Flickering Issue in Gazebo Ignition Fortress with NVIDIA GPU

[SAJIB3489]

Description

I would like to inform you that with the use of a specific flag, NVIDIA GPUs can be enabled for the container's GUI software. However, only Gazebo is experiencing a flickering issue. I understand that this project doesn’t primarily focus on GPU usage, but I’m wondering if you might have any ideas on how to resolve the flickering problem.

Environment

• OS Version: 22.04 (jammy-20240808)
• Git clone: https://github.com/Ekumen-OS/andino_gz.git -b 0.1.1

System Details:

• Gazebo Version: Fortress 6.16.0
• NVIDIA GPU Model: Tesla P100 PCIe 16GB
• Driver Version: 535.183.01
• CUDA Version: 12.2
• OpenGL Version: 4.6 (GLSL 4.6)

Dockerfile for gazebo installation:

RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
    wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
    apt-get update -q && \
    apt-get upgrade -y && \
    apt-get install -y \
    ros-${ROS_DISTRO}-navigation2 \
    ros-${ROS_DISTRO}-turtle-nest \
    ros-${ROS_DISTRO}-ros-gz-sim \
    ros-${ROS_DISTRO}-ros-gz-bridge \
    ignition-fortress

Docker Container Command

docker run --restart=always -d \
    -e VNC_PASSWORD=1234 \
    -e USER=sajib \
    -e PASSWORD=1234 \
    -e ROS_DOMAIN_ID=1 \
    -e NVIDIA_DRIVER_CAPABILITIES=all \
    -e __GLX_VENDOR_LIBRARY_NAME=nvidia \
    -v "/home/sajib/22":/home/sajib \
    -v /dev/dri:/dev/dri \
    -p 6555:80 \
    -p 6556:22 \
    --security-opt seccomp=unconfined \
    --shm-size=4gb \
    --gpus all \
    --runtime=nvidia \
    image_name:latest

Approaches Attempted:

1. Disabled cast shadows in the world model (SDF):

<cast_shadows>false</cast_shadows>
<cast_shadows>0</cast_shadows>

2. Modified ~/.ignition/gazebo/6/gui.config:

<engine>ogre</engine>

Video Link

Any suggestions or solutions would be greatly appreciated.