[PlayerStage-Gazebo] graphics troubles: RH9 Linux/nVidia, cvs version

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Hi Gazebo gurus--

I'm trying to install Gazebo from CVS on a RedHat 9 Linux box to which I
do not have root access.  Configuration and compilation seems to go
mostly okay, although I get the following warnings from './configure
--prefix=$HOME/local/':
[...]
checking for gdk-pixbuf-2.0... Package gdk-pixbuf-2.0 was not found in
the pkg-config search path.
Perhaps you should add the directory containing `gdk-pixbuf-2.0.pc'
to the PKG_CONFIG_PATH environment variable
No package 'gdk-pixbuf-2.0' found
configure: WARNING: GDK_pixbuf not found; some functionality will be
disabled
[...]
checking projects.h usability... no
checking projects.h presence... no
checking for projects.h... no
configure: WARNING: Proj4 library not found; some functionality will be
disabled
[...]

I gather from the list archives that Proj4 has something to do with GPS,
and is unlikely to be critical.  GDK-pixbuf, however, seems to be more
important.  If I have gdk-pixbuf-2.0, I don't know where it is, but
'locate gdk-pixbuf' results in:
[stout@hebb:~/local/src/playerstage/code/gazebo]> locate gdk-pixbuf
/etc/gtk-2.0/gdk-pixbuf.loaders
/usr/bin/gdk-pixbuf-query-loaders
/usr/lib/gdk-pixbuf
/usr/lib/gdk-pixbuf/loaders
[...]

Could someone tell me where to get the appropriate package, and/or how
to let gazebo know where it is?

Secondly, and probably more importantly, I'm not getting
hardware-accelerated graphics.  When I run wxgazebo on example.world
with "<renderMethod>GLX</renderMethod>" in the observerCam
specification, I get the following results:

[stout@hebb:~]> wxgazebo local/share/gazebo/worlds/example.world &
[1] 21914
[stout@hebb:~]> starting server
waiting for server
*** Gazebo 0.5.1 ***
using display [:0.0]
rendering: [GLX offscreen] direct [no] RGBA [5 6 5 8] depth [16]
Xlib:  extension "XFree86-DRI" missing on display ":0.0".
rendering: [GLX offscreen] direct [no] RGBA [5 6 5 8] depth [16]
warning : image loading disabled at compile time (no GDK pixbuf support)
warning : image loading disabled at compile time (no GDK pixbuf support)
server id [0]
connecting to server
opening simulator interface
waiting for data
running061 0.020 0.000 [0.019] 0.020 [  2%]
stopping server20 0.000 [0.219] 0.190 [  2%]
Time 13.364 2.920 0.000 [0.218] 0.220 [  2%]
errors, warnings and messages have been appended to
/nfs/entropy/u5/stout/.gazebo

The window opens and everything appears to work, however the simulation
is running at about 20% of real time (which is bad)--I assume that's due
to unaccelerated rendering.

However, if I run wxgazebo on example.world with either GLXP or SGIX
render methods, I get the following:

[stout@hebb:~]> wxgazebo local/share/gazebo/worlds/example.world &
[1] 21849
[stout@hebb:~]> starting server
waiting for server
*** Gazebo 0.5.1 ***
using display [:0.0]
error   : camera initialization failed: no rendering context
Initialization failed
server died
stopping server

No window opens.

I've tried to scan the archives for relevant traffic: it looks like I'm
far from the only one having graphics difficulties, but I didn't find
anything that gave me ideas to try (beyond changing the render method). 
I don't know much about OpenGL or graphics hardware, but I gather that
the following information will be helpful:

[stout@hebb:~]> /sbin/lspci | grep -i vga
01:00.0 VGA compatible controller: nVidia Corporation NV18 [GeForce4 MX
440 AGP
8x] (rev a2)

The output of 'glxinfo' is at the bottom of this message (although I
don't really know what it means).

If anyone could give me hints about how to get accelerated rendering
working, or tell me what other information I need to diagnose the
problem, I'd be very appreciative.

Thanks in advance,
Andrew Stout

[stout@hebb:~]> glxinfo
name of display: :0.0
Xlib:  extension "XFree86-DRI" missing on display ":0.0".
display: :0  screen: 0
direct rendering: No
server glx vendor string: SGI
server glx version string: 1.2
server glx extensions:
    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_EXT_import_context
client glx vendor string: SGI
client glx version string: 1.2
client glx extensions:
    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_EXT_import_context
GLX extensions:
    GLX_EXT_visual_info, GLX_EXT_visual_rating, GLX_EXT_import_context
OpenGL vendor string: Mesa project: www.mesa3d.org
OpenGL renderer string: Mesa GLX Indirect
OpenGL version string: 1.3 Mesa 4.0.4
OpenGL extensions:
    GL_ARB_imaging, GL_ARB_multitexture, GL_ARB_texture_border_clamp,
    GL_ARB_texture_cube_map, GL_ARB_texture_env_add,
    GL_ARB_texture_env_combine, GL_ARB_texture_env_dot3,
    GL_ARB_transpose_matrix, GL_EXT_abgr, GL_EXT_blend_color,
    GL_EXT_blend_minmax, GL_EXT_blend_subtract, GL_EXT_texture_env_add,
    GL_EXT_texture_env_combine, GL_EXT_texture_env_dot3,
    GL_EXT_texture_lod_bias
glu version: 1.3
glu extensions:
    GLU_EXT_nurbs_tessellator, GLU_EXT_object_space_tess

   visual  x  bf lv rg d st colorbuffer ax dp st accumbuffer  ms  cav
 id dep cl sp sz l  ci b ro  r  g  b  a bf th cl  r  g  b  a ns b eat
----------------------------------------------------------------------
0x23 16 tc  1 16  0 r  y  .  5  6  5  0  0 16  0  0  0  0  0  0 0 None
0x24 16 tc  1 16  0 r  y  .  5  6  5  0  0 16  8 16 16 16  0  0 0 None
0x25 16 tc  1 16  0 r  y  .  5  6  5  8  0 16  8 16 16 16 16  0 0 None
0x26 16 tc  1 16  0 r  .  .  5  6  5  8  0 16  8 16 16 16 16  0 0 None
0x27 16 dc  1 16  0 r  y  .  5  6  5  0  0 16  0  0  0  0  0  0 0 None
0x28 16 dc  1 16  0 r  y  .  5  6  5  0  0 16  8 16 16 16  0  0 0 None
0x29 16 dc  1 16  0 r  y  .  5  6  5  8  0 16  8 16 16 16 16  0 0 None
0x2a 16 dc  1 16  0 r  .  .  5  6  5  8  0 16  8 16 16 16 16  0 0 None