Flightmare crashes on roslaunch agile_autonomy simulation.launch in docker

[adam-mirza]

I have gotten all of the packages to build in an Ubuntu 20.04 docker container. The container has X11 forwarding setup (on /tmp/.X11-unix) and is run with the --privileged flag. When I launch agile_autonomy flightmare starts for about a second, then crashes. The rviz and rqt GUIs appear and seem to function correctly. It is only flightmare that crashes.

Has anyone else experienced this issue, or have ideas on how to proceed?

I have attached the relevant terminal output below.

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
Ready ? : 0                                                         
[ INFO] [1642693599.801859432]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1642693599.803162953]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Ready ? : 0                                                         
RosPluginProvider.load(qt_gui_cpp/CppPluginProvider) exception raised in __builtin__.__import__(qt_gui_cpp.cpp_plugin_provider, [CppPlug
inProvider]):                                                       
Traceback (most recent call last): 
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_plugin_provider.py", line 33, in <module>
    from .cpp_binding_helper import qt_gui_cpp
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ValueError: PyCapsule_GetPointer called with incorrect name

RecursivePluginProvider.discover() loading plugin "qt_gui_cpp/CppPluginProvider" failed:
Traceback (most recent call last): 
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/recursive_plugin_provider.py", line 60, in discover
    instance = self._plugin_provider.load(plugin_descriptor.plugin_id(), None)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 90, in load
    raise e
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_plugin_provider.py", line 33, in <module>
    from .cpp_binding_helper import qt_gui_cpp
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
    from . import libqt_gui_cpp_sip
ValueError: PyCapsule_GetPointer called with incorrect name

Ready ? : 0
Ready ? : 0
Ready ? : 0
Ready ? : 0
Ready ? : 0
Ready ? : 0
Ready ? : 0
[flight_render-20] process has died [pid 654, exit code -11, cmd /home/usr/agile_autonomy_ws/catkin_aa/src/rpg_flightmare/flightrender/f
lightmare.x86_64 __name:=flight_render __log:=/root/.ros/log/278c32a4-7a08-11ec-a9b3-0242ac110002/flight_render-20.log].
log file: /root/.ros/log/278c32a4-7a08-11ec-a9b3-0242ac110002/flight_render-20*.log

[psun-autel]

This has something to do with your PyQt related installation. I ran into a couple of issues, and this is one of them. I basically did qt related libraries installation over and over, and made sure I didn't mess it with any conda environment. At least, I got over this problem by now.

[mw9385]

Did you solve the issue? I faced with exact the same problem.

[tiankegangHW]

hello, I also build all of the packages in an Ubuntu 20.04 docker container. The container has X11 forwarding setup (on /tmp/.X11-unix) and is run with the --privileged flag. However, the environment can not be loaded and flightmare can not run. The error is bellow The standalone.tar is extracted in "...rpg_flightmare/flightrender" and $RPGQ_PARAM_DIR is set correctly. Rviz can also work properly. Thank you very much!!

[mw9385]

@tiankegangHW Hi, when you running it on docker, it doesn't work. Try turning on simulator and then run the launch file.

[AnshShah3009]

Did you solve the issue? I faced with exact the same problem.

Did you solve this finally?