title: How to run Gazebo on Google Compute Engine with GPU?
body: <p>I am attempting to run Gazebo in an Ubuntu 16.04 Google Compute Engine instance with 1 NVIDIA Tesla K80 GPU. The GPU is configured using the following <a href="https://i.stack.imgur.com/1zyIB.png" rel="nofollow noreferrer">drivers</a>, which are necessary because I am also using Tensorflow in my application. </p>
  
  <p>A solution to a similar problem is given <a href="http://answers.gazebosim.org/question/14625/running-a-camera-sensor-headless/" rel="nofollow noreferrer">here</a>, however I have not had any success implementing JLiviero or Jose Luis Rivero's answers. After setting up Xvfb per JLiviero's solution, running Gazebo in verbose mode fails and yields the following output: </p>
  
  <pre><code>jonathon@full-algo-1-gpu:~/catkin_ws$ gazebo --verbose
  Gazebo multi-robot simulator, version 7.14.0
  Copyright (C) 2012 Open Source Robotics Foundation.
  Released under the Apache 2 License.
  http://gazebosim.org
  
  [Msg] Waiting for master.
  [Msg] Waiting for master.
  [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  [Msg] Publicized address: 10.138.0.8
  [Msg] Publicized address: 10.138.0.8
  [Err] [RenderEngine.cc:734] Can't open display: 
  [Wrn] [RenderEngine.cc:97] Unable to create X window. Rendering will be disabled
  [Wrn] [RenderEngine.cc:301] Cannot initialize render engine since render path type is NONE. Ignore this warning ifrendering has been turned off on purpose.
  [Err] [RenderEngine.cc:734] Can't open display: 
  [Wrn] [RenderEngine.cc:97] Unable to create X window. Rendering will be disabled
  [Wrn] [RenderEngine.cc:301] Cannot initialize render engine since render path type is NONE. Ignore this warning ifrendering has been turned off on purpose.
  [Wrn] [GuiIface.cc:99] gazeb: cannot connect to X server 
  </code></pre>
  
  <p>Software I am using in my instance:</p>
  
  <ul>
  <li>Gazebo version: 7.14 </li>
  <li>Python version: 2.7.12 </li>
  <li>Tensorflow version: 1.10.1</li>
  </ul>
  
  <p>How do I get Gazebo to run without crashing?</p>