Launch gazebo on WSL

[xela-95]

This issue tracks all the necessary steps to make gazebo and gz-sim-yarp-plugins work on WSL, with particular reference to the case of ErgoCub robot (see #122 )

Tests done on Windows 11 22H2

[xela-95]

Preliminary steps

WSL

• Install WSL2: https://learn.microsoft.com/en-us/windows/wsl/install
• Install Ubuntu 22.04 LTS from the Windows store: https://www.microsoft.com/store/productId/9PN20MSR04DW?ocid=pdpshare

Mamba and repositories

• Install mamba: https://github.com/robotology/robotology-superbuild/blob/master/doc/install-mambaforge.md
• Create conda environment: https://github.com/robotology/gz-sim-yarp-plugins/tree/main (or, in case of using walking-controllers with ergocub refer to Diary: make ergoCub walk in Gazebo #122 (comment))
• Among other the conda environment will install Gazebo. In order to work properly it needs some low-level dependencies already installed on Ubuntu through apt:
  • libopengl0
  • libEGL.so.1
  • libegl1
  • libgl1-mesa-glx
• Clone this repository
• Follow the README to build, install it and set the GZ_SIM_PLUGIN_PATH to the installation location

[xela-95]

Import ErgoCub

• Clone the temporary repository https://github.com/xela-95/ergocub_ws
• Update in the setup.sh the env. vars GZ_SIM_RESOURCE_PATH and YARP_DATA_DIRS
• Activate conda environment
• Launch yarp server
• cd to the ergocub_ws folder
• source setup.sh
• Launch gz sim example.world -v 4

[xela-95]

fyi @traversaro

[xela-95]

I'm facing the issue of gazebo not finding the gz-sim-yarp-plugins shared libraries, in fact when I execute:

gz sim example.world -v 4

I get the following logs, even if the env. var GZ_SIM_PLUGIN_PATH is equal to :/home/acroci/mambaforge/envs/walking/lib and in that location are present the shared libraries needed by Gazebo:

Details

[Msg] Gazebo Sim GUI    v8.1.0
[Dbg] [gz.cc:166] Subscribing to [/gazebo/starting_world].
[Dbg] [gz.cc:168] Waiting for a world to be set from the GUI...
[Dbg] [Gui.cc:263] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [example.world] from the GUI.
[Dbg] [gz.cc:172] Unsubscribing from [/gazebo/starting_world].
[Msg] Gazebo Sim Server v8.1.0
[Msg] Loading SDF world file[/home/acroci/repos/ergocub_ws/example.world].
QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[Dbg] [Application.cc:102] Initializing application.
[Dbg] [Application.cc:176] Qt using OpenGL graphics interface
[GUI] [Dbg] [Application.cc:663] Create main window
[GUI] [Dbg] [PathManager.cc:68] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Dbg] [Gui.cc:343] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[Msg] Serving entity system service on [/entity/system/add]
[GUI] [Dbg] [PathManager.cc:57] Received resource paths.
[GUI] [Dbg] [Gui.cc:401] Requesting GUI from [/world/default/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:149] Requesting initial state from [/world/default/state]...
[GUI] [Msg] Loading config [/home/acroci/.gz/sim/8/gui.config]
[GUI] [Dbg] [Application.cc:534] Loading plugin [MinimalScene]
[GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:982] Creating render thread interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:982] Creating render thread interface for OpenGL
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libMinimalScene.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [EntityContextMenuPlugin]
[GUI] [Wrn] [Application.cc:905] [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:905] [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:905] [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:905] [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:905] [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:905] [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:905] [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:905] [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:905] [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:905] [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:905] [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:905] [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 [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libEntityContextMenuPlugin.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [GzSceneManager]
[Dbg] [Physics.cc:860] Loaded [gz::physics::dartsim::Plugin] from library [/home/acroci/mambaforge/envs/walking/lib/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Physics] for entity [1]
[Msg] Create service on [/world/tutorial_controlboard/create]
[Msg] Remove service on [/world/tutorial_controlboard/remove]
[Msg] Pose service on [/world/tutorial_controlboard/set_pose]
[Msg] Pose service on [/world/tutorial_controlboard/set_pose_vector]
[Msg] Light configuration service on [/world/tutorial_controlboard/light_config]
[Msg] Physics service on [/world/tutorial_controlboard/set_physics]
[Msg] SphericalCoordinates service on [/world/tutorial_controlboard/set_spherical_coordinates]
[Msg] Enable collision service on [/world/tutorial_controlboard/enable_collision]
[Msg] Disable collision service on [/world/tutorial_controlboard/disable_collision]
[Msg] Material service on [/world/tutorial_controlboard/visual_config]
[Msg] Material service on [/world/tutorial_controlboard/wheel_slip]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::UserCommands] for entity [1]
[Dbg] [Sensors.cc:527] Configuring Sensors system
[Dbg] [Sensors.cc:446] SensorsPrivate::Run
[Dbg] [Sensors.cc:422] SensorsPrivate::RenderThread started
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Sensors] for entity [1]
[Dbg] [Sensors.cc:262] Waiting for init
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::SceneBroadcaster] for entity [1]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Contact] for entity [1]
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-clock-system] : Could not find shared library.
[Wrn] [SdfEntityCreator.cc:963] Sensor type LIDAR not supported yet. Try usinga GPU LIDAR instead.
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::ForceTorque] for entity [9]
[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::Imu] for entity [9]
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-imu-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-forcetorque-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-laser-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-controlboard-system] : Could not find shared library.
[Err] [SystemLoader.cc:92] Failed to load system plugin [gz-sim-yarp-robotinterface-system] : Could not find shared library.
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/tutorial_controlboard/control], [/world/tutorial_controlboard/control/state] and [/world/tutorial_controlboard/playback/control]
[Msg] Serving GUI information on [/world/tutorial_controlboard/gui/info]
[Msg] World [tutorial_controlboard] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/tutorial_controlboard/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].
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libGzSceneManager.so]
[GUI] [Dbg] [Application.cc:534] 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 [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libInteractiveViewControl.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libCameraTracking.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [MarkerManager]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [Marker Manager] to main window
[GUI] [Msg] Loaded plugin [MarkerManager] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libMarkerManager.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [SelectEntities]
[GUI] [Msg] Added plugin [Select entities] to main window
[GUI] [Msg] Loaded plugin [SelectEntities] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libSelectEntities.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [Spawn]
[GUI] [Msg] Added plugin [Spawn] to main window
[GUI] [Msg] Loaded plugin [Spawn] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libSpawn.so]
[GUI] [Dbg] [Application.cc:534] 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 [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libVisualizationCapabilities.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [WorldControl]
[GUI] [Msg] Using world control service [/world/default/control]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Dbg] [WorldControl.cc:250] 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 [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libWorldStats.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [Shapes]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libShapes.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [Lights]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libLights.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [TransformControl]
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libTransformControl.so]
[GUI] [Dbg] [Application.cc:534] 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 [/home/acroci/mambaforge/envs/walking/lib/gz-gui-8/plugins/libScreenshot.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [CopyPaste]
[GUI] [Msg] Added plugin [Copy/Paste] to main window
[GUI] [Msg] Loaded plugin [CopyPaste] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libCopyPaste.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libComponentInspector.so]
[GUI] [Dbg] [Application.cc:534] Loading plugin [EntityTree]
[GUI] [Wrn] [Application.cc:905] [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 [/home/acroci/mambaforge/envs/walking/lib/gz-sim-8/plugins/gui/libEntityTree.so]
[GUI] [Dbg] [Application.cc:404] Loading window config
[GUI] [Msg] Using server control service [/server_control]
[GUI] [Dbg] [Application.cc:677] Applying config
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v145WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[GUI] [Wrn] [Application.cc:905] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Wrn] [Application.cc:905] [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:905] [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] [Dbg] [MinimalScene.cc:800] Creating gz-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:982] Creating render thread interface for OpenGL
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[GUI] [Dbg] [MinimalScene.cc:747] Create scene [scene]
[GUI] [Dbg] [MinimalScene.cc:1030] Creating texture node render interface for OpenGL
[Wrn] [SimulationRunner.cc:723] Found additional publishers on /stats, using namespaced stats topic only
[Dbg] [SimulationRunner.cc:725] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:730]   tcp://172.21.28.41:34821, gz.msgs.WorldStatistics
[Wrn] [SimulationRunner.cc:757] Found additional publishers on /clock, using namespaced clock topic only
[Dbg] [SimulationRunner.cc:759] Publishers [Address, Message Type]:
[Dbg] [SimulationRunner.cc:764]   tcp://172.21.28.41:34821, gz.msgs.Clock
[Dbg] [SimulationRunner.cc:545] Creating PostUpdate worker threads: 6
[Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (2)
[Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (3)
[Dbg] [SimulationRunner.cc:556] Creating postupdate worker thread (4)
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [root_link_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hip_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hip_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hip_3_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_upper_leg_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_lower_leg_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_ankle_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_ankle_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hip_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hip_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hip_3_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_upper_leg_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_lower_leg_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_ankle_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_ankle_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [torso_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [torso_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [chest_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_shoulder_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_shoulder_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_shoulder_3_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_upper_arm_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_forearm_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_wrist_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_wrist_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_palm_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_index_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_index_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_index_3_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_middle_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_middle_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_pinkie_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_pinkie_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_ring_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_ring_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_thumb_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_thumb_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [l_hand_thumb_3_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [neck_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [neck_3_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [head_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [realsense_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_shoulder_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_shoulder_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_shoulder_3_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_upper_arm_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_forearm_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_wrist_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_wrist_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_palm_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_index_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_index_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_index_3_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_middle_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_middle_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_pinkie_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_pinkie_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_ring_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_ring_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_thumb_1_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_thumb_2_collision] couldn't be created
[Dbg] [SDFFeatures.cc:328] Mesh construction from an SDF has not been implemented yet for dartsim. Use AttachMeshShapeFeature to use mesh shapes.
[Dbg] [SDFFeatures.cc:843] The geometry element of collision [r_hand_thumb_3_collision] couldn't be created
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[GUI] [Dbg] [TransformControl.cc:453] TransformControl plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[GUI] [Dbg] [Spawn.cc:308] Spawn plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[GUI] [Dbg] [SelectEntities.cc:452] SelectEntities plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[GUI] [Dbg] [MarkerManager.cc:171] Advertise /marker/list service.
[GUI] [Dbg] [MarkerManager.cc:181] Advertise /marker/list.
[GUI] [Dbg] [MarkerManager.cc:191] Advertise /marker_array.
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[GUI] [Dbg] [CameraTracking.cc:174] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[Dbg] [Sensors.cc:700] Initialization needed
[GUI] [Msg] Move to service on [/gui/move_to]
[Dbg] [Sensors.cc:274] Initializing render context
[GUI] [Msg] Follow service on [/gui/follow]
[Msg] Loading plugin [gz-rendering-ogre2]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] Follow offset service on [/gui/follow/offset]
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::l_foot_front::l_foot_front_ft_imu] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/l_foot_front/sensor/l_foot_front_ft_imu/imu]
[GUI] [Dbg] [InteractiveViewControl.cc:178] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::l_foot_rear::l_foot_rear_ft_imu] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/l_foot_rear/sensor/l_foot_rear_ft_imu/imu]
[Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::r_foot_front::r_foot_front_ft_imu] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/r_foot_front/sensor/r_foot_front_ft_imu/imu]
[Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::r_foot_rear::r_foot_rear_ft_imu] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/r_foot_rear/sensor/r_foot_rear_ft_imu/imu]
[Msg] Serving scene information on [/world/tutorial_controlboard/scene/info]
[Msg] Serving graph information on [/world/tutorial_controlboard/scene/graph]
[Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::torso_1::waist_imu_0] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/torso_1/sensor/waist_imu_0/imu]
[Msg] Serving full state on [/world/tutorial_controlboard/state]
[Msg] Serving full state (async) on [/world/tutorial_controlboard/state_async]
[Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::head::head_imu_0] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/head/sensor/head_imu_0/imu]
[Msg] Publishing scene information on [/world/tutorial_controlboard/scene/info]
[Msg] Publishing entity deletions on [/world/tutorial_controlboard/scene/deletion]
[Dbg] [ImuSensor.cc:150] IMU data for [ergocub_fixed::ergoCub::realsense::realsense_imu_0] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/realsense/sensor/realsense_imu_0/imu]
[Msg] Publishing state changes on [/world/tutorial_controlboard/state]
[Msg] Publishing pose messages on [/world/tutorial_controlboard/pose/info]
[Msg] Publishing dynamic pose messages on [/world/tutorial_controlboard/dynamic_pose/info]
[Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 246
[Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 239
[Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 237
[Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 231
[Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 227
[Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 225
[Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 271
[Dbg] [ForceTorque.cc:153] Adding JointTransmittedWrench to: 219
[GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[Dbg] [RenderUtil.cc:2710] Create scene [scene]
[Dbg] [Sensors.cc:294] Rendering Thread initialized
Initialization needed
[Dbg] [CameraSensor.cc:458] Camera images for [ergocub_fixed::ergoCub::realsense::realsense_head_rgb] advertised on [world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/realsense/sensor/realsense_head_rgb/image]
[Dbg] [CameraSensor.cc:786] Camera info for [ergocub_fixed::ergoCub::realsense::realsense_head_rgb] advertised on [/world/tutorial_controlboard/model/ergocub_fixed/model/ergoCub/link/realsense/sensor/realsense_head_rgb/camera_info]
[Wrn] [Ogre2Camera.cc:421] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
[Wrn] [RenderPassSystem.cc:54] RenderPass of typeid 'N2gz9rendering2v814DistortionPassE' is not registered
[Wrn] [ImageBrownDistortionModel.cc:112] ImageBrownDistortionModel is not supported in ogre2

[traversaro]

mong other the conda environment will install Gazebo. In order to work properly it needs some low-level dependencies already installed on Ubuntu through apt:

* `libopengl0`

* `libEGL.so.1`

* `libegl1`

* `libgl1-mesa-glx`

Just a copy&paste friendly command:

sudo apt install libgl1-mesa-glx libegl1 libopengl0

[xela-95]

Side note: I find really cool to be able to use vscode from windows attached natively to WSL! See https://code.visualstudio.com/docs/remote/wsl

[xela-95]

Running Gazebo on a VM

Little off-topic (I didn't want to open explicitly an issue for this): up to now I'm stuck with the solution of using WSL to test ergoCub walking since when I launch the world containing it, it is not able to find the shared libraries of the plugins, even if the GZ_SIM_SYSTEM_PLUGIN_PATH is set up.

I've then tried to setup a VM (using VirtualBox) to avoid continuously restarting my PC to switch between Windows and Linux os. After having set up all the stuff needed (including installing the graphics packages with #133 (comment) ), when I started Gazebo I saw a black area in place of the rendered world, with no errors regarding it:

For the moment I was able to make it work by disabling the HW acceleration from the VirtualBox settings:

Unfortunately, this caused the simulation to be quite slow.

I've seen there are gz-sim issues related to this that I've not read yet:

• Gazebo Ignition fails to render scene in Ubuntu VM (using ogre2 = black screen) (using ogre = flickering of scene 1Hz) gazebosim/gz-sim#1492
• When OpenGL ogre2 rendering is happening via mesa's llvmpipe 21 or 22 with Ignition Fortress a black area is displayed instead of the 3D rendering gazebosim/gz-sim#1116

[xela-95]

In the end when configuring WSL I made a mistake in setting the GZ_SIM_SYSTEM_PLUGIN_PATH environment variable, and fixing this I was able to make gazebo start and load ergoCub.

When I try to run the walking controller tutorial using v0.8.0) I get an error at step 7:

[INFO] Loading custom PIDs
[INFO] Parsing DEFAULT PID group.
[INFO] DEFAULT PID successfully loaded
[INFO] |yarp.os.Port|/walking-coordinator/logger/data:o| Port /walking-coordinator/logger/data:o active at tcp://172.21.28.41:10110/
[INFO] [WalkingModule::configure] Ready to play! Please prepare the robot.
Exception of type: DYNAMIC_LIBRARY_FAILURE in file "../../src/Common/IpLibraryLoader.cpp" at line 67:
 Exception message: libhsl.so: cannot open shared object file: No such file or directory
[ERROR] WalkingIK: Failed in finding a solution.
[ERROR] [WalkingModule::prepareRobot] Inverse Kinematics failed while computing the initial position.

[xela-95]

In the end when configuring WSL I made a mistake in setting the GZ_SIM_SYSTEM_PLUGIN_PATH environment variable, and fixing this I was able to make gazebo start and load ergoCub.

When I try to run the walking controller tutorial using v0.8.0) I get an error at step 7:

[INFO] Loading custom PIDs
[INFO] Parsing DEFAULT PID group.
[INFO] DEFAULT PID successfully loaded
[INFO] |yarp.os.Port|/walking-coordinator/logger/data:o| Port /walking-coordinator/logger/data:o active at tcp://172.21.28.41:10110/
[INFO] [WalkingModule::configure] Ready to play! Please prepare the robot.
Exception of type: DYNAMIC_LIBRARY_FAILURE in file "../../src/Common/IpLibraryLoader.cpp" at line 67:
 Exception message: libhsl.so: cannot open shared object file: No such file or directory
[ERROR] WalkingIK: Failed in finding a solution.
[ERROR] [WalkingModule::prepareRobot] Inverse Kinematics failed while computing the initial position.

The issue was due to missing HSL solvers.