAAPI driver for the Intel GEN8+ Graphics family
  ii intel-ocloc 25.18.33578.15-1146~22.04 amd64 ocloc compiler for Intel Graphics Compute Runtime
  ii intel-opencl-icd 25.18.33578.15-1146~22.04 amd64 OpenCL installable client driver for Intel Graphics Compute Runtime
  ii libdrm-intel1:amd64 2.4.113-2~ubuntu0.22.04.1 amd64 Userspace interface to intel-specific kernel DRM services -- runtime
  ii libze-intel-gpu1 25.18.33578.15-1146~22.04 amd64 Shared library for Intel Graphics Compute Runtime

I hope these detailed steps and logs will help you investigate further. I am ready to perform any additional tests.

Sincerely,

Siyuen

[Mike_Intel]

Hello Siyuen23,

I hope you are doing well. 

I am just checking if you already tried to follow the steps that I provided.

Please let us know if you still need assistance.

Best regards,

Michael L.

Intel Customer Support Technician

[Siyuen23]

Hello Michael L.

I confirm that I strictly followed your instructions to build my Ubuntu.

When I finish the environment preparation, I run the bash code

ros2 launch ros_gz_sim gz_sim.launch.py

The result of UI changes normal. However, if I click a random world like "NAO joint control" and run it, the Gazebo UI will shutdown, which is still caused by the error LLVM ERROR. You can check the link documents I upload in the previous email.

So I hope you can understand my expression and solve the ERROR.

I sincerely appreciate what you have done so far. Thank you so much!

Yours,

siyuen

[Mike_Intel]

Hello Siyuen23,

Thank you for the update.

At this point, I recommend that you continue coordinating with ROS 2 regarding the issue since it is not reproducible on our end using the latest graphics drivers embedded on the code that we've previously posted.

If you have questions, please let us know. Thank you.

Best regards,

Michael L.

Intel Customer Support Technician

[Mike_Intel]

Hello Siyuen23,

I hope this message finds you well. 

Were you able to check the previous post?

Please let us know if you still need assistance.

Best regards,

Michael L.

Intel Customer Support Technician

[Siyuen23]

Dear Michael L.,

I performed new tests and have found a new, more insightful crash log.

I used the ign gazebo command and loaded a more complex world file, which caused another crash. The new log is different from the previous LLVM ERROR and points directly to an issue with the underlying renderer.

1. New Command that Causes the Crash: In my WSL Ubuntu terminal, I ran the following command:

ign gazebo -v 4 /usr/share/ignition/ignition-gazebo6/worlds/lights.sdf

2. Full Crash Log: Running this command again caused a crash. Here is the complete terminal output log:

[Msg] Ignition Gazebo GUI v6.16.0
[Dbg] [gz.cc:161] Subscribing to [/gazebo/starting_world].
[Dbg] [gz.cc:163] Waiting for a world to be set from the GUI...
[Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [/usr/share/ignition/ignition-gazebo6/worlds/lights.sdf] from the GUI.
[Dbg] [gz.cc:167] Unsubscribing from [/gazebo/starting_world].
[Msg] Ignition Gazebo Server v6.16.0
[Msg] Loading SDF world file[/usr/share/ignition/ignition-gazebo6/worlds/lights.sdf].
QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[Dbg] [Application.cc:92] Initializing application.
[Msg] Serving entity system service on [/entity/system/add]
[GUI] [Dbg] [Application.cc:555] Create main window
[Dbg] [Physics.cc:804] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:70] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/lights/create]
[Msg] Remove service on [/world/lights/remove]
[Msg] Pose service on [/world/lights/set_pose]
[Msg] Pose service on [/world/lights/set_pose_vector]
[Msg] Light configuration service on [/world/lights/light_config]
[Msg] Physics service on [/world/lights/set_physics]
[Msg] SphericalCoordinates service on [/world/lights/set_spherical_coordinates]
[Msg] Enable collision service on [/world/lights/enable_collision]
[Msg] Disable collision service on [/world/lights/disable_collision]
[Msg] Material service on [/world/lights/visual_config]
[Msg] Material service on [/world/lights/wheel_slip]
[Dbg] [SystemManager.cc:70] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:70] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/lights/control], [/world/lights/control/state] and [/world/lights/playback/control]
[Msg] Serving GUI information on [/world/lights/gui/info]
[Msg] World [lights] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/lights/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:496] Creating PostUpdate worker threads: 2
[Dbg] [SimulationRunner.cc:507] Creating postupdate worker thread (0)
[Msg] Serving scene information on [/world/lights/scene/info]
[Msg] Serving graph information on [/world/lights/scene/graph]
[Msg] Serving full state on [/world/lights/state]
[Msg] Serving full state (async) on [/world/lights/state_async]
[Msg] Publishing scene information on [/world/lights/scene/info]
[Msg] Publishing entity deletions on [/world/lights/scene/deletion]
[Msg] Publishing state changes on [/world/lights/state]
[Msg] Publishing pose messages on [/world/lights/pose/info]
[Msg] Publishing dynamic pose messages on [/world/lights/dynamic_pose/info]
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:242:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/lights/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/lights/state]...
[GUI] [Msg] Loading config [/home/siyuen/.ignition/gazebo/6/gui.config]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene]
[Dbg] [EntityComponentManager.cc:1623] Updated state thread iterators: 20 threads processing around 2 entities each.
[Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized.
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity Context Menu] to main window
[GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager]
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Camera reference visual topic advertised on [/gui/camera/view_control/reference_visual]
[GUI] [Msg] Camera view control sensitivity advertised on [/gui/camera/view_control/sensitivity]
[GUI] [Msg] Added plugin [Interactive view control] to main window
[GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager]
[GUI] [Msg] Listening to stats on [/world/lights/stats]
[GUI] [Msg] Added plugin [Marker Manager] to main window
[GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities]
[GUI] [Msg] Added plugin [Select entities] to main window
[GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Msg] Added plugin [Spawn] to main window
[GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities]
[GUI] [Msg] View as transparent service on [/gui/view/transparent]
[GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[GUI] [Msg] View center of mass service on [/gui/view/com]
[GUI] [Msg] View inertia service on [/gui/view/inertia]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] View joints service on [/gui/view/joints]
[GUI] [Msg] View frames service on [/gui/view/frames]
[GUI] [Msg] Added plugin [Visualization capabilities] to main window
[GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Msg] Using world control service [/world/lights/control]
[GUI] [Msg] Listening to stats on [/world/lights/stats]
[GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/lights/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Lights]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Dbg] [TransformControl.cc:222] Legacy mode is disabled; this plugin must be used with MinimalScene.
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot]
[GUI] [Msg] Screenshot service on [/gui/screenshot]
[GUI] [Msg] Added plugin [Screenshot] to main window
[GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste]
[GUI] [Msg] Added plugin [Copy/Paste] to main window
[GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[GUI] [Dbg] [Application.cc:296] Loading window config
[GUI] [Msg] Using server control service [/server_control]
[GUI] [Dbg] [Application.cc:569] Applying config
[GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MinimalScene.cc:602] Create scene [scene]
[GUI] [Wrn] [Application.cc:797] [QT] Qt has caught an exception thrown from an event handler. Throwing
exceptions from an event handler is not supported in Qt.
You must not let any exception whatsoever propagate through Qt code.
If that is not possible, in Qt 5 you must at least reimplement
QCoreApplication::notify() and catch all exceptions there.

terminate called after throwing an instance of 'Ogre::UnimplementedException'
what(): OGRE EXCEPTION(9:UnimplementedException): in GL3PlusTextureGpu::copyTo at /build/ogre-next-UFfg83/ogre-next-2.2.5+dfsg3/RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 677)
Stack trace (most recent call last) in thread 607:
#10 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7d829672684f, in
#8 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7d8296694ac2, in
#7 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7d829089199d, in
#6 Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7d829088ff90, in qTerminate()
#5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7d8292aae276, in std::terminate()
#4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7d8292aae20b, in
#3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7d8292aa2b9d, in
#2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7d82966287f2, in abort
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7d8296642475, in raise
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7d82966969fc, in pthread_kill
Aborted (Signal sent by tkill() 511 1000)
[Dbg] [SignalHandler.cc:141] Received signal[2].
[Dbg] [ServerPrivate.cc:110] Server received signal[2]
[Dbg] [gz.cc:410] Shutting down ign-gazebo-server
[Dbg] [SimulationRunner.cc:523] Exiting postupdate worker thread (0)

My Analysis and Understanding of the Issue

This new log file provides a deeper insight into the problem. While the previous LLVM ERROR indicated a conflict during LLVM command-line argument registration—typically caused by multiple components (e.g., different driver versions or libraries) trying to register the same option—this new OGRE EXCEPTION points to a more specific and fundamental issue.

The OGRE EXCEPTION(9:UnimplementedException) explicitly states that the Ogre rendering engine attempted to call the GL3PlusTextureGpu::copyTo function, but this function is unimplemented in your Intel driver. This indicates that the D3D12 backend driver provided by Intel for the WSLg environment is functionally incomplete, lacking a crucial graphics feature required for Gazebo/Ogre to operate correctly.

This also explains why the ign gazebo -s command with empty.sdf did not crash: it only started the server and did not activate the rendering backend, so the unimplemented function was never called. In contrast, using lights.sdf forces Gazebo to initialize its rendering engine to handle the visual elements, immediately triggering the underlying driver bug.

In summary, I believe the root cause of the issue is a defective or incomplete implementation of the Intel WSLg driver. Both the LLVM ERROR and the OGRE EXCEPTION are different symptoms of the same fundamental problem: the current driver version is unable to provide complete and stable 3D rendering support for Gazebo.

I hope this new information helps you pinpoint the issue more accurately. I am ready to perform any additional tests.

Sincerely,

Siyuen