@小鱼 嗯嗯，感谢鱼哥

@小鱼 问题解决了，重新安装后可以运行了，太厉害了哈哈，不知道下面这个QStandardaths报错是否会有影响：

root@5b7d242e805f:/home/ji# rviz
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1660186307.350865348]: rviz version 1.14.14
[ INFO] [1660186307.350906822]: compiled against Qt version 5.12.8
[ INFO] [1660186307.350921085]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1660186307.358218726]: Forcing OpenGl version 0.
[ INFO] [1660186307.612330727]: Stereo is NOT SUPPORTED
[ INFO] [1660186307.612423945]: OpenGL device: Mesa Intel(R) UHD Graphics (CML GT2)
[ INFO] [1660186307.612499086]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.

@小鱼 嗯嗯，我试一下，感谢

@小鱼 哈哈哈谢谢鱼哥，所以问题在哪呀，不太看得懂这些命令

@澄 在 在只有集成显卡的硬件设备中，一键安装后无法使用rviz和gazebo 中说：

@小鱼 运行后跳出弹窗如下：

Could not contact ROS master at [http://localhost:11311], retrying.

ji@nuc:~$ xhost +local:
non-network local connections being added to access control list
ji@nuc:~$ sudo docker run -it --rm  -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd --device=/dev/dri/renderD128 -v /dev/dri:/dev/dri -e DISPLAY=unix$DISPLAY  fishros2/ros:noetic-desktop-full
root@c38e2be79c63:/# rviz
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1660185251.829148524]: rviz version 1.14.14
[ INFO] [1660185251.829199001]: compiled against Qt version 5.12.8
[ INFO] [1660185251.829211805]: compiled against OGRE version 1.9.0 (Ghadamon)

@小鱼 运行后跳出弹窗如下：

@小鱼
运行后报错如下：

ji@nuc:~$ sudo docker run -it --rm  -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd --device=/dev/dri/renderD128 -v /dev/dri:/dev/dri -e DISPLAY=unix$DISPLAY  fishros2/ros:noetic-desktop-full
[sudo] ji 的密码： 
root@390ca9b7cbf1:/# rviz
No protocol specified
qt.qpa.xcb: could not connect to display unix:0
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.

Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.

Aborted (core dumped)
root@390ca9b7cbf1:/# exit
exit
ji@nuc:~$ rviz

Command 'rviz' not found, but can be installed with:

sudo apt install rviz

@小鱼 这个命令运行后显示如下：

ji@nuc:~$ sudo docker run -it --rm  -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd --device=/dev/dri/renderD128 -v /dev/dri:/dev/dri -e DISPLAY=unix$DISPLAY  fishros2/ros:noetic-desktop-full
[sudo] ji 的密码： 
root@390ca9b7cbf1:/# 

@小鱼 docker ps -a显示如下：

ji@nuc:~$ docker ps -a
CONTAINER ID   IMAGE                              COMMAND       CREATED      STATUS                  PORTS     NAMES

c6007510217b   fishros2/ros:noetic-desktop-full   "/bin/bash"   2 days ago   Up 39 minutes                     noetic_doc

@小鱼 不好意思，刚接触linux系统，请问这样是在主机中运行吗，运行后显示如下：

ji@nuc:~$ xhost +local:
non-network local connections being added to access control list

进入docker运行rviz仍同上报错：

ji@nuc:~$ noetic_doc
请输入指令控制noetic_doc: 重启(r) 进入(e) 启动(s) 关闭(c) 删除(d) 测试(t):
e
root@c6007510217b:/home/ji# rviz
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1660107576.340199138]: rviz version 1.14.14
[ INFO] [1660107576.340237485]: compiled against Qt version 5.12.8
[ INFO] [1660107576.340252722]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1660107576.348258794]: Forcing OpenGl version 0.
libGL error: MESA-LOADER: failed to retrieve device information
libGL error: MESA-LOADER: failed to retrieve device information
Segmentation fault (core dumped)