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If so, please help me solve this crash. Any suggestions are appreciated.

Hi.

It's been years since apple silicon so i thought i'd give it another try to run ros on it. It's all going well when i just follow chatgpt suggestions until i have to start rviz.

I'm on M4 and am trying to run rviz with ROS1.

I do not understand the prompted problem and the answers i could find online to deal with it, mostly are suggesting it's nvidia driver related. Which, I DO NOT HAVE.

I think I'm pretty close on everything else. I can successfully start roscore, xeyes and firefox from the same environment. But not rviz. It keeps crashing. The errors are as follows.

The Error

>>> rviz
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
\[ INFO\] \[1736351253.783034463\]: rviz version 1.14.25
\[ INFO\] \[1736351253.783413629\]: compiled against Qt version 5.12.8
\[ INFO\] \[1736351253.783452463\]: compiled against OGRE version 1.9.0 (Ghadamon)
\[ INFO\] \[1736351253.802596754\]: Forcing OpenGl version 0.
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
\[ WARN\] \[1736351254.043830588\]: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
rviz::RenderSystem: error creating render window: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)

...(same warning repeats)

rviz::RenderSystem: error creating render window: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
[ERROR] [1736351719.420535595]: Unable to create the rendering window after 100 tries.
[ INFO] [1736351719.420559262]: Stereo is NOT SUPPORTED
terminate called after throwing an instance of 'std::logic_error'
  what():  basic_string::_M_construct null not valid
Aborted

If it helps this is a more detailed output:

>>>>>>>> rosrun rviz rviz -l
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1736418106.048995381]: rviz version 1.14.25
[ INFO] [1736418106.049361381]: compiled against Qt version 5.12.8
[ INFO] [1736418106.049400840]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1736418106.068021298]: Forcing OpenGl version 0.
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
[ INFO] [1736418106.262403631]: Creating resource group General
[ INFO] [1736418106.262699756]: Creating resource group Internal
[ INFO] [1736418106.262734048]: Creating resource group Autodetect
[ INFO] [1736418106.263285965]: SceneManagerFactory for type 'DefaultSceneManager' registered.
[ INFO] [1736418106.264785006]: Registering ResourceManager for type Material
[ INFO] [1736418106.264962298]: Registering ResourceManager for type Mesh
[ INFO] [1736418106.265040965]: Registering ResourceManager for type Skeleton
[ INFO] [1736418106.265467840]: MovableObjectFactory for type 'ParticleSystem' registered.
[ INFO] [1736418106.266430381]: ArchiveFactory for archive type FileSystem registered.
[ INFO] [1736418106.266478381]: ArchiveFactory for archive type Zip registered.
[ INFO] [1736418106.266557923]: ArchiveFactory for archive type EmbeddedZip registered.
[ INFO] [1736418106.266602715]: DDS codec registering
[ INFO] [1736418106.267007881]: FreeImage version: 3.18.0
[ INFO] [1736418106.267039923]: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See  for details
[ INFO] [1736418106.267409215]: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,psb,cut,xbm,xpm,gif,hdr,g3,sgi,rgb,rgba,bw,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti,x3f,webp,jxr,wdp,hdp
[ INFO] [1736418106.267453840]: PVRTC codec registering
[ INFO] [1736418106.267617215]: ETC codec registering
[ INFO] [1736418106.267670923]: Registering ResourceManager for type HighLevelGpuProgram
[ INFO] [1736418106.268074756]: Registering ResourceManager for type Compositor
[ INFO] [1736418106.269025798]: MovableObjectFactory for type 'Entity' registered.
[ INFO] [1736418106.269059631]: MovableObjectFactory for type 'Light' registered.
[ INFO] [1736418106.269083965]: MovableObjectFactory for type 'BillboardSet' registered.
[ INFO] [1736418106.269100090]: MovableObjectFactory for type 'ManualObject' registered.
[ INFO] [1736418106.269128590]: MovableObjectFactory for type 'BillboardChain' registered.
[ INFO] [1736418106.269157590]: MovableObjectFactory for type 'RibbonTrail' registered.
[ INFO] [1736418106.270179756]: *-*-* OGRE Initialising
[ INFO] [1736418106.270212506]: *-*-* Version 1.9.0 (Ghadamon)
[ INFO] [1736418106.270508131]: OverlayElementFactory for type Panel registered.
[ INFO] [1736418106.270539548]: OverlayElementFactory for type BorderPanel registered.
[ INFO] [1736418106.270566923]: OverlayElementFactory for type TextArea registered.
[ INFO] [1736418106.270606340]: Registering ResourceManager for type Font
[ INFO] [1736418106.270839631]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/RenderSystem_GL
[ INFO] [1736418106.272272006]: Installing plugin: GL RenderSystem
[ INFO] [1736418106.272500756]: OpenGL Rendering Subsystem created.
[ INFO] [1736418106.281647006]: Plugin successfully installed
[ INFO] [1736418106.281701048]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_OctreeSceneManager
[ INFO] [1736418106.282245631]: Installing plugin: Octree Scene Manager
[ INFO] [1736418106.282276298]: Plugin successfully installed
[ INFO] [1736418106.282310173]: Loading library /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/Plugin_ParticleFX
[ INFO] [1736418106.282972506]: Installing plugin: ParticleFX
[ INFO] [1736418106.283246090]: Particle Emitter Type 'Point' registered
[ INFO] [1736418106.283323298]: Particle Emitter Type 'Box' registered
[ INFO] [1736418106.283389131]: Particle Emitter Type 'Ellipsoid' registered
[ INFO] [1736418106.283440256]: Particle Emitter Type 'Cylinder' registered
[ INFO] [1736418106.283520006]: Particle Emitter Type 'Ring' registered
[ INFO] [1736418106.283668756]: Particle Emitter Type 'HollowEllipsoid' registered
[ INFO] [1736418106.283829548]: Particle Affector Type 'LinearForce' registered
[ INFO] [1736418106.283881298]: Particle Affector Type 'ColourFader' registered
[ INFO] [1736418106.283902465]: Particle Affector Type 'ColourFader2' registered
[ INFO] [1736418106.283954923]: Particle Affector Type 'ColourImage' registered
[ INFO] [1736418106.284006298]: Particle Affector Type 'ColourInterpolator' registered
[ INFO] [1736418106.284061048]: Particle Affector Type 'Scaler' registered
[ INFO] [1736418106.284084381]: Particle Affector Type 'Rotator' registered
[ INFO] [1736418106.284112131]: Particle Affector Type 'DirectionRandomiser' registered
[ INFO] [1736418106.284232548]: Particle Affector Type 'DeflectorPlane' registered
[ INFO] [1736418106.284253673]: Plugin successfully installed
[ INFO] [1736418106.284792465]: CPU Identifier & Features
[ INFO] [1736418106.284807923]: -------------------------
[ INFO] [1736418106.284817381]:  *   CPU ID: GenuineIntel: VirtualApple @ 2.50GHz
[ INFO] [1736418106.284856548]:  *      SSE: yes
[ INFO] [1736418106.284875465]:  *     SSE2: yes
[ INFO] [1736418106.284886340]:  *     SSE3: yes
[ INFO] [1736418106.284893381]:  *      MMX: yes
[ INFO] [1736418106.284899215]:  *   MMXEXT: yes
[ INFO] [1736418106.284942131]:  *    3DNOW: no
[ INFO] [1736418106.284984298]:  * 3DNOWEXT: no
[ INFO] [1736418106.284999631]:  *     CMOV: yes
[ INFO] [1736418106.285069548]:  *      TSC: yes
[ INFO] [1736418106.285123215]:  *      FPU: yes
[ INFO] [1736418106.285153340]:  *      PRO: yes
[ INFO] [1736418106.285165381]:  *       HT: no
[ INFO] [1736418106.285179298]: -------------------------
[ INFO] [1736418106.285224881]: ******************************
*** Starting GLX Subsystem ***
******************************
[ INFO] [1736418106.285289631]: Registering ResourceManager for type Texture
[ INFO] [1736418106.286228173]: GLRenderSystem::_createRenderWindow "OgreWindow(0)", 1x1 windowed  miscParams: FSAA=4 contentScalingFactor=1.000000 externalGLControl= externalWindowHandle=12582913 parentWindowHandle=12582913 
[ INFO] [1736418106.291764256]: GLXWindow::create used FBConfigID = 110
[ INFO] [1736418106.292383423]: GL_VERSION = 1.4 (2.1 Metal - 89.3)
[ INFO] [1736418106.292711673]: GL_VENDOR = Apple
[ INFO] [1736418106.293165506]: GL_RENDERER = Apple M4 Max
[ INFO] [1736418106.293218756]: GL_EXTENSIONS = GL_ARB_depth_texture GL_ARB_draw_buffers GL_ARB_fragment_program GL_ARB_fragment_program_shadow GL_ARB_imaging GL_ARB_multisample GL_ARB_multitexture GL_ARB_occlusion_query GL_ARB_point_parameters GL_ARB_point_sprite GL_ARB_shadow GL_ARB_shadow_ambient GL_ARB_texture_border_clamp GL_ARB_texture_compression GL_ARB_texture_cube_map GL_ARB_texture_env_add GL_ARB_texture_env_combine GL_ARB_texture_env_crossbar GL_ARB_texture_env_dot3 GL_ARB_texture_filter_anisotropic GL_ARB_texture_mirrored_repeat GL_ARB_texture_non_power_of_two GL_ARB_texture_rectangle GL_ARB_transpose_matrix GL_ARB_vertex_program GL_ARB_window_pos GL_EXT_abgr GL_EXT_bgra GL_EXT_blend_color GL_EXT_blend_equation_separate GL_EXT_blend_func_separate GL_EXT_blend_minmax GL_EXT_blend_subtract GL_EXT_clip_volume_hint GL_EXT_draw_range_elements GL_EXT_fog_coord GL_EXT_framebuffer_object GL_EXT_multi_draw_arrays GL_EXT_point_parameters GL_EXT_rescale_normal GL_EXT_secondary_color GL_EXT_separate_specular_color GL_EXT_shadow_funcs GL_EXT_stencil_two_side GL_EXT_stencil_wrap GL_EXT_texture_compression_dxt1 GL_EXT_texture_compression_s3tc GL_EXT_texture_edge_clamp GL_EXT_texture_env_add GL_EXT_texture_filter_anisotropic GL_EXT_texture_lod_bias GL_EXT_texture_rectangle GL_APPLE_packed_pixels GL_ATI_draw_buffers GL_ATI_texture_env_combine3 GL_ATIX_texture_env_combine3 GL_IBM_texture_mirrored_repeat GL_INGR_blend_func_separate GL_NV_blend_square GL_NV_depth_clamp GL_NV_fog_distance GL_NV_fragment_program_option GL_NV_fragment_program2 GL_NV_light_max_exponent GL_NV_texgen_reflection GL_NV_texture_rectangle GL_NV_vertex_program2_option GL_NV_vertex_program3 GL_SGI_color_matrix GL_SGIS_generate_mipmap GL_SGIS_texture_border_clamp GL_SGIS_texture_edge_clamp GL_SGIS_texture_lod GL_SGIX_shadow_ambient GL_SUN_multi_draw_arrays 
[ INFO] [1736418106.294606673]: Supported GLX extensions: GLX_ARB_get_proc_address GLX_ARB_multisample GLX_EXT_import_context GLX_EXT_visual_info GLX_EXT_visual_rating GLX_OML_swap_method GLX_SGIS_multisample GLX_SGIX_fbconfig GLX_SGIX_pbuffer GLX_SGIX_visual_select_group GLX_SGI_make_current_read 
[ INFO] [1736418106.294726006]: ***************************
[ INFO] [1736418106.294765881]: *** GL Renderer Started ***
[ INFO] [1736418106.294797715]: ***************************
Segmentation fault

Environment setups:

Dockerfile:

ARG ROS_DISTRO=noetic
FROM arm64v8/ros:noetic-robot
ENV DEBIAN_FRONTEND noninteractive

#some non important apt installs

RUN apt-get update
RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash"' >> ~/.bashrc

CMD ["bash"]

docker-compose.yaml

# version: "3"
services:
  robo-arm: 
    build:
      context: ../../
      dockerfile: .docker/noetic/Dockerfile
    devices:
      - "/dev:/dev"
    privileged: true 
    network_mode: "host" 
    environment: 
      - DISPLAY=host.docker.internal:0 
      - QT_X11_NO_MITSHM=1 
      - XAUTHORITY=${DOCKER_XAUTH}
      - LIBGL_ALWAYS_SOFTWARE=1 
    volumes: 
      - ${DOCKER_XAUTH}:${DOCKER_XAUTH}
      - "/etc/sudoers.d:/etc/sudoers.d:ro"
      - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
    stdin_open: true  # Keep stdin open -i
    tty: true         # Allocate a pseudo-TTY -t

I have xQuatz installed from brew with version 2.8.5 as xserver and checked "Allow connections from network clients." from "Security" tab in XQuartz Preferences. Restarted the system. Did following setting for env:

xhost + 
export DOCKER_XAUTH=/tmp/.docker.xauth
touch $DOCKER_XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $DOCKER_XAUTH nmerge -

At this point, I think the x11 passing is working fine. I don't know what other problems could this be. I have limited knowledge on the whole docker / low level system things.

Please help. Thanks.

本文标签： rosIs it possible to run rviz from a docker container on a apple siliconStack Overflow

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