在 Docker 中启动 ROS2 里的 rivz2 和 rqt 出现错误的解决方法

背锅侠

已于 2024-02-06 15:04:38 修改

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分类专栏： ROS Ubuntu 编程开发文章标签： docker 容器运维

于 2024-02-06 14:41:00 首次发布

本文链接：https://blog.youkuaiyun.com/wxl5018/article/details/136056248

1. 出现错误：

运行 ros2 run rivz2 rivz2 ，报错如下：

No protocol specified
qt.qpa.xcb: could not connect to display :1
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.

[ros2run]: Aborted

排查问题：执行 export QT_DEBUG_PLUGINS=1 后再运行 ros2 run rivz2 rivz2

# export QT_DEBUG_PLUGINS=1
# ros2 run rviz2 rviz2
---------------------------------------------------------------------
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms" ...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqeglfs.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqeglfs.so, metadata=
{
    "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
    "MetaData": {
        "Keys": [
            "eglfs"
        ]
    },
    "archreq": 0,
    "className": "QEglFSIntegrationPlugin",
    "debug": false,
    "version": 331520
}


Got keys from plugin meta data ("eglfs")
QFactoryLoader::QFactoryLoader() looking at