Error when running ORB_SLAM2

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Hi, all. I am trying to run the stereo examples of ORB_SLAM2 with the given example on https://github.com/raulmur/ORB_SLAM2. I am running ROS Kinetic on Ubuntu 16.04. I think I built ORB_SLAM2 and Pangolin successfully. When I run the stereo node, I get the following error:

Depth Threshold (Close/Far Points): 3.85272 
terminate called after throwing an instance of 'pangolin::WindowExceptionNoKnownHandler'
  what():  No known window handler for URI 'linux' 
Aborted (core dumped)

This error also occurs when I run Monocular node and RGBD node. Thanks for the help!