Updates to ros-installation.md

[ScottMcCormack]

• Fix broken links in ros-docker.md
• Minor format updates

[ScottMcCormack]

@rgreid Just did a bit of testing following the ros-docker.md instructions. It built and started up fine but had some trouble getting rqt started. Have you seen this error before?

root@fossa:/workshop_ws# rqt
No protocol specified
could not connect to display :1
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

Segmentation fault (core dumped)

[rgreid]

Thanks again Scott!

[rgreid]

I've merged this in, thanks.

The critical error line above is could not connect to display :1. I may have something non-standard resulting from our ADE-based Docker environment. What does xhost show on your host? e.g. I see:

$ xhost 
access control enabled, only authorized clients can connect
SI:localuser:rob

[rgreid]

@ScottMcCormack were you running Docker sudo or as root? Did you use this command to start exactly?

docker run -it --net=host --gpus all \
    --env="DISPLAY" \
    --env="NVIDIA_DRIVER_CAPABILITIES=all" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="$HOME/.Xauthority:/root/.Xauthority:rw" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --volume="${PWD}/workshop_ws":"/workshop_ws":rw \
    nvidia_ros \
    bash

Here --net=host and --volume="$HOME/.Xauthority are super important

[ScottMcCormack]

What does xhost show on your host? e.g. I see:

$ xhost 
access control enabled, only authorized clients can connect
SI:localuser:rob

I have the same output on my machine as well (running from my 20.04 host)

Ran the exact command above as well. Ran this using sudo as well and didn't have any luck resolving on my machine 🤷‍♂️

[rgreid]

@ScottMcCormack weird. My machine might not be 'stock'.

@jakebessen Hey mate, when you get back Monday, can you please check if these instructions work on your Ubuntu+NVIDIA machine? https://github.com/ros-workshop/course/blob/master/ros-docker.md Should only take a few minutes. Thanks!

[ScottMcCormack]

It's a bit of a strange one, could be an issue with my setup.

For reference this is my running config in the container

root@fossa:/workshop_ws# printenv
ROS_VERSION=1
NVIDIA_VISIBLE_DEVICES=all
PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig
ROS_PYTHON_VERSION=3
HOSTNAME=fossa
NVIDIA_REQUIRE_CUDA=cuda>=11.4 brand=tesla,driver>=418,driver<419 brand=tesla,driver>=440,driver<441 driver>=450
ROS_PACKAGE_PATH=/opt/ros/noetic/share
ROSLISP_PACKAGE_DIRECTORIES=
PWD=/workshop_ws
NVIDIA_DRIVER_CAPABILITIES=all
NV_CUDA_CUDART_VERSION=11.4.108-1
HOME=/root
LANG=C.UTF-8
ROS_ETC_DIR=/opt/ros/noetic/etc/ros
LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
CUDA_VERSION=11.4.2
CMAKE_PREFIX_PATH=/opt/ros/noetic
PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
TERM=xterm
DISPLAY=:1
SHLVL=1
NVARCH=x86_64
ROS_MASTER_URI=http://localhost:11311
NV_CUDA_COMPAT_PACKAGE=cuda-compat-11-4
LD_LIBRARY_PATH=/opt/ros/noetic/lib:/usr/lib/x86_64-linux-gnu:/usr/lib/i386-linux-gnu:/usr/local/nvidia/lib:/usr/local/nvidia/lib64:/usr/local/nvidia/lib:/usr/local/nvidia/lib64
LC_ALL=C.UTF-8
PATH=/opt/ros/noetic/bin:/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
ROS_ROOT=/opt/ros/noetic/share/ros
ROS_DISTRO=noetic
QT_X11_NO_MITSHM=1

[rgreid]

This would be better as an issue. The only question mark from what you pasted is the display variable which is typically :0. I.e. on my host I have:

$ cat /etc/lsb-release 
DISTRIB_ID=Ubuntu
DISTRIB_RELEASE=21.10
DISTRIB_CODENAME=impish
DISTRIB_DESCRIPTION="Ubuntu 21.10"

$ printenv | grep DIS
DISPLAY=:0