unable to launch carla-autoware agent

[xichennn]

I followed the instructions here: https://github.com/carla-simulator/carla-autoware and faced no errors during build.

My software version:
Ubuntu 20.04; ROS melodic; Autoware 1.14; carla 0.9.10.1

I had carla server running and started the container by ./run.sh, Then I RUN roslaunch carla_autoware_agent carla_autoware_agent.launch town:=Town01

This is where I got errors, they can be classified into two:

1. Display related (unable to launch any graphical window):

   qt.qpa.screen: QXcbConnection: Could not connect to display localhost:11.0
   Could not connect to any X display.
   QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-autoware'

   [rviz-62] process has died [pid 724, exit code 1, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/autoware/carla_ws/src/carla-autoware-agent/agent/rviz/config.rviz __name:=rviz __log:=/home/autoware/.ros/log/cebf981c-ee77-11eb-bae1-d89ef38dd9d3/rviz-62.log].
   log file: /home/autoware/.ros/log/cebf981c-ee77-11eb-bae1-d89ef38dd9d3/rviz-62*.lo

2. File permissions related (unable to access autoware-content):

   process[points_map_loader-20]: started with pid [334]
   terminate called after throwing an instance of 'boost::filesystem::filesystem_error'
   what(): boost::filesystem::status: Permission denied: "/home/autoware//autoware-contents/maps/point_cloud_maps/Town01.pcd"

   [points_map_loader-20] process has died [pid 334, exit code -6, cmd /home/autoware/Autoware/install/map_file/lib/map_file/points_map_loader __name:=points_map_loader __log:=/home/autoware/.ros/log/cebf981c-ee77-11eb-bae1-d89ef38dd9d3/points_map_loader-20.log].
   log file: /home/autoware/.ros/log/cebf981c-ee77-11eb-bae1-d89ef38dd9d3/points_map_loader-20*.log

I looked up the run.sh file for other autoware versions, e.g. https://ai4sig.org/2018/07/docker-for-autoware/ and https://gitlab.com/autowarefoundation/autoware.ai/autoware/-/wikis/Generic-x86-Docker, they included env for Xauthority and DISPLAY, also shared_dir for file sharing between host and container. Those variables are not specified in the run.sh provided by carla-autoware and I suspect this is the cause.

I tried to modify the run.sh following the above two links, but the errors remained.

Has anyone out there faced similar problems?

Any input would be appreciated.