Rendering heightmaps in systems with only integrated GPU crashes Ogre2

[16stelter]

Environment

• OS Version: Ubuntu 24.04
• Source or binary build?
  • binary, gz-sim 8.10.0
• If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.

  • Rendering plugin: ogre2

    • Sensor rendering error.
    • GUI rendering error.

  • EGL headless mode:

    • Running in EGL headless mode

  • Generally, mention all circumstances that might affect rendering capabilities:

    • running on a dual GPU machine (integrated GPU + discrete GPU)
    • running on a multi-GPU machine (it has multiple discrete GPUs)
    • running on real hardware
    • running in virtual machine
    • running in Docker/Singularity
    • running remotely (e.g. via SSH)
    • running in a cloud
    • using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
    • GPU is concurrently used for other tasks
      • desktop acceleration
      • video decoding (i.e. a playing Youtube video)
      • video encoding
      • CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
      • multiple simulators running at the same time
    • other...

  • Rendering system info:

    • On Linux, provide the outputs of the following commands:

      LANG=C lspci -nn | grep VGA  # might require installing pciutils
      c3:00.0 VGA compatible controller [0300]: Advanced Micro Devices, Inc. [AMD/ATI] Phoenix1 [1002:15bf] (rev dd)
      echo "$DISPLAY"
      :0
      LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'  # might require installing mesa-utils package
      direct rendering: Yes
          Preferred profile: core (0x1)
          Max core profile version: 4.6
          Max compat profile version: 4.6
          Max GLES1 profile version: 1.1
          Max GLES[23] profile version: 3.2
      OpenGL vendor string: AMD
      OpenGL renderer string: AMD Radeon 780M Graphics (radeonsi, phoenix, LLVM 20.1.2, DRM 3.64, 6.17.0-20-generic)
      OpenGL core profile version string: 4.6 (Core Profile) Mesa 25.2.8-0ubuntu0.24.04.1
      OpenGL core profile shading language version string: 4.60
      OpenGL core profile context flags: (none)
      OpenGL core profile profile mask: core profile
      OpenGL version string: 4.6 (Compatibility Profile) Mesa 25.2.8-0ubuntu0.24.04.1
      OpenGL shading language version string: 4.60
      OpenGL context flags: (none)
      OpenGL profile mask: compatibility profile
      OpenGL ES profile version string: OpenGL ES 3.2 Mesa 25.2.8-0ubuntu0.24.04.1
      OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20
      ps aux | grep Xorg
      sebasti+  124873  0.0  0.0   9496  2444 pts/5    S+   14:45   0:00 grep --color=auto --exclude-dir=.bzr --exclude-dir=CVS --exclude-dir=.git --exclude-dir=.hg --exclude-dir=.svn --exclude-dir=.idea --exclude-dir=.tox --exclude-dir=.venv --exclude-dir=venv Xorg
      sudo env LANG=C X -version  # if you don't have root access, try to tell the version of Xorg e.g. via package manager
      X.Org X Server 1.21.1.11
      X Protocol Version 11, Revision 0
      Current Operating System: Linux T14s 6.17.0-20-generic #20~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Mar 19 01:28:37 UTC 2 x86_64
      Kernel command line: BOOT_IMAGE=/boot/vmlinuz-6.17.0-20-generic root=UUID=92f7996a-1d75-41db-91b4-2decee2cfecb ro quiet splash vt.handoff=7
      xorg-server 2:21.1.12-1ubuntu1.5 (For technical support please see http://www.ubuntu.com/support) 
      Current version of pixman: 0.42.2
          Before reporting problems, check http://wiki.x.org
          to make sure that you have the latest version. 

    • On Windows, run dxdiag and report the GPU-related information.
    • On Mac OS, open a terminal and type system_profiler SPDisplaysDataType. Copy the output here.

  • Please, attach the ogre.log or ogre2.log file from ~/.gz/rendering

    [ogre2.log](https://github.com/user-attachments/files/26677249/ogre2.log)
    

`

Details

[gazebo-1] [Wrn] [Ogre2Camera.cc:423] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
[gazebo-1] [Wrn] [RenderPassSystem.cc:54] RenderPass of typeid 'N2gz9rendering2v814DistortionPassE' is not registered
[gazebo-1] [Wrn] [ImageBrownDistortionModel.cc:112] ImageBrownDistortionModel is not supported in ogre2
[gazebo-1] terminate called after throwing an instance of 'Ogre::RenderingAPIException'
[gazebo-1]   what():  OGRE EXCEPTION(3:RenderingAPIException): Fragment Program 700000000PixelShader_ps failed to compile. See compile log above for details. in GLSLShader::compile at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/GLSL/OgreGLSLShader.cpp (line 361)
[gazebo-1] Stack trace (most recent call last) in thread 126557:
[gazebo-1] #30   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[gazebo-1] #29   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305ccf29c6b, in 
[gazebo-1] #28   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305cce9caa3, in 
[gazebo-1] #27   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7305c7eecdb3, in 
[gazebo-1] #26   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-sensors-system.so", at 0x7305a7b3fcff, in gz::sim::v8::systems::SensorsPrivate::RenderThread()
[gazebo-1] #25   Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-sensors-system.so", at 0x7305a7b3f27b, in gz::sim::v8::systems::SensorsPrivate::RunOnce()
[gazebo-1] #24   Object "/opt/ros/jazzy/opt/gz_sensors_vendor/lib/libgz-sensors8.so.8", at 0x7305a728a03e, in gz::sensors::v8::Manager::RunOnce(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&, bool)
[gazebo-1] #23   Object "/opt/ros/jazzy/opt/gz_sensors_vendor/lib/libgz-sensors8.so.8", at 0x7305a7289f5b, in gz::sensors::v8::Sensor::Update(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&, bool)
[gazebo-1] #22   Object "/opt/ros/jazzy/opt/gz_sensors_vendor/lib/libgz-sensors8-camera.so.8", at 0x7305a72bce19, in gz::sensors::v8::CameraSensor::Update(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
[gazebo-1] #21   Object "/opt/ros/jazzy/opt/gz_sensors_vendor/lib/libgz-sensors8-rendering.so.8", at 0x7305a72a1ac5, in gz::sensors::v8::RenderingSensor::Render()
[gazebo-1] #20   Object "/opt/ros/jazzy/opt/gz_rendering_vendor/lib/gz-rendering-8/engine-plugins/libgz-rendering-ogre2.so", at 0x73059760e00d, in gz::rendering::v8::Ogre2RenderTarget::Render()
[gazebo-1] #19   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.3", at 0x73059724c4c3, in Ogre::CompositorWorkspace::_update(bool)
[gazebo-1] #18   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.3", at 0x73059723cb35, in Ogre::CompositorNode::_update(Ogre::Camera const*, Ogre::SceneManager*)
[gazebo-1] #17   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.3", at 0x730597257fb8, in Ogre::CompositorPassScene::execute(Ogre::Camera const*)
[gazebo-1] #16   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.3", at 0x730596fb52fb, in Ogre::Camera::_renderScenePhase02(Ogre::Camera const*, unsigned char, unsigned char, bool)
[gazebo-1] #15   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.3", at 0x7305971537c2, in Ogre::SceneManager::_renderPhase02(Ogre::Camera*, Ogre::Camera const*, unsigned char, unsigned char, bool)
[gazebo-1] #14   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.3", at 0x73059710f504, in Ogre::RenderQueue::render(Ogre::RenderSystem*, unsigned char, unsigned char, bool, bool)
[gazebo-1] #13   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextMain.so.2.3.3", at 0x73059710e01e, in Ogre::RenderQueue::renderGL3(Ogre::RenderSystem*, bool, bool, Ogre::HlmsCache*, Ogre::RenderQueue::RenderQueueGroup const&, Ogre::IndirectBufferPacked*, unsigned char*, unsigned char*)
[gazebo-1] #12   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/libOgreNextHlmsPbs.so.2.3.3", at 0x7305a435b8f4, in Ogre::HlmsPbs::createShaderCacheEntry(unsigned int, Ogre::HlmsCache const&, unsigned int, Ogre::QueuedRenderable const&)
[gazebo-1] #11   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/OGRE-Next/RenderSystem_GL3Plus.so", at 0x73057c58c400, in Ogre::GLSLMonolithicProgramManager::getActiveMonolithicProgram()
[gazebo-1] #10   Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/OGRE-Next/RenderSystem_GL3Plus.so", at 0x73057c590f9d, in Ogre::GLSLMonolithicProgram::activate()
[gazebo-1] #9    Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/OGRE-Next/RenderSystem_GL3Plus.so", at 0x73057c590905, in Ogre::GLSLMonolithicProgram::compileAndLink()
[gazebo-1] #8    Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/OGRE-Next/RenderSystem_GL3Plus.so", at 0x73057c5970c4, in Ogre::GLSLShader::compile(bool)
[gazebo-1] #7    Object "/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib/OGRE-Next/RenderSystem_GL3Plus.so", at 0x73057c580dc6, in 
[gazebo-1] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7305c7ebb390, in __cxa_throw
[gazebo-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7305c7ea5a54, in std::terminate()
[gazebo-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7305c7ebb0d9, in 
[gazebo-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7305c7ea5ff4, in 
[gazebo-1] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305cce288fe, in abort
[gazebo-1] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305cce4527d, in gsignal
[gazebo-1] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305cce9eb2c, in pthread_kill
[gazebo-1] Aborted (Signal sent by tkill() 126501 1000)
[gazebo-1] [GUI] [Wrn] [Application.cc:908] [QT] Qt has caught an exception thrown from an event handler. Throwing
[gazebo-1] exceptions from an event handler is not supported in Qt.
[gazebo-1] You must not let any exception whatsoever propagate through Qt code.
[gazebo-1] If that is not possible, in Qt 5 you must at least reimplement
[gazebo-1] QCoreApplication::notify() and catch all exceptions there.
[gazebo-1] 
[gazebo-1] terminate called after throwing an instance of 'Ogre::RenderingAPIException'
[gazebo-1]   what():  OGRE EXCEPTION(3:RenderingAPIException): Fragment Program 700000000PixelShader_ps failed to compile. See compile log above for details. in GLSLShader::compile at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/GLSL/OgreGLSLShader.cpp (line 361)
[gazebo-1] Stack trace (most recent call last) in thread 126648:
[gazebo-1] #10   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[gazebo-1] #9    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305ccf29c6b, in 
[gazebo-1] #8    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305cce9caa3, in 
[gazebo-1] #7    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7305c5c920a6, in 
[gazebo-1] #6    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7305c5c90242, in qTerminate()
[gazebo-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7305c7ea5a54, in std::terminate()
[gazebo-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7305c7ebb0d9, in 
[gazebo-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7305c7ea5ff4, in 
[gazebo-1] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305cce288fe, in abort
[gazebo-1] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305cce4527d, in gsignal
[gazebo-1] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7305cce9eb2c, in pthread_kill
[gazebo-1] Aborted (Signal sent by tkill() 126502 1000)
[INFO] [gazebo-1]: process has finished cleanly [pid 126411]

Description

• Expected behavior: gz does not crash
• Actual behavior: gz crashes. This only happens for visual heightmap elements, collision heightmaps work correctly.

Steps to reproduce

1. Create a sdf world containing a heightmap visual element
2. Start the simulation

Output

[XINJIANGMO]

May related to PR#3085 , I test on gz-sim8_8.11.0, it did't crash.