`[ros2run]: Segmentation fault` on all Qt based application with latest `humble-latest-cuda` image

Checklist

[X] I've read the contribution guidelines.
[X] I've searched other issues and no duplicate issues were found.
[X] I'm convinced that this is not my fault but a bug.

Description

I just rebuilt autoware docker image with the latest codebase (bf95c380db6debdf07fb9b6854036df567e98903):

$ ./docker/build.sh --no-prebuilt

Since then I have not been able to run any Qt based application (rviz2, rqt, turtlesim...) from a docker container. The application always crashes with a segfault:

$ xhost +local:docker
$ docker run --runtime nvidia -e DISPLAY -v ~/.Xauthority:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix --rm -it ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda /bin/bash
root@8708db16fe0f:/autoware# ros2 run rviz2 rviz2
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ros2run]: Segmentation fault

Other GUI application (e.g. xterm) have no issue.

When I run the programs with gdb, I see this:

root@590fae079b65:/autoware# sudo apt update && sudo apt install gdb
[...]
root@590fae079b65:/autoware# ros2 run --prefix="gdb -ex=r --args" rviz2 rviz2
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Reading symbols from /opt/ros/humble/lib/rviz2/rviz2...
(No debugging symbols found in /opt/ros/humble/lib/rviz2/rviz2)
Starting program: /opt/ros/humble/lib/rviz2/rviz2 
warning: Error disabling address space randomization: Operation not permitted
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fac3c6d0640 (LWP 713)]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[New Thread 0x7fac3bebb640 (LWP 714)]
[New Thread 0x7fac3b6ba640 (LWP 715)]
[New Thread 0x7fac3aeb9640 (LWP 716)]
[New Thread 0x7fac3a6b8640 (LWP 717)]
[New Thread 0x7fac39eb7640 (LWP 718)]
[New Thread 0x7fac395b5640 (LWP 719)]
[New Thread 0x7fac38cb3640 (LWP 720)]
[New Thread 0x7fac1bfff640 (LWP 721)]
[New Thread 0x7fac1b7fe640 (LWP 722)]
[New Thread 0x7fac1affd640 (LWP 723)]
[Detaching after fork from child process 724]

Thread 1 "rviz2" received signal SIGSEGV, Segmentation fault.
0x000055d0754bf270 in ?? ()
(gdb) bt
#0  0x000055d0754bf270 in ?? ()
#1  0x00007fac18dba3e3 in ?? () from /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#2  0x00007fac1875e26f in ?? () from /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#3  0x00007fac1875537f in ?? () from /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#4  0x00007fac1875e886 in ?? () from /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#5  0x00007fac3805510b in ?? () from /lib/x86_64-linux-gnu/libGLX_indirect.so.0
#6  0x00007fac3805a0db in ?? () from /lib/x86_64-linux-gnu/libGLX_indirect.so.0
#7  0x00007fac3805b157 in ?? () from /lib/x86_64-linux-gnu/libGLX_indirect.so.0
#8  0x00007fac38057cdc in ?? () from /lib/x86_64-linux-gnu/libGLX_indirect.so.0
#9  0x00007fac382697d3 in ?? ()
   from /usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-glx-integration.so
#10 0x00007fac3cc46025 in QXcbWindow::create() () from /lib/x86_64-linux-gnu/libQt5XcbQpa.so.5
#11 0x00007fac3cc32636 in QXcbIntegration::createPlatformWindow(QWindow*) const ()
   from /lib/x86_64-linux-gnu/libQt5XcbQpa.so.5
#12 0x00007fac419abb21 in QWindowPrivate::create(bool, unsigned long long) ()
   from /lib/x86_64-linux-gnu/libQt5Gui.so.5
#13 0x00007fac4314b4f5 in QWidgetPrivate::create() () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#14 0x00007fac4314bb1e in QWidget::create(unsigned long long, bool, bool) ()
   from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#15 0x00007fac43158ebe in QWidgetPrivate::setVisible(bool) () from /lib/x86_64-linux-gnu/libQt5Widgets.so.5
#16 0x00007fac437aec99 in rviz_common::VisualizationFrame::initialize(std::weak_ptr<rviz_common::ros_integration::RosNodeAbstractionIface>, QString const&) () from /opt/ros/humble/lib/librviz_common.so
#17 0x00007fac437befae in rviz_common::VisualizerApp::init(int, char**) ()
   from /opt/ros/humble/lib/librviz_common.so
#18 0x000055d073eed8e5 in ?? ()
#19 0x00007fac423efd90 in __libc_start_call_main (main=main@entry=0x55d073eed430, argc=argc@entry=1, 
    argv=argv@entry=0x7ffc5b753bf8) at ../sysdeps/nptl/libc_start_call_main.h:58
#20 0x00007fac423efe40 in __libc_start_main_impl (main=0x55d073eed430, argc=1, argv=0x7ffc5b753bf8, 
    init=<optimized out>, fini=<optimized out>, rtld_fini=<optimized out>, stack_end=0x7ffc5b753be8)
    at ../csu/libc-start.c:392
#21 0x000055d073eedc15 in ?? ()
(gdb)

Somehow, there is no problem when I use rocker. For example:

rocker --nvidia --x11 --user --volume $HOME/autoware -- ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda

But my setup is based on vscode devcontainer and docker-compose files, so I would rather to fix the "normal" docker way.

Expected behavior

No crash.

Actual behavior

Qt based apps crash.

Steps to reproduce

$ xhost +local:docker
$ docker run --runtime nvidia -e DISPLAY -v ~/.Xauthority:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix --rm -it ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda /bin/bash

Versions

Ubuntu 22.04.3 (up-to-date)
latest Autoware source

Possible causes

No response

Additional context

No response

autowarefoundation / autoware