docker - Docker上的Rviz核心转储

Question

我正在使用tensorflow / tensorflow docker并在其上安装了ros。这是我的图像:https://hub.docker.com/r/mpkuse/kusevisionkit/

我以

docker run --runtime=nvidia -it mpkuse/kusevisionkit:v0.4 bash 

我可以运行roscore，也可以正确显示rqt_image的gui。但是我无法运行rviz。这是我的错误:

root@2fe10a6154c8:/app# rviz
[ INFO] [1539052958.662758017]: rviz version 1.12.16
[ INFO] [1539052958.662820468]: compiled against Qt version 5.5.1
[ INFO] [1539052958.662838215]: compiled against OGRE version 1.9.0 (Ghadamon)
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
Could not initialize OpenGL for RasterGLSurface, reverting to RasterSurface.
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
Segmentation fault (core dumped)

如何从docker运行rviz？

Answer 1

您无法通过通用方式在Docker容器中打开RViz之类的GUI应用。

The simple way is exposing your xhost so that container can render to the correct display by reading and writing through the X11 UNIX socket.

docker run -it \
    --env="DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    osrf/ros:indigo-desktop-full \
    rqt
export containerId=$(docker ps -l -q)

[ UPDATE ]:

这个link

更加完整

此外，此question也类似。

在此stack_post上，您可以在Docker容器上安装GUI应用程序，例如Rviz应用程序。