How to run demos using a remote display?

[gmacario]

I would like to be able to run the Space ROS Space Robots Demo Docker on a powerful headless server (hw2482) while displaying the Gazebo GUI on my local machine (delta).

Both hosts are running Ubuntu-desktop 24.04.1 LTS and can communicate via SSH.

Unfortunately I have been unable to accomplish my goal so far.
Here is what I tried:

1. On my local workstation (HW2228) I first log into the remote server using ssh -Y hw2482

2. If I run some X client application on the server (for instance, xlogo or xeyes), they are correctly displayed on my local machine:

   

3. However, when I execute the following instructions (from https://github.com/space-ros/docker/tree/main/space_robots#running-the-demos) to run the container on the remote server

# Logged in as gmacario@delta
ssh -Y hw2482

# Logged in as gmacario@hw2482
cd ~/github/space-ros/docker/space_robots
xhost +local:docker
./run.sh

# Inside container on hw2482
ros2 launch mars_rover mars_rover.launch.py

I get the X11 connection rejected because of wrong authentication. error as shown below:

gmacario@delta:~$ ssh -Y hw2482
Welcome to Ubuntu 24.04.1 LTS (GNU/Linux 6.8.0-41-generic x86_64)

 * Documentation:  https://help.ubuntu.com
 * Management:     https://landscape.canonical.com
 * Support:        https://ubuntu.com/pro

Expanded Security Maintenance for Applications is not enabled.

0 updates can be applied immediately.

8 additional security updates can be applied with ESM Apps.
Learn more about enabling ESM Apps service at https://ubuntu.com/esm

Last login: Tue Sep  3 22:41:57 2024 from 100.69.53.95
gmacario@hw2482:~$ cd ~/github/space-ros/docker/space_robots
gmacario@hw2482:~/github/space-ros/docker/space_robots$ xhost +local:docker
non-network local connections being added to access control list
xhost:  must be on local machine to add or remove hosts.
gmacario@hw2482:~/github/space-ros/docker/space_robots$ ./run.sh
spaceros-user@hw2482:~/demos_ws$ ros2 launch mars_rover mars_rover.launch.py
[INFO] [launch]: All log files can be found below /home/spaceros-user/.ros/log/2024-09-03-20-51-03-883237-hw2482-91
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [92]
[INFO] [robot_state_publisher-2]: process started with pid [94]
[INFO] [create-3]: process started with pid [96]
[INFO] [move_arm-4]: process started with pid [98]
[INFO] [move_mast-5]: process started with pid [100]
[INFO] [move_wheel-6]: process started with pid [102]
[INFO] [run_demo-7]: process started with pid [104]
[INFO] [odom_tf_publisher-8]: process started with pid [106]
[INFO] [parameter_bridge-9]: process started with pid [108]
[INFO] [image_bridge-10]: process started with pid [110]
[create-3] [ros_ign_gazebo] is deprecated! Redirecting to use [ros_gz_sim] instead!
[create-3] 
[robot_state_publisher-2] Warning: link 'lidar_link' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in /home/spaceros-user/spaceros/src/urdfdom/urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'lidar_link' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in /home/spaceros-user/spaceros/src/urdfdom/urdf_parser/src/model.cpp
[robot_state_publisher-2] [INFO] [1725396664.519034503] [robot_state_publisher]: got segment arm_01
[robot_state_publisher-2] [INFO] [1725396664.519136629] [robot_state_publisher]: got segment arm_01_to_arm_02
[robot_state_publisher-2] [INFO] [1725396664.519155364] [robot_state_publisher]: got segment arm_02
[robot_state_publisher-2] [INFO] [1725396664.519170013] [robot_state_publisher]: got segment arm_02_to_arm_03
[robot_state_publisher-2] [INFO] [1725396664.519184321] [robot_state_publisher]: got segment arm_03
[robot_state_publisher-2] [INFO] [1725396664.519198718] [robot_state_publisher]: got segment arm_03_to_arm_04
[robot_state_publisher-2] [INFO] [1725396664.519215497] [robot_state_publisher]: got segment arm_04
[robot_state_publisher-2] [INFO] [1725396664.519237903] [robot_state_publisher]: got segment arm_04_to_arm_tools
[robot_state_publisher-2] [INFO] [1725396664.519253093] [robot_state_publisher]: got segment arm_tools
[robot_state_publisher-2] [INFO] [1725396664.519267454] [robot_state_publisher]: got segment back_wheel_L
[robot_state_publisher-2] [INFO] [1725396664.519283727] [robot_state_publisher]: got segment back_wheel_R
[robot_state_publisher-2] [INFO] [1725396664.519298952] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1725396664.519313196] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1725396664.519327503] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1725396664.519341860] [robot_state_publisher]: got segment chassis
[robot_state_publisher-2] [INFO] [1725396664.519356169] [robot_state_publisher]: got segment chassis_to_arm_01
[robot_state_publisher-2] [INFO] [1725396664.519372212] [robot_state_publisher]: got segment chassis_to_mast_p
[robot_state_publisher-2] [INFO] [1725396664.519386637] [robot_state_publisher]: got segment front_wheel_L
[robot_state_publisher-2] [INFO] [1725396664.519401123] [robot_state_publisher]: got segment front_wheel_R
[robot_state_publisher-2] [INFO] [1725396664.519415539] [robot_state_publisher]: got segment left_axis
[robot_state_publisher-2] [INFO] [1725396664.519429815] [robot_state_publisher]: got segment lidar_link
[robot_state_publisher-2] [INFO] [1725396664.519444218] [robot_state_publisher]: got segment mast_02
[robot_state_publisher-2] [INFO] [1725396664.519458671] [robot_state_publisher]: got segment mast_02_to_mast_cameras
[robot_state_publisher-2] [INFO] [1725396664.519473440] [robot_state_publisher]: got segment mast_cameras
[robot_state_publisher-2] [INFO] [1725396664.519487914] [robot_state_publisher]: got segment mast_p
[robot_state_publisher-2] [INFO] [1725396664.519502457] [robot_state_publisher]: got segment mast_p_to_mast_02
[robot_state_publisher-2] [INFO] [1725396664.519517595] [robot_state_publisher]: got segment middle_wheel_L
[robot_state_publisher-2] [INFO] [1725396664.519533291] [robot_state_publisher]: got segment middle_wheel_R
[robot_state_publisher-2] [INFO] [1725396664.519547675] [robot_state_publisher]: got segment right_axis
[robot_state_publisher-2] [INFO] [1725396664.519561934] [robot_state_publisher]: got segment suspension_arm_B2_L
[robot_state_publisher-2] [INFO] [1725396664.519576240] [robot_state_publisher]: got segment suspension_arm_B2_L_to_middle_wheel_L
[robot_state_publisher-2] [INFO] [1725396664.519591180] [robot_state_publisher]: got segment suspension_arm_B2_L_to_suspension_steer_B_L
[robot_state_publisher-2] [INFO] [1725396664.519607625] [robot_state_publisher]: got segment suspension_arm_B2_R
[robot_state_publisher-2] [INFO] [1725396664.519623099] [robot_state_publisher]: got segment suspension_arm_B2_R_to_middle_wheel_R
[robot_state_publisher-2] [INFO] [1725396664.519647830] [robot_state_publisher]: got segment suspension_arm_B2_R_to_suspension_steer_B_R
[robot_state_publisher-2] [INFO] [1725396664.519662856] [robot_state_publisher]: got segment suspension_arm_B_L
[robot_state_publisher-2] [INFO] [1725396664.519675899] [robot_state_publisher]: got segment suspension_arm_B_L_to_B2_L
[robot_state_publisher-2] [INFO] [1725396664.519688494] [robot_state_publisher]: got segment suspension_arm_B_R
[robot_state_publisher-2] [INFO] [1725396664.519703348] [robot_state_publisher]: got segment suspension_arm_B_R_to_B2_R
[robot_state_publisher-2] [INFO] [1725396664.519716215] [robot_state_publisher]: got segment suspension_arm_F_L
[robot_state_publisher-2] [INFO] [1725396664.519730044] [robot_state_publisher]: got segment suspension_arm_F_L_to_suspension_steer_F_L
[robot_state_publisher-2] [INFO] [1725396664.519743573] [robot_state_publisher]: got segment suspension_arm_F_R
[robot_state_publisher-2] [INFO] [1725396664.519756779] [robot_state_publisher]: got segment suspension_arm_F_R_to_suspension_steer_F_R
[robot_state_publisher-2] [INFO] [1725396664.519771304] [robot_state_publisher]: got segment suspension_steer_B_L
[robot_state_publisher-2] [INFO] [1725396664.519784454] [robot_state_publisher]: got segment suspension_steer_B_L_to_back_wheel_L
[robot_state_publisher-2] [INFO] [1725396664.519799008] [robot_state_publisher]: got segment suspension_steer_B_R
[robot_state_publisher-2] [INFO] [1725396664.519812508] [robot_state_publisher]: got segment suspension_steer_B_R_to_back_wheel_R
[robot_state_publisher-2] [INFO] [1725396664.519826636] [robot_state_publisher]: got segment suspension_steer_F_L
[robot_state_publisher-2] [INFO] [1725396664.519860966] [robot_state_publisher]: got segment suspension_steer_F_L_to_front_wheel_L
[robot_state_publisher-2] [INFO] [1725396664.519875725] [robot_state_publisher]: got segment suspension_steer_F_R
[robot_state_publisher-2] [INFO] [1725396664.519890546] [robot_state_publisher]: got segment suspension_steer_F_R_to_front_wheel_R
[parameter_bridge-9] [INFO] [1725396664.573952123] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[create-3] [INFO] [1725396664.574773569] [ros_gz_sim]: Requesting list of world names.
[parameter_bridge-9] [INFO] [1725396664.574856333] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/curiosity_mars_rover/odometry (ignition.msgs.Odometry) -> /model/curiosity_mars_rover/odometry (nav_msgs/msg/Odometry)] (Lazy 0)
[parameter_bridge-9] [INFO] [1725396664.575758941] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/model/curiosity_mars_rover/odometry (nav_msgs/msg/Odometry) -> /model/curiosity_mars_rover/odometry (ignition.msgs.Odometry)] (Lazy 0)
[parameter_bridge-9] [INFO] [1725396664.576692417] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/scan (ignition.msgs.LaserScan) -> /scan (sensor_msgs/msg/LaserScan)] (Lazy 0)
[parameter_bridge-9] [INFO] [1725396664.577439616] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/scan (sensor_msgs/msg/LaserScan) -> /scan (ignition.msgs.LaserScan)] (Lazy 0)
X11 connection rejected because of wrong authentication.
[ign gazebo-1] qt.qpa.xcb: could not connect to display localhost:10.0
[ign gazebo-1] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
[ign gazebo-1] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
[ign gazebo-1] 
[ign gazebo-1] Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.
[ign gazebo-1] 
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31   Object "ign gazebo gui", at 0x559687d6817e, in 
[ign gazebo-1] #30   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f79171e19, in ruby_run_node
[ign gazebo-1] #29   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f7916e317, in 
[ign gazebo-1] #28   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f7930330c, in rb_vm_exec
[ign gazebo-1] #27   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f792fdc96, in 
[ign gazebo-1] #26   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f792fafc5, in 
[ign gazebo-1] #25   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f792f8c34, in 
[ign gazebo-1] #24   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f79244a4e, in 
[ign gazebo-1] #23   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f7916f9ac, in rb_protect
[ign gazebo-1] #22   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f79307c61, in rb_yield
[ign gazebo-1] #21   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f7930330c, in rb_vm_exec
[ign gazebo-1] #20   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f792fdc96, in 
[ign gazebo-1] #19   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f792fafc5, in 
[ign gazebo-1] #18   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f792f8c34, in 
[ign gazebo-1] #17   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x745f7882344b, in 
[ign gazebo-1] #16   Object "/usr/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x745f792c6088, in rb_nogvl
[ign gazebo-1] #15   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x745f78822d6b, in 
[ign gazebo-1] #14   Object "/usr/lib/x86_64-linux-gnu/libffi.so.8", at 0x745f78814492, in 
[ign gazebo-1] #13   Object "/usr/lib/x86_64-linux-gnu/libffi.so.8", at 0x745f78817e2d, in 
[ign gazebo-1] #12   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.16.0", at 0x745f76743bcc, in runGui
[ign gazebo-1] #11   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x745f7443ea75, in ignition::gazebo::v6::gui::runGui(int&, char**, char const*, char const*, int, char const*)
[ign gazebo-1] #10   Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-gui.so.6", at 0x745f7443d3a0, in ignition::gazebo::v6::gui::createGui(int&, char**, char const*, char const*, bool, char const*, int, char const*)
[ign gazebo-1] #9    Object "/usr/lib/x86_64-linux-gnu/libignition-gui6.so.6", at 0x745f74e39068, in ignition::gui::Application::Application(int&, char**, ignition::gui::WindowType)
[ign gazebo-1] #8    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x745f72cdecec, in QApplicationPrivate::init()
[ign gazebo-1] #7    Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x745f71bc6b6f, in QGuiApplicationPrivate::init()
[ign gazebo-1] #6    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x745f734eeb16, in QCoreApplicationPrivate::init()
[ign gazebo-1] #5    Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x745f71bc3c07, in QGuiApplicationPrivate::createEventDispatcher()
[ign gazebo-1] #4    Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5", at 0x745f71bc3712, in QGuiApplicationPrivate::createPlatformIntegration()
[ign gazebo-1] #3    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x745f732beba2, in QMessageLogger::fatal(char const*, ...) const
[ign gazebo-1] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x745f78ec87f2, in abort
[ign gazebo-1] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x745f78ee2475, in raise
[ign gazebo-1] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x745f78f369fc, in pthread_kill
[ign gazebo-1] Aborted (Signal sent by tkill() 198 1000)
[create-3] [INFO] [1725396665.205495759] [ros_gz_sim]: Waiting messages on topic [robot_description].
[create-3] [INFO] [1725396665.210348558] [ros_gz_sim]: Requested creation of entity.
[create-3] [INFO] [1725396665.210410008] [ros_gz_sim]: OK creation of entity.
[odom_tf_publisher-8] [INFO] [1725396665.250909230] [odom_tf_publisher]: Starting odometry_tf_publisher node
[INFO] [create-3]: process has finished cleanly [pid 96]
[INFO] [ros2-11]: process started with pid [349]
[INFO] [ign gazebo-1]: process has finished cleanly [pid 92]

The error makes me believe that the xhost +local:docker command was not sufficient.

Anybody has ever tried such use case?
What I am doing wrong?

[EzraBrooks]

It's possible that xhost +local:docker doesn't work in this case because it's not local since you're using SSH, but I'm not sure.

What happens if you just run xhost +, thereby disabling the ACL entirely? It's not good practice for security reasons to do that on a regular basis, but it will help us diagnose where the issue is with our/your configuration.

[EzraBrooks]

I've opened issue #173 describing one of the possible causes of this issue. I'm moving this to a discussion since it's more of a question than an issue. I'll keep responding here as we work together to debug this. Thanks!