If your system has an Intel® GPU, you can improve the simulation experience by making configuration changes. GPU support can speed up larger Gazebo* simulations noticeably.

To enable GPU support, perform the following steps:

1. Check if your system has a GPU from Intel®.

   sudo lshw -c video |grep driver

   Examples of output for an Intel® Iris® Xe Graphics GPU:

   configuration: depth=32 *driver=i915* latency=0 mode=1280x1024 visual=truecolor xres=1280 yres=1024

2. Check that the drivers are working and enabled:

   sudo apt install mesa-utils
   glxinfo| grep -i "opengl renderer"

   Examples of output:

   1. For 10th generation Core microprocessors, Comet Lake GPU:

      OpenGL renderer string: Mesa Intel(R) UHD Graphics 630 (CML GT2)

   2. For 11th generation Core microprocessors, Tiger Lake GPU:

      OpenGL renderer string: Mesa Intel(R) Xe Graphics (TGL GT2)

   3. For GPU support missing: (pure slow software rendering)

      OpenGL renderer string: llvmpipe (LLVM 12.0.0m 256 bits)

3. If the system reports llvmpipe instead of “UHD Graphics” or “Xe Graphics” then:

   1. Check your connection type:

      echo $DISPLAY

      If it is not “:0” then you may be using a VNC.
      Check below for working configurations.
                      

   2. Software and Hardware environments found to be working:

      • gnome desktop

      • direct access to the system via a monitor

      • remote access using KVM over IP

      • remote access using x11vnc, without any headless configurations

   3. Software and Hardware environments found not to be working:

      • XFCE desktop, Wayland desktop

      • headless x11vnc config

      • tigerVNC

   4. If the system has integrated GPU but it is still not recognized, try:

      • Connect a monitor (or graphical display hardware).

      • Remove any headless config (if existing):

      sudo rm -rf /etc/X11/xorg.conf
      sudo rm -rf /usr/share/X11/xorg.conf.d/xorg.conf
      sudo mv ~/.Xauthority ~/.Xauthority.backup
      sudo apt install --reinstall xserver-xorg-video-intel
      sudo apt-get install --reinstall xserver-xorg
      sudo apt-get install --reinstall x11vnc
      sudo systemctl enable x11vnc
      sudo apt install --reinstall gdm3 ubuntu-desktop gnome-shell
      sudo systemctl reboot