Gazebo not working in ros kinetic singularity image

edit

I am trying to create an emika_franka_panda robot simulator using the osrf/ros:kinetic-desktop-full docker image as explained in this topic. To do this i created the following definition file:

Bootstrap: docker
From: osrf/ros:kinetic-desktop-full

%post  
    # Initiation commands
    apt-get update

    # Setup ros dependency tool
    rosdep update

I then tried to create the image by using the following command:

sudo singularity build --sandbox ros_kinetic_panda ros_kinetic_panda.def

Following when running the container using:

sudo singularity shell --nv --writable ros_kinetic_panda

and trying to launch gazebo using:

gazebo

I run into troubles. The gazebo interface tries to launch but crashes with the following errors after 1 second.

Singularity panda_kinetic:~/singularity/containers> gazebo
libGL error: libGL error: No matching fbConfigs or visuals found
No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: failed to load driver: swrast
Gtk-Message: Failed to load module "appmenu-gtk-module"
Gtk-Message: Failed to load module "gail"
Gtk-Message: Failed to load module "atk-bridge"
Gtk-Message: Failed to load module "canberra-gtk-module"

What I already tried to fix this issue

Use the melodic docker image

Bootstrap: docker
From: osrf/ros:melodic-desktop-full

%post
    echo "Setting up ros melodic emika franka container."

    # Initiation commands
    apt-get update

    # Setup ros dependency tool
    rosdep update

Now the gazebo simulator launches without any problems.

Trying to build from the apt-get repository

In this case I tried to first bootstrap from the ubuntu 16.04 repository and following trying to install ros kinetic by using the installation guide. This gave me the following errors when trying to run the gazebo simulator.

libGL error: No matching fbConfigs or visuals found
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: failed to load driver: swrast
terminate called after throwing an instance of 'std::runtime_error'
  what():  locale::facet::_S_create_c_locale name not valid
Singularity ros_test:~> gazebo
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
terminate called after throwing an instance of 'std::runtime_error'
  what():  locale::facet::_S_create_c_locale name not valid

System information

• PC: Hp Zbook G3
• Root linux system: Ubuntu 18.04
• Graphics driver: Quadro M1000M
• Cuda versions: 10.0 (cudnn 7.4.2) and 9.0 (cudnn 7.5.0)
• Singularity version 3.0.3

nvidia-smi output

Shell output log

VERBOSE: Set messagelevel to: 4
VERBOSE: Container runtime
VERBOSE: Check if we are running as setuid
VERBOSE: Spawn scontainer stage 1
VERBOSE: Get root privileges
VERBOSE: Execute scontainer stage 1
VERBOSE: Get root privileges
VERBOSE: Create mount namespace
VERBOSE: Spawn smaster process
VERBOSE: Spawn scontainer stage 2
VERBOSE: Create mount namespace
VERBOSE: Spawn RPC server
VERBOSE: Execute smaster process
VERBOSE: Serve RPC requests
VERBOSE: Found 'bind path' = /etc/localtime, /etc/localtime
VERBOSE: Found 'bind path' = /etc/hosts, /etc/hosts
VERBOSE: Checking for template passwd file: /usr/local/var/singularity/mnt/session/rootfs/etc/passwd
VERBOSE: Creating passwd content
VERBOSE: Creating template passwd file and appending user data: /usr ...