How to use Rviz2 with GPU in jetson docker container?

Robotics & Edge Computing Jetson & Embedded Systems Jetson Nano
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1

Currently, I’m trying to use Rviz2 with GPU by settings the following environment variable __NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia, however i got these errors on docker container /tmp/.X11-unix and /tmp/.docker.xauth volume mounted.

ai@ubuntu:~$ __NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia rviz2
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-ai'
[ERROR] [1756109491.419668382] [rviz2]: rviz::RenderSystem: error creating render window: basic_string::_M_construct null not valid
[ERROR] [1756109491.419858655] [rviz2]: InvalidParametersException: Window with name 'OgreWindow(0)' already exists in GLRenderSystem::_createRenderWindow at ./.obj-aarch64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GL/src/OgreGLRenderSystem.cpp (line 1061)
[ERROR] [1756109491.419906367] [rviz2]: rviz::RenderSystem: error creating render window: InvalidParametersException: Window with name 'OgreWindow(0)' already exists in GLRenderSystem::_createRenderWindow at ./.obj-aarch64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GL/src/OgreGLRenderSystem.cpp (line 1061)
[ERROR] [1756109491.419930496] [rviz2]: InvalidParametersException: Window with name 'OgreWindow(0)' already exists in GLRenderSystem::_createRenderWindow at ./.obj-aarch64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GL/src/OgreGLRenderSystem.cpp (line 1061)
[ERROR] [1756109491.419984576] [rviz2]: rviz::RenderSystem: error creating render window: InvalidParametersException: Window with name 'OgreWindow(0)' already exists in GLRenderSystem::_createRenderWindow at ./.obj-aarch64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GL/src/OgreGLRenderSystem.cpp (line 1061)

Does anyone know how to use Rviz2 with gpu? since it use a lot of CPU load.

Currently I’m using Jetpack 5.1.2 (L4T 35.4.1) due to camera driver problem.

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4

Hi,

Which device do you use?
Could you share more information about your environment?

Thanks.

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5

I have the same problem. In my case, I try to display rviz2 inside Isaac ROS docker container from a remote Jetson AGX Orin machine via SSH in my ubuntu workstation.

I am able to display xclock and xeyes from inside Isaac Ros container in my workstation successfully but cannot make it for rviz2. I got similar error from the post.

Here is my jetson info from jetson_release command:

 - Model: NVIDIA Jetson AGX Orin Developer Kit
 - L4T: 36.4.4
Serial Number: [XXX Show with: jetson_release -s XXX]
Hardware:
 - Module: Check with sudo
Platform:
 - Distribution: Ubuntu 22.04 Jammy Jellyfish
 - Release: 5.15.148-tegra
jtop:
 - Version: 4.3.2
System has not been booted with systemd as init system (PID 1). Can't operate.
Failed to connect to bus: Host is down
 - Service: Inactive
Libraries:
 - CUDA: 12.6.68
 - cuDNN: 9.10.2.21
 - TensorRT: 10.7.0.23
 - VPI: 3.2.4
 - OpenCV: 4.5.4 - with CUDA: NO
6

Hi, here is my jetson_release

ai@ubuntu:~ $ jetson_release
Software part of jetson-stats 4.3.2 - (c) 2024, Raffaello Bonghi
Model: Jetson AGX Orin Developer Kit - Jetpack 5.1.2 [L4T 35.4.1]
NV Power Mode[3]: MODE_50W
Serial Number: [XXX Show with: jetson_release -s XXX]
Hardware:
 - P-Number: p3701-0005
 - Module: NVIDIA Jetson AGX Orin (64GB ram)
Platform:
 - Distribution: Ubuntu 20.04 Focal Fossa
 - Release: 5.10.120-tegra
jtop:
 - Version: 4.3.2
 - Service: Active
Libraries:
 - CUDA: 12.2.140
 - cuDNN: 1.0
 - TensorRT: 8.5.2.2
 - VPI: 2.3.9
 - Vulkan: 1.3.204
 - OpenCV: 4.5.4 - with CUDA: NO
7

Hi, both

Please make sure you have launched the container with --runtime nvidia.
This plugin will mount the essential driver to allow the container to access the GPU.

Thanks.

8

I have already run with nvidia on the /etc/docker/daemon.json by default runtime with nvidia.

i have this docker compose file.

services:
  jetson-moveit:
    image: dockerfiles-jetson:moveit
    build:
      context: .
      dockerfile: Dockerfile.moveit
      args:
        USER_ID: 1000
        GROUP_ID: 1000
    container_name: jetson-gpu-moveit
    runtime: nvidia
    env_file:
      - .env
    environment:
      - DISPLAY=:0
      - QT_X11_NO_MITSHM=1
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
      - XAUTHORITY=/tmp/.docker.xauth
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - CUDA_HOME=/usr/local/cuda-12.2
      - PATH=/usr/local/cuda-12.2/bin:$PATH
      - LD_LIBRARY_PATH=/usr/local/cuda-12.2/lib64:$LD_LIBRARY_PATH
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
      - $HOME/moveit_ws:/home/ai/moveit_ws:rw
      - /dev:/dev:rw
      - $HOME/.bash_history:/home/ai/.bash_history:rw
      - $HOME/.inputrc:/home/ai/.inputrc:rw
    network_mode: host
    privileged: true
    ipc: host
    tty: true
    stdin_open: true
    cap_add:
      - SYS_ADMIN
      - SYS_PTRACE
    restart: always
    shm_size: 8gb

but it still not able to use it./

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