"QXcbConnection: XCB error: 170" with panda_moveit_config demo.launch

edit

when

$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

problem has occured.

Planning scene monitors started.
[ INFO] [1577280991.636177700]: Initializing OMPL interface using ROS parameters
[ INFO] [1577280991.688967000]: Using planning interface 'OMPL'
[ INFO] [1577280991.704183400]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1577280991.705271400]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1577280991.710163600]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1577280991.711004900]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1577280991.715759100]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1577280991.716550900]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ERROR] [1577280991.717060700]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are  default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds
[ INFO] [1577280991.718347800]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1577280991.722732200]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1577280991.723862800]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1577280991.724766300]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1577280991.725372100]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1577280991.749358800]: Loading robot model 'panda'...
[ INFO] [1577280991.808914200]: Set joints of group 'panda_arm_hand' to pose 'ready'.
[ INFO] [1577280991.809764900]: Fake controller 'fake_panda_arm_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ INFO] [1577280991.811422200]: Fake controller 'fake_hand_controller' with joints [ panda_finger_joint1 panda_finger_joint2 ]
[ INFO] [1577280991.812711800]: Returned 2 controllers in list
[ INFO] [1577280991.832866100]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1577280991.972285200]:

********************************************************
* MoveGroup using:
*      - ApplyPlanningSceneService
*      - ClearOctomapService
*      - CartesianPathService
*      - ExecuteTrajectoryAction
*      - GetPlanningSceneService
*      - KinematicsService
*      - MoveAction
*      - PickPlaceAction
*      - MotionPlanService
*      - QueryPlannersService
*      - StateValidationService
********************************************************

[ INFO] [1577280991.991439100]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1577280991.991914000]: MoveGroup context initialization complete

You can start planning now!

QXcbConnection: XCB error: 170 (Unknown), sequence: 170, resource id: 90, major code: 146 (Unknown), minor code: 20
[rviz_LAPTOP_AAQP447P_262_754655247756396395-7] process has died [pid 314, exit code -11, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/manipulator/ws_moveit/src/panda_moveit_config/launch/moveit_empty.rviz __name:=rviz_LAPTOP_AAQP447P_262_754655247756396395 __log:=/home/manipulator/.ros/log/8b885bbc-271b-11ea-bb15-2cfda141282e/rviz_LAPTOP_AAQP447P_262_754655247756396395-7.log].
log file: /home/manipulator/.ros/log/8b885bbc-271b-11ea-bb15-2cfda141282e/rviz_LAPTOP_AAQP447P_262_754655247756396395-7*.log