Demo simulation with web visualization ?

[vfdev-5]

Hello, I'm trying to run this demo simulation using ignition and web simulation (following the announcement for fortress release, https://community.gazebosim.org/t/ignition-fortress-release/1127).

I'm using a headless server and everything is installed inside a docker container. I run the following:

export IGNITION_VERSION=fortress && colcon build
. install/setup.bash

export DISPLAY=:1.0
export MESA_GL_VERSION_OVERRIDE=3.3
Xvfb :1 -ac -noreset -core -screen 0 1280x1024x24 &

ros2 launch dolly_ignition dolly.launch.py &
ign launch -v 4 websocket.ign

where the content of websocket.ign is almost the same as here.

I can visualize the scene and the robot:

But there is no way to start the simulation or move the person to make the robot to follow her.

By the way, seems like I have some texture loading issues:

[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:467] Could not resolve file [young_lightskinned_female_diffuse.png]
[ign gazebo-1] [Err] [SystemPaths.cc:467] Could not resolve file [young_lightskinned_female_diffuse.png]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:467] Could not resolve file [ponytail01_diffuse.png]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:467] Could not resolve file [brown_eye.png]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:467] Could not resolve file [eyebrow002.png]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:467] Could not resolve file [eyelashes01.png]     
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:467] Could not resolve file [tongue01_diffuse.png]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:467] Could not resolve file [female_casualsuit02_diffuse.png]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:467] Could not resolve file [female_casualsuit01_diffuse.png]
[ign gazebo-1] [GUI] [Err] [SystemPaths.cc:467] Could not resolve file [shoes05_diffuse.png]
[ign gazebo-1] [Err] [SystemPaths.cc:467] Could not resolve file [ponytail01_diffuse.png]    
[ign gazebo-1] [Err] [SystemPaths.cc:467] Could not resolve file [brown_eye.png]             
[ign gazebo-1] [Err] [SystemPaths.cc:467] Could not resolve file [eyebrow002.png]            
[ign gazebo-1] [Err] [SystemPaths.cc:467] Could not resolve file [eyelashes01.png]
[ign gazebo-1] [Err] [SystemPaths.cc:467] Could not resolve file [tongue01_diffuse.png]
[ign gazebo-1] [Err] [SystemPaths.cc:467] Could not resolve file [female_casualsuit02_diffuse.png]
[ign gazebo-1] [Err] [SystemPaths.cc:467] Could not resolve file [female_casualsuit01_diffuse.png]
[ign gazebo-1] [Err] [SystemPaths.cc:467] Could not resolve file [shoes05_diffuse.png]

Any hints on how to make everything work or am I missing something ? Thanks a lot!

Software deps:

• ros2 galactic
• ignition fortress