astrobee: Cannot run using docker in ubuntu 20.04

I cannot run the project correctly using docker, and my environment is ubuntu20.04.

By the way, I’m trying to learn the trajectory generation methods from paper “Smooth trajectory generation on SE(3) for a free flying space robot”, which is claimed to be applied for astrobee, but I did not find related code.

Any help will be appreciated!

Here is how I set up the environment:

git clone https://github.com/nasa/astrobee.git $SOURCE_PATH
cd astrobee/
git submodule update --init --depth 1 description/media
su root
./scripts/docker/run.sh --remote

Here is what I got in the terminal:

root@NRSL:/home/nrsl/astrobee# ./scripts/docker/run.sh --remote
+ cd /home/nrsl/astrobee/scripts/docker
+ docker run -it --rm --name astrobee --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw --volume=/tmp/.docker.xauth:/tmp/.docker.xauth:rw '--env="XAUTHORITY=/tmp/.docker.xauth"' '--env="DISPLAY"' --gpus all ghcr.io/nasa/astrobee:latest-ubuntu20.04 /astrobee_init.sh roslaunch astrobee sim.launch dds:=false robot:=sim_pub
... logging to /root/.ros/log/a7283bd6-f12f-11ec-835a-0242ac110002/roslaunch-73f8dc838e1a-1.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://73f8dc838e1a:39723/

SUMMARY
========

PARAMETERS
 * /dock/robot_description: <?xml version="1....
 * /handrail_21_5/robot_description: <?xml version="1....
 * /handrail_30/robot_description: <?xml version="1....
 * /handrail_41_5/robot_description: <?xml version="1....
 * /handrail_8_5/robot_description: <?xml version="1....
 * /iss/robot_description: <?xml version="1....
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /simulation_speed: 1
 * /use_sim_time: True

NODES
  /
    access_control (nodelet/nodelet)
    arm (nodelet/nodelet)
    astrobee_state_publisher (robot_state_publisher/robot_state_publisher)
    choreographer (nodelet/nodelet)
    ctl (nodelet/nodelet)
    data_bagger (nodelet/nodelet)
    depth_odometry_nodelet (nodelet/nodelet)
    dock (nodelet/nodelet)
    executive (nodelet/nodelet)
    fam (nodelet/nodelet)
    framestore (nodelet/nodelet)
    gazebo (astrobee_gazebo/start_server)
    global_transforms (framestore/global_transforms)
    graph_loc (nodelet/nodelet)
    handrail_detect (nodelet/nodelet)
    image_sampler (nodelet/nodelet)
    imu_aug (nodelet/nodelet)
    imu_calibration (rosservice/rosservice)
    llp_gnc (nodelet/nodelet)
    llp_i2c (nodelet/nodelet)
    llp_imu (nodelet/nodelet)
    llp_imu_aug (nodelet/nodelet)
    llp_lights (nodelet/nodelet)
    llp_monitors (nodelet/nodelet)
    llp_pmc (nodelet/nodelet)
    llp_serial (nodelet/nodelet)
    localization_manager (nodelet/nodelet)
    mapper (nodelet/nodelet)
    mlp_arm (nodelet/nodelet)
    mlp_communications (nodelet/nodelet)
    mlp_depth_cam (nodelet/nodelet)
    mlp_dock (nodelet/nodelet)
    mlp_graph_localization (nodelet/nodelet)
    mlp_localization (nodelet/nodelet)
    mlp_management (nodelet/nodelet)
    mlp_mapper (nodelet/nodelet)
    mlp_mobility (nodelet/nodelet)
    mlp_monitors (nodelet/nodelet)
    mlp_multibridge (nodelet/nodelet)
    mlp_perch (nodelet/nodelet)
    mlp_recording (nodelet/nodelet)
    mlp_serial (nodelet/nodelet)
    mlp_states (nodelet/nodelet)
    mlp_vision (nodelet/nodelet)
    mlp_vive (nodelet/nodelet)
    perch (nodelet/nodelet)
    planner_qp (nodelet/nodelet)
    planner_trapezoidal (nodelet/nodelet)
    spawn_astrobee (astrobee_gazebo/spawn_model)
    states (nodelet/nodelet)
    sys_monitor (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [52]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a7283bd6-f12f-11ec-835a-0242ac110002
process[rosout-1]: started with pid [62]
started core service [/rosout]
process[global_transforms-2]: started with pid [69]
process[gazebo-3]: started with pid [70]
process[astrobee_state_publisher-4]: started with pid [75]
process[spawn_astrobee-5]: started with pid [81]
process[llp_gnc-6]: started with pid [82]
process[llp_imu_aug-7]: started with pid [84]
process[llp_monitors-8]: started with pid [89]
process[llp_i2c-9]: started with pid [91]
process[llp_serial-10]: started with pid [92]
process[llp_pmc-11]: started with pid [93]
process[llp_imu-12]: started with pid [102]
process[llp_lights-13]: started with pid [129]
process[imu_aug-14]: started with pid [157]
process[ctl-15]: started with pid [205]
process[fam-16]: started with pid [242]
process[mlp_localization-17]: started with pid [278]
process[mlp_graph_localization-18]: started with pid [306]
process[mlp_vision-19]: started with pid [334]
process[mlp_depth_cam-20]: started with pid [335]
process[mlp_mapper-21]: started with pid [337]
process[mlp_management-22]: started with pid [363]
process[mlp_recording-23]: started with pid [394]
process[mlp_monitors-24]: started with pid [395]
process[mlp_communications-25]: started with pid [404]
process[mlp_multibridge-26]: started with pid [452]
process[mlp_serial-27]: started with pid [457]
process[mlp_mobility-28]: started with pid [489]
process[mlp_arm-29]: started with pid [539]
process[mlp_dock-30]: started with pid [569]
process[mlp_perch-31]: started with pid [620]
process[mlp_vive-32]: started with pid [648]
process[mlp_states-33]: started with pid [663]
process[localization_manager-34]: started with pid [734]
process[handrail_detect-35]: started with pid [737]
process[depth_odometry_nodelet-36]: started with pid [770]
process[graph_loc-37]: started with pid [802]
process[image_sampler-38]: started with pid [811]
process[mapper-39]: started with pid [848]
process[planner_qp-40]: started with pid [866]
process[choreographer-41]: started with pid [879]
process[planner_trapezoidal-42]: started with pid [887]
process[framestore-43]: started with pid [896]
process[dock-44]: started with pid [897]
process[arm-45]: started with pid [898]
process[perch-46]: started with pid [907]
process[states-47]: started with pid [910]
process[executive-48]: started with pid [911]
process[access_control-49]: started with pid [927]
process[data_bagger-50]: started with pid [935]
process[sys_monitor-51]: started with pid [943]
process[imu_calibration-52]: started with pid [948]
Node::Advertise(): Error advertising topic [default/bsharp/body/nav_cam/image]. Did you forget to start the discovery service?
Node::Advertise(): Error advertising topic [default/bsharp/body/dock_cam/image]. Did you forget to start the discovery service?
[spawn_astrobee-5] process has finished cleanly
log file: /root/.ros/log/a7283bd6-f12f-11ec-835a-0242ac110002/spawn_astrobee-5*.log
[ WARN] [1655794755.422345129, 0.264000000] : (ros.mapper./mapper) Mapper disabled, obstacle avoidance not working!
[ERROR] [1655794755.424664323, 0.264000000] : (ros.graph_localizer) graph_localizer_intializer.cc:113: ResetBiasesFromFile: Failed to read imu bias file.

[ WARN] [1655794756.339645395, 1.184000000] : (ros.sys_monitor./sys_monitor) Heartbeat unrecognized from depth_odom!
[imu_calibration-52] process has finished cleanly
log file: /root/.ros/log/a7283bd6-f12f-11ec-835a-0242ac110002/imu_calibration-52*.log
[ERROR] [1655794785.395703541, 30.216000000] : (ros.nodelet) Failed to load nodelet [/optical_flow_nodelet] of type [lk_optical_flow_node/LKOpticalFlowNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class lk_optical_flow_node/LKOpticalFlowNodelet with base class type nodelet::Nodelet does not exist. Declared types are  access_control/AccessControl arm/ArmNodelet choreographer/ChoreographerNodelet cpu_mem_monitor/CpuMemMonitor ctl/ctl data_bagger/DataBagger dds_ros_bridge/AstrobeeAstrobeeBridge dds_ros_bridge/DdsRosBridge debayer/DebayerNodelet depth_odometry/DepthOdometryNodelet disk_monitor/DiskMonitor dock/DockNodelet eps_driver/EpsDriverNode epson_imu/EpsonImuNodelet executive/Executive fam/fam flashlight/FlashlightNodelet graph_localizer/GraphLocalizerNodelet ground_truth_localizer/GroundTruthLocalizerNodelet handrail_detect/HandrailDetect image_sampler/ImageSampler imu_augmentor/ImuAugmentorNodelet imu_bias_tester/ImuBiasTesterNodelet is_camera/camera laser/LaserNodelet light_flow/LightFlowNodelet lk_optical_flow/LKOpticalFlowNodelet localization_manager/LocalizationManagerNodelet localization_node/LocalizationNodelet mapper/MapperNodelet marker_tracking_node/MarkerTrackingNodelet mobility/FrameStore nodelet_tutorial_math/Plus perch/PerchNodelet perching_arm/PerchingArmNode pico_driver/PicoDriverNodelet pico_proxy/PicoProxyNodelet planner_qp/Planner planner_trapezoidal/PlannerTrapezoidalNodelet pmc_actuator/PmcActuatorNodelet signal_lights/SignalLightsNodelet speed_cam/SpeedCamNode states/StatesNodelet sys_monitor/SysMonitor temp_monitor/TempMonitorNode vive/ViveNodelet vive_localization/ViveLocalizationNodelet
[ERROR] [1655794785.396172823, 30.216000000] : (ros.nodelet) The error before refreshing the cache was: According to the loaded plugin descriptions the class lk_optical_flow_node/LKOpticalFlowNodelet with base class type nodelet::Nodelet does not exist. Declared types are  access_control/AccessControl arm/ArmNodelet choreographer/ChoreographerNodelet cpu_mem_monitor/CpuMemMonitor ctl/ctl data_bagger/DataBagger dds_ros_bridge/AstrobeeAstrobeeBridge dds_ros_bridge/DdsRosBridge debayer/DebayerNodelet depth_odometry/DepthOdometryNodelet disk_monitor/DiskMonitor dock/DockNodelet eps_driver/EpsDriverNode epson_imu/EpsonImuNodelet executive/Executive fam/fam flashlight/FlashlightNodelet graph_localizer/GraphLocalizerNodelet ground_truth_localizer/GroundTruthLocalizerNodelet handrail_detect/HandrailDetect image_sampler/ImageSampler imu_augmentor/ImuAugmentorNodelet imu_bias_tester/ImuBiasTesterNodelet is_camera/camera laser/LaserNodelet light_flow/LightFlowNodelet lk_optical_flow/LKOpticalFlowNodelet localization_manager/LocalizationManagerNodelet localization_node/LocalizationNodelet mapper/MapperNodelet marker_tracking_node/MarkerTrackingNodelet mobility/FrameStore nodelet_tutorial_math/Plus perch/PerchNodelet perching_arm/PerchingArmNode pico_driver/PicoDriverNodelet pico_proxy/PicoProxyNodelet planner_qp/Planner planner_trapezoidal/PlannerTrapezoidalNodelet pmc_actuator/PmcActuatorNodelet signal_lights/SignalLightsNodelet speed_cam/SpeedCamNode states/StatesNodelet sys_monitor/SysMonitor temp_monitor/TempMonitorNode vive/ViveNodelet vive_localization/ViveLocalizationNodelet
[FATAL] [1655794785.396222811, 30.216000000] : (ros.sys_monitor./sys_monitor) Unable to load nodelet optical_flow_nodelet in mlp_vision manager.
[ERROR] [1655794785.396244869, 30.216000000] : (ros.sys_monitor) Fault with id 28 occurred. Fault error message: Never received heartbeat from and unable to load optical_flow_nodelet
[ERROR] [1655794785.405312668, 30.232000000] : (ros.nodelet) Failed to load nodelet [/pico_driver] of type [pico_driver/PicoDriverNodelet] even after refreshing the cache: Could not find library corresponding to plugin pico_driver/PicoDriverNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ERROR] [1655794785.405783090, 30.232000000] : (ros.nodelet) The error before refreshing the cache was: Could not find library corresponding to plugin pico_driver/PicoDriverNodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[FATAL] [1655794785.405831227, 30.232000000] : (ros.sys_monitor./sys_monitor) Unable to load nodelet pico_driver in mlp_depth_cam manager.
[ERROR] [1655794785.405860459, 30.232000000] : (ros.sys_monitor) Fault with id 21 occurred. Fault error message: Never received heartbeat from and unable to load pico_driver
[ERROR] [1655794785.406725323, 30.232000000] : (ros.executive./executive) Astrobee cannot stop while docked.
[ERROR] [1655794785.406753038, 30.232000000] : (ros.executive./executive) Executive: Command failed with message: Astrobee cannot stop while docked.
[FATAL] [1655794785.446388725, 30.272000000] : (ros.is_camera) Cannot open device.
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.
[mlp_vision-19] process has died [pid 334, exit code -6, cmd /opt/ros/noetic/lib/nodelet/nodelet manager __name:=mlp_vision __log:=/root/.ros/log/a7283bd6-f12f-11ec-835a-0242ac110002/mlp_vision-19.log].
log file: /root/.ros/log/a7283bd6-f12f-11ec-835a-0242ac110002/mlp_vision-19*.log
[depth_odometry_nodelet-36] process has finished cleanly
log file: /root/.ros/log/a7283bd6-f12f-11ec-835a-0242ac110002/depth_odometry_nodelet-36*.log
^C[sys_monitor-51] killing on exit
[data_bagger-50] killing on exit
[access_control-49] killing on exit
[executive-48] killing on exit
[states-47] killing on exit
[perch-46] killing on exit
[arm-45] killing on exit
[dock-44] killing on exit
[framestore-43] killing on exit
[planner_trapezoidal-42] killing on exit
[choreographer-41] killing on exit
[planner_qp-40] killing on exit
[mapper-39] killing on exit
[image_sampler-38] killing on exit
[graph_loc-37] killing on exit
[handrail_detect-35] killing on exit
[localization_manager-34] killing on exit
[mlp_states-33] killing on exit
terminate called after throwing an instance of 'boost::wrapexcept<boost::lock_error>'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[mlp_vive-32] killing on exit
[FATAL] [1655794790.703454108, 35.528000000] : (ros.nodelet) Failed to unload nodelet '/mapper` from manager `mlp_mapper'