A1_viz_view is failing to launch to display robot position

Steps i followed to do :
SSH to nvidia board on A1 mapper

  1. Execute QRE High-level Driver: roslaunch a1_hardware_driver high_level_mode.launch
  2. executed QRE Base Driver: roslaunch a1_state_publisher a1_state_publisher.launch
  3. Ouster driver: roslaunch a1_ouster ouster.launch

All the above command executed successfuly. but after executing following commands issue came:
4. View robot: roslaunch a1_viz view_robot.launch
This command giving following error. Please check details as follows
unitree@nx:~$ roslaunch a1_viz view_robot.launch
… logging to /home/unitree/.ros/log/78249fdc-0444-11e8-89e3-48b02d5a8b23/roslaunch-nx-11811.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nx:46801/



  • /rosdistro: melodic
  • /rosversion: 1.14.12

rviz (rviz/rviz)


process[rviz-1]: started with pid [11843]
QXcbConnection: XCB error: 145 (Unknown), sequence: 171, resource id: 0, major code: 139 (Unknown), minor code: 20
================================================================================REQUIRED process [rviz-1] has died!
process has died [pid 11843, exit code -11, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/unitree/catkin_ws/src/qre_a1/a1_viz/rviz/robot.rviz __name:=rviz __log:=/home/unitree/.ros/log/78249fdc-0444-11e8-89e3-48b02d5a8b23/rviz-1.log].
log file: /home/unitree/.ros/log/78249fdc-0444-11e8-89e3-48b02d5a8b23/rviz-1*.log
Initiating shutdown!

[rviz-1] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete

Dear @dhananjay,

This seems to be an ssh problem. Have you ssh with GUI mode enabled?

ssh -X unitree@

Alternatively, have you tried connecting with an ethernet port to the A1, and installing the A1 ros package on your native PC and running it from there?