虚拟机Ubuntu远程启动Jetson nano RVIZ图形界面失败

[INFO] [1644470251.178517]: Rosapi started
[map_manager-6] process has finished cleanly
log file: /home/jetson/.ros/log/fb3115c6-8a2e-11ec-8462-e884a5f6185a/map_manager-6*.log
2022-02-10 13:17:31+0800 [-] WebSocketServerFactory starting on 9090
2022-02-10 13:17:31+0800 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0x7f8459f190>
2022-02-10 13:17:31+0800 [-] [INFO] [1644470251.461638]: Rosbridge WebSocket server started at ws://0.0.0.0:9090
[ WARN] [1644470251.797378222]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1644470251.806939060]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1644470251.810517831]: global_costmap: Using plugin "static_layer"
[ INFO] [1644470251.839709879]: Requesting the map...

libGL error: MESA-LOADER: failed to open swrast (search paths /usr/lib/aarch64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri)
libGL error: failed to load driver: swrast
[ WARN] [1644470253.456780410]: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-i02lBV/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
rviz::RenderSystem: error creating render window: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-i02lBV/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
[ WARN] [1644470253.516090970]: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-i02lBV/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
rviz::RenderSystem: error creating render window: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-i02lBV/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
......
[ WARN] [1644470258.516816469]: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-i02lBV/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
rviz::RenderSystem: error creating render window: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-i02lBV/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
[ WARN] [1644470258.556742799]: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-i02lBV/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
rviz::RenderSystem: error creating render window: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-i02lBV/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
[ERROR] [1644470258.557052020]: Unable to create the rendering window after 100 tries.
terminate called after throwing an instance of 'std::logic_error'
  what():  basic_string::_M_construct null not valid
================================================================================REQUIRED process [rviz-9] has died!
process has died [pid 9678, exit code -6, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/jetson/transbot_ws/src/transbot_nav/rviz/transbot_navigate.rviz __name:=rviz __log:=/home/jetson/.ros/log/fb3115c6-8a2e-11ec-8462-e884a5f6185a/rviz-9.log].
log file: /home/jetson/.ros/log/fb3115c6-8a2e-11ec-8462-e884a5f6185a/rviz-9*.log
Initiating shutdown!
================================================================================
[send_mark-10] killing on exit
[rviz-9] killing on exit
[move_base-8] killing on exit
[save_map-7] killing on exit
[world_canvas_server-5] killing on exit
[rosapi-4] killing on exit
[map_server-1] killing on exit
[rosbridge_websocket-3] killing on exit
[amcl-2] killing on exit
Traceback (most recent call last):
  File "/home/jetson/software/world_canvas/src/world_canvas_server/scripts/world_canvas_server", line 15, in <module>
    world_canvas_server.AnnotationsServer()
  File "/home/jetson/software/world_canvas/src/world_canvas_server/src/world_canvas_server/annotations_server.py", line 61, in __init__
    wr.MessageCollection("world_canvas", "worlds", WorldCanvas)
  File "/home/jetson/software/world_canvas/src/warehouse_ros_mongo/src/warehouse_ros_mongo/message_collection.py", line 76, in __init__
    self.db = self.conn[db]
AttributeError: MessageCollection instance has no attribute 'conn'
2022-02-10 13:17:38+0800 [autobahn.twisted.websocket.WebSocketServerFactory] (TCP Port 9090 Closed)
2022-02-10 13:17:38+0800 [-] Stopping factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0x7f8459f190>
2022-02-10 13:17:38+0800 [-] Main loop terminated.
shutting down processing monitor...
... shutting down processing monitor complete
done

----------------------------------------------------------以下是正常连接打印的信息----------------------------

[INFO] [1644473503.228304]: Rosapi started
2022-02-10 14:11:43+0800 [-] WebSocketServerFactory starting on 9090
2022-02-10 14:11:43+0800 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0x7f96789ad910>
2022-02-10 14:11:43+0800 [-] [INFO] [1644473503.478887]: Rosbridge WebSocket server started at ws://0.0.0.0:9090
[ WARN] [1644473509.626049707]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100456 timeout was 0.1.
[ WARN] [1644473514.918413058]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100158 timeout was 0.1.
[ WARN] [1644473516.139371657]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1644473516.207212992]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1644473516.325695606]: global_costmap: Using plugin "static_layer"
[ INFO] [1644473517.787371792]: Requesting the map...
[ INFO] [1644473518.815820617]: Resizing costmap to 800 X 800 at 0.050000 m/pix
[ INFO] [1644473518.901254439]: Received a 800 X 800 map at 0.050000 m/pix
[ INFO] [1644473519.077220480]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1644473524.077718521]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1644473524.153934790]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1644473524.296340119]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1644473524.921441307]:     Subscribed to Topics: scan
[ INFO] [1644473526.962089804]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1644473530.698569293]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1644473531.051859410]: Sim period is set to 0.10
[ WARN] [1644473531.925005004]: Parameter max_rot_vel is deprecated (and will not load properly). Use max_vel_theta instead.
[ WARN] [1644473532.001017339]: Parameter min_rot_vel is deprecated (and will not load properly). Use min_vel_theta instead.
[ INFO] [1644473539.083952783]: Recovery behavior will clear layer 'obstacle_layer'
[ INFO] [1644473542.652274544]: odom received!
[ WARN] [1644473554.443170600]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 0.1046 seconds
 

待解决问题
xrdp完美实现Windows远程访问Ubuntu 16.04 - 法号阿兴 - 博客园

JetPack 4.3: MESA-LOADER: failed to open swrast while in xrdp session - #22 by WayneWWW - Jetson Nano - NVIDIA Developer Forums

【Linux】虚拟机里的ubuntu不能更改分辨率的解决 - 哔哩哔哩

==========2022/02/11=========

JetPack 4.3: MESA-LOADER: failed to open swrast while in xrdp session - #16 by sorlando961 - Jetson Nano - NVIDIA Developer Forums

上面的提到软件更新的时候把一些驱动库文件更新过后出现以下警告[ssh -X jetson@jetson]后出现，不代X不会出现。

Xlib:  extension "NV-GLX" missing on display "localhost:10.0".
Xlib:  extension "NV-GLX" missing on display "localhost:10.0".
Xlib:  extension "NV-GLX" missing on display "localhost:10.0".
另外，这里不能登录jetson来运行launch，X server 在虚拟机端，需要在虚拟机端运行产生 X 事件后发送给jetson客户端的应用来处理数据。

现在的问题是

jay@ubuntu:~$ roslaunch transbot_nav transbot_navigation.launch open_rviz:=true map:=house
RLException: [transbot_navigation.launch] is neither a launch file in package [transbot_nav] nor is [transbot_nav] a launch file name
The traceback for the exception was written to the log file
在X server端不能直接通过终端运行launch。

Running graphical CUDA sample over ssh from within l4t docker container - #3 by linuxdev - Jetson AGX Xavier - NVIDIA Developer Forums

以上链接有提到X 运作逻辑。