Error when running Rviz inside the Nvidia docker container

[Shivam7Sharma]

Hi, I installed the Nvidia runtime container and the Docker container properly following all the instructions but I get the following output when I run Rviz:

rviz2 -d src/isaac_ros_visual_slam/isaac_ros_visual_slam/rviz/default.cfg.rviz QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin' MESA: warning: Driver does not support the 0xa720 PCI ID. libGL error: failed to create dri screen libGL error: failed to load driver: iris MESA: warning: Driver does not support the 0xa720 PCI ID. libGL error: failed to create dri screen libGL error: failed to load driver: iris MESA: warning: Driver does not support the 0xa720 PCI ID. libGL error: failed to create dri screen libGL error: failed to load driver: iris MESA: warning: Driver does not support the 0xa720 PCI ID. libGL error: failed to create dri screen libGL error: failed to load driver: iris [INFO] [1699038236.153340747] [rviz2]: Stereo is NOT SUPPORTED [INFO] [1699038236.153407313] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [INFO] [1699038236.201446488] [rviz2]: Stereo is NOT SUPPORTED [INFO] [1699038236.425814995] [rviz2]: Stereo is NOT SUPPORTED [INFO] [1699038236.522004214] [rviz2]: Stereo is NOT SUPPORTED

When I run a rosbag file for slam it stops recording data after 5 seconds but rviz stays open.

Nvidia-smi output:

Steps I followed: Nvidia-container runtime Quick start

Nvidia-container toolkit

Can anyone help me with this?

[jaiveersinghNV]

Was nvidia-smi run inside the container, or is that just the output from your host machine? If you didn't already, could you please run nvidia-smi inside the container spawned with run_dev.sh, and provide that output? We want to be certain that the container is properly able to access your GPU.

Other things to check:

• Does rviz2 by itself (ie, without using the prepared config file) launch properly?
• Are you able to run the quickstart of any other repo (isaac_ros_apriltag is a lightweight one to test)
• Do the automated tests pass when you run colcon test --executor sequential as described in Quickstart Step 4?

[Shivam7Sharma]

Was nvidia-smi run inside the container, or is that just the output from your host machine? If you didn't already, could you please run nvidia-smi inside the container spawned with run_dev.sh, and provide that output? We want to be certain that the container is properly able to access your GPU.

Other things to check:

• Does rviz2 by itself (ie, without using the prepared config file) launch properly?
• Are you able to run the quickstart of any other repo (isaac_ros_apriltag is a lightweight one to test)
• Do the automated tests pass when you run colcon test --executor sequential as described in Quickstart Step 4? Nvidia-smi inside the container:

colcon test --executor sequential 
Starting >>> isaac_ros_common
Finished <<< isaac_ros_common [2.07s]           
Starting >>> isaac_ros_test
Finished <<< isaac_ros_test [15.4s]             
Starting >>> isaac_ros_apriltag_interfaces
Finished <<< isaac_ros_apriltag_interfaces [0.88s]            
Starting >>> isaac_ros_bi3d_interfaces
Finished <<< isaac_ros_bi3d_interfaces [0.85s]            
Starting >>> isaac_ros_gxf
Finished <<< isaac_ros_gxf [1.28s]            
Starting >>> isaac_ros_nitros_bridge_interfaces
Finished <<< isaac_ros_nitros_bridge_interfaces [0.85s]            
Starting >>> isaac_ros_nitros_interfaces
Finished <<< isaac_ros_nitros_interfaces [0.63s]            
Starting >>> isaac_ros_nova_interfaces
Finished <<< isaac_ros_nova_interfaces [0.86s]            
Starting >>> isaac_ros_pointcloud_interfaces
Finished <<< isaac_ros_pointcloud_interfaces [0.60s]            
Starting >>> isaac_ros_tensor_list_interfaces
Finished <<< isaac_ros_tensor_list_interfaces [0.86s]            
Starting >>> isaac_ros_visual_slam_interfaces
Finished <<< isaac_ros_visual_slam_interfaces [0.87s]             
Starting >>> isaac_ros_nitros
Finished <<< isaac_ros_nitros [7.36s]             
Starting >>> isaac_ros_nitros_april_tag_detection_array_type
Finished <<< isaac_ros_nitros_april_tag_detection_array_type [6.39s]             
Starting >>> isaac_ros_nitros_battery_state_type
Finished <<< isaac_ros_nitros_battery_state_type [6.16s]             
Starting >>> isaac_ros_nitros_camera_info_type
Finished <<< isaac_ros_nitros_camera_info_type [6.14s]             
Starting >>> isaac_ros_nitros_compressed_image_type
Finished <<< isaac_ros_nitros_compressed_image_type [6.23s]             
Starting >>> isaac_ros_nitros_correlated_timestamp_type
Finished <<< isaac_ros_nitros_correlated_timestamp_type [6.11s]                 
Starting >>> isaac_ros_nitros_detection2_d_array_type
Finished <<< isaac_ros_nitros_detection2_d_array_type [6.18s]                  
Starting >>> isaac_ros_nitros_detection3_d_array_type
Finished <<< isaac_ros_nitros_detection3_d_array_type [6.18s]                  
Starting >>> isaac_ros_nitros_disparity_image_type
Finished <<< isaac_ros_nitros_disparity_image_type [8.31s]                  
Starting >>> isaac_ros_nitros_encoder_ticks_type
Finished <<< isaac_ros_nitros_encoder_ticks_type [6.31s]                  
Starting >>> isaac_ros_nitros_flat_scan_type
Finished <<< isaac_ros_nitros_flat_scan_type [6.33s]                  
Starting >>> isaac_ros_nitros_image_type
Finished <<< isaac_ros_nitros_image_type [6.50s]                  
Starting >>> isaac_ros_nitros_imu_type
Finished <<< isaac_ros_nitros_imu_type [6.24s]                  
Starting >>> isaac_ros_nitros_occupancy_grid_type
Finished <<< isaac_ros_nitros_occupancy_grid_type [7.31s]                  
Starting >>> isaac_ros_nitros_odometry_type
Finished <<< isaac_ros_nitros_odometry_type [6.40s]                  
Starting >>> isaac_ros_nitros_point_cloud_type
Finished <<< isaac_ros_nitros_point_cloud_type [6.30s]                  
Starting >>> isaac_ros_nitros_pose_array_type
Finished <<< isaac_ros_nitros_pose_array_type [6.25s]                  
Starting >>> isaac_ros_nitros_pose_cov_stamped_type
Finished <<< isaac_ros_nitros_pose_cov_stamped_type [6.31s]                  
Starting >>> isaac_ros_nitros_std_msg_type
Finished <<< isaac_ros_nitros_std_msg_type [6.08s]                  
Starting >>> isaac_ros_nitros_tensor_list_type
Finished <<< isaac_ros_nitros_tensor_list_type [8.40s]                  
Starting >>> isaac_ros_nitros_twist_type
Finished <<< isaac_ros_nitros_twist_type [6.23s]                  
Starting >>> isaac_ros_visual_slam
Finished <<< isaac_ros_visual_slam [42.2s]                   
Starting >>> isaac_ros_managed_nitros
Finished <<< isaac_ros_managed_nitros [1.34s]                  
Starting >>> custom_nitros_image
Finished <<< custom_nitros_image [15.7s]                   
Starting >>> custom_nitros_string
Finished <<< custom_nitros_string [15.4s]                   

Summary: 36 packages finished [3min 59s]

Rviz opens normally with the following command

admin@shivam-ROG-Zephyrus-M16-GU604VI-GU604VI:/workspaces/isaac_ros-dev$ rviz2
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
MESA: warning: Driver does not support the 0xa720 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
MESA: warning: Driver does not support the 0xa720 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
MESA: warning: Driver does not support the 0xa720 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
MESA: warning: Driver does not support the 0xa720 PCI ID.
libGL error: failed to create dri screen
libGL error: failed to load driver: iris
[INFO] [1699732109.183035563] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1699732109.183101652] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[INFO] [1699732109.241789931] [rviz2]: Stereo is NOT SUPPORTED

I haven't tried any other repo such as isaac_ros_apriltag. I can do that if it will help with this issue.

[jaiveersinghNV]

Could you confirm the specifications of your host computer? What operating system and version are you using? Are you using WSL?

Running isaac_ros_apriltag's quickstart would be a good debugging step. Please try completing that quickstart and see if you're able to launch the AprilTag graph without any problems.

[Shivam7Sharma]

Is it possible that the ROS bag given in the tutorial is only 5 seconds? Because I can see the map in Rviz but it is there for only like 5 seconds. Let me know.

[jaiveersinghNV]

Yes, we ship a short rosbag to avoid consuming too much storage. Unlike our other tutorials, we can't use the --loop playback mode for Visual SLAM, because the "jump" from the end to the start of the data sequence will lead to degraded performance with our algorithm.

If you need a longer dataset for some other tests, you can always use our R2B Dataset 2023 sequences.

[Shivam7Sharma]

Closing this because the issue is resolved

[doctorcolossus]

Hi @Shivam7Sharma, could you please share how you resolved this issue?

[Shivam7Sharma]

@doctorcolossus I believe this wasn't an issue because the ROS bag file was very small.

[doctorcolossus]

@Shivam7Sharma, ah, okay, thanks for the reply. I had thought that you were concerned with the MESA/DRI/iris errors, which I am also getting and am trying to figure out how to resolve, but now I see that you had a different issue related to your rosbags.

[Shivam7Sharma]

@doctorcolossus I think you can safely ignore those errors.