moveit_setup_assistant cannot load pr2.urdf.xacro

edit

I follow the moveit official tutorial to roslaunch moveit_setup_assistant, and then load the pr2.urdf.xacro file, and come across error then the assistant crashes.

Here is the tutorial link: http://docs.ros.org/kinetic/api/movei...

Note:

1, indigo on Ubuntu 14

2, Information about OpenGL by command line :glxinfo | grep OpenGL

No error shown here.

root@ShawnVM:~/catkin_ws/src/rbx2/pi_robot_moveit_config# glxinfo | grep OpenGL
OpenGL vendor string: VMware, Inc.
OpenGL renderer string: Gallium 0.4 on llvmpipe (LLVM 3.8, 256 bits)
OpenGL core profile version string: 3.3 (Core Profile) Mesa 11.2.0
OpenGL core profile shading language version string: 3.30
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 3.0 Mesa 11.2.0
OpenGL shading language version string: 1.30
OpenGL context flags: (none)
OpenGL extensions:

Here is the error information with both text and image version:

root@ShawnVM:/opt/ros/indigo/share/moveit_setup_assistant# roslaunch moveit_setup_assistant setup_assistant.launch
... logging to /root/.ros/log/1740324a-a756-11e6-9533-000c290a3fdb/roslaunch-ShawnVM-81395.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ShawnVM:33182/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES
  /
    moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[moveit_setup_assistant-1]: started with pid [81413]
[rospack] Error: no package given
[librospack]: error while executing command
[ INFO] [1478834698.670836156]: Running 'rosrun xacro xacro.py /opt/ros/indigo/share/pr2_description/robots/pr2.urdf.xacro'...
[ INFO] [1478834703.591787951]: Loaded pr2 robot model.
[ INFO] [1478834703.591918734]: Setting Param Server with Robot Description
[ INFO] [1478834703.608182827]: Robot semantic model successfully loaded.
[ INFO] [1478834703.608598789]: Setting Param Server with Robot Semantic Description
[ INFO] [1478834703.620308337]: Loading robot model 'pr2'...
[ INFO] [1478834703.620406108]: No root joint specified. Assuming fixed joint
[ INFO] [1478834703.777751659]: Stereo is NOT SUPPORTED
[ INFO] [1478834703.777928749]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1478834703.937708930]: Loading robot model 'pr2'...
[ INFO] [1478834703.937975156]: No root joint specified. Assuming fixed joint
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ INFO] [1478834704.959022007]: Loading robot model 'pr2'...
[ INFO] [1478834704.959187880]: No root joint specified. Assuming fixed joint
================================================================================REQUIRED process [moveit_setup_assistant-1] has died!
process has died [pid 81413, exit code -11, cmd /opt/ros/indigo/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/root/.ros/log/1740324a-a756-11e6-9533-000c290a3fdb/moveit_setup_assistant-1.log].
log file: /root/.ros/log/1740324a-a756-11e6-9533-000c290a3fdb/moveit_setup_assistant-1*.log
Initiating shutdown!
================================================================================
[moveit_setup_assistant-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Edit1:

I follow this answer http://answers.ros.org/question/21718...

try to install xserver-xorg, but another things shown up

root@ShawnVM:/opt/ros/indigo/share/moveit_setup_assistant# sudo apt-get install xserver-xorg
Reading package lists... Done
Building dependency tree       
Reading state information ...