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 the update.

As stated in my previous post, at this point, it is better if you continue to coordinate this issue with ROS 2 since it is not reproducible on our end using the latest graphics drivers embedded on the code.

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 am just sending a follow up and hoping that you are now talking with ROS 2 for further assistance.

Please let us know if you still need assistance.

Best regards,

Michael L.

Intel Customer Support Technician