I play around a bit with ros on my macbook and I just upgraded to the new xquartz yesterday (2.6.1). Previously I was just using Apple's X11. No problems with most things (not that I run a lot in X): xterm fires up the xquartz version, for example. But running one of my ros binaries (pcd_viewer) gives me this error: <Error>: unknown error code: invalid pixel format Fri Mar 25 09:40:16 client-6-50-27.bc.drew.lan pcd_viewer[1954] <Error>: kCGErrorFailure: Set a breakpoint @ CGErrorBreakpoint() to catch errors as they are logged. X Error of failed request: GLXBadContext Major opcode of failed request: 0 () Serial number of failed request: 39 Current serial number in output stream: 39 If I launch Apple's X11 and get an xterm there (so it's running from /usr instead of /opt), pcd_viewer will launch fine. At least one other ros binary doesn't have a problem with xquartz, so I suspect something in pcd_viewer. echo $DISPLAY from terminal reports: /tmp/launch-2LgGpc/org.macosforge.xquartz:0 from Apple's X11 it reports :1 I'm a bit of a newbie, so I thought I'd ask here first whether there's an obvious problem somewhere that is easily resolved. Thanks. John