Up RasPi＋Ubuntu＋ROS 相性問題 作成: 2021-03-06
更新: 2021-03-08

    RasPi＋Ubuntu＋ROS は，rviz において相性問題を現す── rviz エラー。
    GoPiGo は，この問題が解決しないうちは，使えない。
    GoPiGo の操作は，rviz を必要とするからである。

    RasPi＋Ubuntu＋ROS 相性問題としての rviz エラーは，GoPiGo では以下の形をとる：


    PC のターミナルから
    $ roslaunch gopigo3_description gopigo3_rviz.launch

    これは，つぎのエラーを出す： (A) qt.qpa.xcb: could not connect to display localhost:11.0 qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found. This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem. Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb. あるいは (B) libGL error: No matching fbConfigs or visuals found libGL error: failed to load driver: swrast libGL error: No matching fbConfigs or visuals found libGL error: failed to load driver: swrast そして，起動失敗になる： ========================================================================= REQUIRED process [rviz-1] has died! process has died [pid 4938, exit code -6, cmd /opt/ros/noetic/lib/rviz/rviz -d /home/ubuntu/catkin_ws/src/gopigo3/gopigo3_description/rviz/model_conf.rviz __name:=rviz __log:=/home/ubuntu/.ros/log/99782438-7e58-11eb-833d-a91d04730f02/rviz-1.log]. log file: /home/ubuntu/.ros/log/99782438-7e58-11eb-833d-a91d04730f02/rviz-1*.log Initiating shutdown! =========================================================================== [robot_state_publisher-3] killing on exit [joint_state_publisher-2] killing on exit [rviz-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
    (B) のエラーは，起動プロセスが (A) のエラーのときよりも先に進み，つぎの Xウィンドウが２秒ほど現れて消える──の段階まで行った場合である。


    RaspberryPi のターミナルからの
      $ roslaunch gopigo3_description gopigo3_rviz.launch
    では，起動失敗のメッセージは出ないが，停まったふうになる。

備考. 途中ダウンのときの起動メッセージ全文：
$ roslaunch gopigo3_description gopigo3_rviz.launch ... logging to /home/ubuntu/.ros/log/99782438-7e58-11eb-833d-a91d04730f02/roslaunch-ubuntu-4921.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://ubuntu:43407/ SUMMARY ======== PARAMETERS * /joint_state_publisher/use_gui: False * /robot_description: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.15.9 NODES / joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 process[rviz-1]: started with pid [4938] process[joint_state_publisher-2]: started with pid [4939] process[robot_state_publisher-3]: started with pid [4940] qt.qpa.xcb: could not connect to display localhost:11.0 qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found. This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem. Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb. ================================================================================ REQUIRED process [rviz-1] has died! process has died [pid 4938, exit code -6, cmd /opt/ros/noetic/lib/rviz/rviz -d /home/ubuntu/catkin_ws/src/gopigo3/gopigo3_description/rviz/model_conf.rviz __name:=rviz __log:=/home/ubuntu/.ros/log/99782438-7e58-11eb-833d-a91d04730f02/rviz-1.log]. log file: /home/ubuntu/.ros/log/99782438-7e58-11eb-833d-a91d04730f02/rviz-1*.log Initiating shutdown! ================================================================================ [robot_state_publisher-3] killing on exit [joint_state_publisher-2] killing on exit [rviz-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done