Here is my solution fixing the dark/black screen in Gazebo.

I am running ROS2 Jazzy version. - Virtual Machine ubuntu-24.04.2-desktop-amd64.ISO

Here are my settings:

1. System -> Motherboard -> Base memory: >=4096 MB

2. System -> Motherboard -> Processors: 8 CPUs

3. System -> Motherboard -> Execusion Cap: 100%

4. System -> Motherboard -> Extended Features:

   a. Enable PAE/NX -> checked

   b. Enable Nested VT-x/AMD-V -> checked

5. Paravirtualization Interface: KVM (as I am running host Window 11 and guest Ubuntu

   a. Hardware Virtualization: Enable Nested Paging

   -> checked

6. Display -> Screen -> Video memory: 256 MB

7. Display -> Screen -> Graphics Controller: VMSVGA

8. Display -> Screen -> Extended Features: Enable 3D Acceleration -> checked

9. Extended Features: check the box Enable 3D Acceleration

A. Now open a terminal

run:

export LIBGL_ALWAYS_SOFTWARE=1 and export DISPLAY=:0

and run:

gz sim

They have to be in the same terminal window otherwise It won't work.

B. Run your files

Example: this is what I have

export LIBGL_ALWAYS_SOFTWARE=1 and export DISPLAY=:0

cd ~/ros2_ws

source install/setup.bash

colcon build

ros2 launch my_robot_bringup my_robot_gazebo.launch.xml

And same thing here, all of them have to stay in the same terminal window.

Good Luck!