Docker: [Error] libGL error: failed to load driver: swrast

# Environment - Host: ubuntu 18.04 with cuda 10.2 and nvidia-440 - Docker image: ubuntu 16.04 # Example: Run Rviz ```sh # rosrun rviz rviz [ INFO] [1591698594.187146454]: rviz version 1.12.17 [ INFO] [1591698594.187204754]: compiled against Qt version 5.5.1 [ INFO] [1591698594.187226653]: 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 Segmentation fault (core dumped) ``` # Example: error when run OpenGL ```sh $ sudo apt-get update $ sudo apt-get install libglu1-mesa-dev freeglut3-dev mesa-common-dev ``` ```cpp #include void displayMe(void) { glClear(GL_COLOR_BUFFER_BIT); glBegin(GL_POLYGON); glVertex3f(0.5, 0.0, 0.5); glVertex3f(0.5, 0.0, 0.0); glVertex3f(0.0, 0.5, 0.0); glVertex3f(0.0, 0.0, 0.5); glEnd(); glFlush(); } int main(int argc, char** argv) { glutInit(&argc, argv); glutInitDisplayMode(GLUT_SINGLE); glutInitWindowSize(400, 300); glutInitWindowPosition(100, 100); glutCreateWindow("Hello world!"); glutDisplayFunc(displayMe); glutMainLoop(); return 0; } ``` Compile: ```sh g++ main.cpp -o firstOpenGlApp -lglut -lGLU -lGL ./firstOpenGlApp ``` Error detail: ```sh # ./firstOpenGlApp libGL error: No matching fbConfigs or visuals found libGL error: failed to load driver: swrast freeglut (./firstOpenGlApp): ERROR: Internal error in function fgOpenWindow ``` # Analysis - locate ```sh # locate libGL.so /usr/lib/x86_64-linux-gnu/libGL.so /usr/lib/x86_64-linux-gnu/mesa/libGL.so /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1 /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1.2.0 ``` - ldd ```sh # ldd firstOpenGlApp linux-vdso.so.1 => (0x00007fff839cf000) libglut.so.3 => /usr/lib/x86_64-linux-gnu/libglut.so.3 (0x00007f0388eea000) libGL.so.1 => /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1 (0x00007f0388c76000) libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f03888ac000) libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007f0388572000) libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f0388269000) libXi.so.6 => /usr/lib/x86_64-linux-gnu/libXi.so.6 (0x00007f0388059000) libXxf86vm.so.1 => /usr/lib/x86_64-linux-gnu/libXxf86vm.so.1 (0x00007f0387e53000) libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f0387c39000) libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007f0387a10000) libxcb-dri3.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-dri3.so.0 (0x00007f038780d000) libxcb-present.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-present.so.0 (0x00007f038760a000) libxcb-sync.so.1 => /usr/lib/x86_64-linux-gnu/libxcb-sync.so.1 (0x00007f0387403000) libxshmfence.so.1 => /usr/lib/x86_64-linux-gnu/libxshmfence.so.1 (0x00007f0387200000) libglapi.so.0 => /usr/lib/x86_64-linux-gnu/libglapi.so.0 (0x00007f0386fcf000) libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007f0386dbd000) libXdamage.so.1 => /usr/lib/x86_64-linux-gnu/libXdamage.so.1 (0x00007f0386bba000) libXfixes.so.3 => /usr/lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007f03869b4000) libX11-xcb.so.1 => /usr/lib/x86_64-linux-gnu/libX11-xcb.so.1 (0x00007f03867b2000) libxcb-glx.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-glx.so.0 (0x00007f0386599000) libxcb-dri2.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-dri2.so.0 (0x00007f0386394000) libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007f0386172000) libdrm.so.2 => /usr/lib/x86_64-linux-gnu/libdrm.so.2 (0x00007f0385f61000) libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f0385d44000) libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f0385b40000) /lib64/ld-linux-x86-64.so.2 (0x00007f0389132000) libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007f038593c000) libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007f0385736000) ``` - glxinfo ```sh # glxinfo | more libGL error: No matching fbConfigs or visuals found libGL error: failed to load driver: swrast Error: couldn't find RGB GLX visual or fbconfig name of display: :0 132 GLX Visuals visual x bf lv rg d st colorbuffer sr ax dp st accumbuffer ms cav id dep cl sp sz l ci b ro r g b a F gb bf th cl r g b a ns b eat ``` # Solution ## Dockerfile - Use nvidia/cudagl rather than nvidia/cuda ```sh # versiion ARG cuda_version=9.0 # ARG cudnn_version=7 ARG ubuntu_version=16.04 ARG nvidia_cudnn_version=7.1.3.16-1+cuda9.0 FROM nvidia/cudagl:${cuda_version}-devel-ubuntu${ubuntu_version} # FROM nvidia/cuda:${cuda_version}-cudnn${cudnn_version}-devel-ubuntu16.04 # base image MAINTAINER [email protected] # ENV LANG C.UTF-8 # ENV LC_ALL C.UTF-8 ################################################################################ # Install the Nvidia cuDNN library missing in the parent image. # https://gitlab.com/nvidia/cuda/blob/ubuntu16.04/10.1/devel/cudnn7/Dockerfile ARG nvidia_cudnn_version ENV NVIDIA_CUDNN_VERSION=${nvidia_cudnn_version} RUN apt-get update && apt-get install -y --no-install-recommends \ libcudnn7=${NVIDIA_CUDNN_VERSION} \ libcudnn7-dev=${NVIDIA_CUDNN_VERSION} \ && apt-mark hold libcudnn7 \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install ROS Kinetic Kame. # http://wiki.ros.org/kinetic/Installation/Ubuntu # Update the package list. RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list # Add the package keys. RUN apt-key adv --keyserver 'hkp://ha.pool.sks-keyservers.net:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 # Install 'ros-kinetic-desktop-full' packages (including ROS, Rqt, Rviz, and more). #ARG ros_desktop_version #ENV ROS_DESKTOP_VERSION=${ros_desktop_version} RUN apt-get update && apt-get install -y --no-install-recommends \ ros-kinetic-desktop-full \ && rm -rf /var/lib/apt/lists/* # Install ROS bootstrap tools RUN apt-get update && apt-get install --no-install-recommends -y \ python-rosdep \ python-rosinstall \ python-vcstools \ python-rosinstall-generator \ python-wstool RUN rosdep init \ && rosdep update ################################################################################ ``` ## Docker-compose - Add ```sh runtime: nvidia environment: - DISPLAY - QT_X11_NO_MITSHM=1 volumes: - /tmp/.X11-unix:/tmp/.X11-unix:rw ``` Sample: ```sh version: '2.3' services: ubuntu16_cuda9_ros: image: yubaoliu/root:ros-cuda9.0-cudnn7-ubuntu16.04 build: context: . dockerfile: Dockerfile args: cuda_version: 9.0 # cudnn_version: 7 ubuntu_version: 16.04 runtime: nvidia stdin_open: true tty: true environment: - DISPLAY - QT_X11_NO_MITSHM=1 volumes: - /tmp/.X11-unix:/tmp/.X11-unix:rw - ubuntu16_cuda9_ros:/root # entrypoint: /entrypoint-kinetic.sh volumes: ubuntu16_cuda9_ros: ``` ## xhost +local:root # Verify ```sh xhost +local:root docker-compose -f ros_cuda9.0.yml up Start a terminal roscore ``` ```sh # rosrun rviz rviz [ INFO] [1591758684.872139458]: rviz version 1.12.17 [ INFO] [1591758684.872168343]: compiled against Qt version 5.5.1 [ INFO] [1591758684.872175509]: compiled against OGRE version 1.9.0 (Ghadamon) process 107: D-Bus library appears to be incorrectly set up; failed to read machine uuid: UUID file '/etc/machine-id' should contain a hex string of length 32, not length 0, with no other text See the manual page for dbus-uuidgen to correct this issue. [ INFO] [1591758685.537067433]: Stereo is NOT SUPPORTED [ INFO] [1591758685.537229733]: OpenGl version: 4.6 (GLSL 4.6). ``` # References - [How to Install OpenGL on Ubuntu Linux](http://www.codebind.com/linux-tutorials/install-opengl-ubuntu-linux/)