RVIZ Segmentation Fault via carma exec

[kjrush]

Types of Issue

• [x] Anomaly report (something appears to not work correctly)
• [ ] Enhancement request (describe the enhancement being requested)
• [ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)

Descriptive summary

When attempting to run rviz via CARMA exec script the following segfault is encountered:

Trying to open shell inside image: usdotfhwastoldev/carma-platform:develop
[ INFO] [1592785861.151249069]: rviz version 1.12.17
[ INFO] [1592785861.151503265]: compiled against Qt version 5.5.1
[ INFO] [1592785861.151532438]: 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
/bin/bash: line 1:   116 Segmentation fault      (core dumped) rviz -d
/opt/carma/install/share/carma/rviz/carma_default.rviz

Expected behavior

RVIZ loads normally and displays the requested RVIZ file.

Software version this applies to

3.3.0

Actual behavior

RVIZ segementation faults

Steps to reproduce the behavior

1. Run carma exec rviz -d /opt/carma/install/share/carma/rviz/carma_default.rviz

Related work

Link to related tickets or prior related work here.

[msmcconnell]

Confirmed that this is repeatable on Blue Lexus PC. Can't reproduce in virtual machine so it is likely related to how displays are managed differently between both configurations

dev@dev-Nuvo-6108GC:~$ carma exec rviz
Trying to open shell inside image: usdotfhwastoldev/carma-platform:develop
[ INFO] [1593454534.267866317]: rviz version 1.12.17
[ INFO] [1593454534.267911934]: compiled against Qt version 5.5.1
[ INFO] [1593454534.267922703]: 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
/bin/bash: line 1:   116 Segmentation fault      (core dumped) rviz

[msmcconnell]

@kjrush A fix was merged for this, I think we need to follow up with the original reporter to see if their issue is fixed.

[msmcconnell]

Following up on what we believe the solution to be. Note this only works with Nvidia GPUs Install Nvidia Docker Runtime[1,2]

distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker
sudo apt-get install nvidia-container-runtime

sudo tee /etc/docker/daemon.json <<EOF
{
    "runtimes": {
        "nvidia": {
            "path": "/usr/bin/nvidia-container-runtime",
            "runtimeArgs": []
        }
    }
}
EOF
sudo pkill -SIGHUP dockerd
sudo systemctl daemon-reload
sudo systemctl restart docker

Then try the rviz command again

carma exec rviz

Documented here https://usdot-carma.atlassian.net/wiki/spaces/CAR/pages/486178841/Setup+CARMA+Platform+Prerequisites#CUDA-9.0-(Non-VM-installation)

Notes: Above commands derived from [1]https://github.com/NVIDIA/nvidia-docker#ubuntu-160418042004-debian-jessiestretchbuster [2]https://github.com/nvidia/nvidia-container-runtime#daemon-configuration-file