RViz cannot display the STL format model file in the noetic version of ROS under Ubuntu20.04

[PiBigStar5712]

Windows Version

Windows 10 Home 22H2 Insider: 19045.2006

WSL Version

0.0.0.0

Are you using WSL 1 or WSL 2?

• WSL 2
• WSL 1

Kernel Version

5.15.79.1

Distro Version

Ubuntu20.04.5 LTS

Other Software

Nvidia-smi = 530.41.03
CUDA Version = 11.7
OpneGL under WSL use D3D12 = 3.1 Mesa 21.2.6
GLSL =1.4
ROS = noetic 1.16.0
RViz = 1.14.20

Repro Steps

1. Install Ubuntu20.04

2. wsl --set-default-version 2

3. Install the xfce4 GUI

4. sudo apt install ros-noetic-desktop-full

5. Run RViz and import the STL model into it

Expected Behavior

In the case of using D3D12 as the renderer of OpenGL, I used my GPU for the rendering task and achieved the following effects:

My question:

1.Is there a way I can use GPU-accelerated OpenGL to render STL models in RViz without upgrading Ubuntu branch or Windows?
2.If so, do I need to upgrade OpenGL? What should I do if I need to upgrade? (I have tried to upgrade OpenGL using sudo add-apt-repository ppa:kisak/kisak-mesa and sudo apt update && sudo apt upgrade)

Actual Behavior

When I used the default D3D12 as the renderer for OpenGL, it ran as follows：

The STL model is not visualized, and no errors are reported.
According to ros-visualization/rviz#1748, this problem should be caused by D3D12 and can be resolved by modifying D3D12 to llvmpipe. The modified result is as follows:

When I type export LIBGL_ALWAYS_SOFTWARE=true in the terminal

At this point, I run the previous code again, and the result is as follows：

Although RViz can render STL models normally, this function is achieved through the CPU. This results in a very low framerate, which is not what I want. After all, the competitiveness of WSL is that I can use my GPU without reservation.

Diagnostic Logs

No response

[OneBlue]

Thanks for reporting this @PiBigStar5712.

@iourit: Can you help diagnosing the issue ?

[PiBigStar5712]

Thanks for reporting this @PiBigStar5712.

@iourit: Can you help diagnosing the issue ?

@iourit @OneBlue So, after all this time, does your team have a solution to this problem？I am really troubled by the inability to render robot models using GPU.

[microsoft-github-policy-service]

This issue has been automatically closed since it has not had any activity for the past year. If you're still experiencing this issue please re-file this as a new issue or feature request.

Thank you!