ros2 humble gazebo+rviz+maprviz

Use GPU to accelerate

先确认 NVIDIA 驱动已安装且正常

nvidia-smi

检查当前渲染显卡（关键）：

sudo apt install -y mesa-utils
glxinfo -B | grep -i “opengl renderer”

强制 Gazebo 使用 NVIDIA GPU（双显卡笔记本必做）

echo ’

Force NVIDIA GPU for Gazebo/RViz

export __NV_PRIME_RENDER_OFFLOAD=1
export __GLX_VENDOR_LIBRARY_NAME=nvidia
export __VK_LAYER_NV_optimus=NVIDIA_only

Use OGRE2 for better GPU acceleration

export GZ_RENDER_ENGINE=ogre2
export IGN_RENDER_ENGINE=ogre2
’ >> ~/.bashrc

source ~/.bashrc

sudo apt install -y ros-humble-mapviz ros-humble-mapviz-plugins ros-humble-tile-map

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
没有启动gazebo,

补充gazebo自身环境,

source /usr/share/gazebo/setup.sh
正确导航启动命令（加载官方预设地图）
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False map:=true

nvidia-smi show that
|=========================================================================================|
| 0 N/A N/A 2314 G /usr/bin/gnome-shell 42MiB |
| 0 N/A N/A 15747 G gzserver 18MiB |
| 0 N/A N/A 15749 G gzclient 142MiB |
| 0 N/A N/A 15755 G /opt/ros/humble/lib/rviz2/rviz2 47MiB |
±----------------------------------------------------------------------------------------+