# Issues with Demo FUNmap Script on Stretch3
**URL:** https://forum.hello-robot.com/t/issues-with-demo-funmap-script-on-stretch3/1268
**Category:** Ask
**Created:** [March 18, 2025, 8:08pm UTC](https://forum.hello-robot.com/t/issues-with-demo-funmap-script-on-stretch3/1268 "2025-03-18T20:08:25Z")
**Posts on this page:** 5
**Page:** 1
### Author:  [@zyaskawa](https://forum.hello-robot.com/u/zyaskawa)
#### Post date: [March 18, 2025, 8:08pm UTC](https://forum.hello-robot.com/t/issues-with-demo-funmap-script-on-stretch3/1268/1 "2025-03-18T20:08:25Z")
From these demo instructions ([Demo 1 - Mapping & Navigation - Stretch Docs](https://docs.hello-robot.com/0.3/getting_started/demos_mapping_and_navigation/#funmap-overview)), we were unable to get FUNmap script to work as RViz does not show up.
Script: `ros2 launch stretch_funmap mapping.launch.py`
I have attached ROS logs but I did not see any glaring errors…
```auto
hello-robot@stretch-se3-3059:~$ ros2 launch stretch_funmap mapping.launch.py
[INFO] [launch]: All log files can be found below /home/hello-robot/.ros/log/2025-03-17-11-00-22-634293-stretch-se3-3059-6478
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: D435i launched in high resolution
[INFO] [realsense2_camera_node-1]: process started with pid [6495]
[INFO] [stretch_driver-5]: process started with pid [6503]
[INFO] [d435i_accel_correction-2]: process started with pid [6497]
[INFO] [joint_state_publisher-3]: process started with pid [6499]
[INFO] [robot_state_publisher-4]: process started with pid [6501]
[INFO] [funmap-6]: process started with pid [6505]
[INFO] [rviz2-7]: process started with pid [6507]
[rviz2-7] QObject::moveToThread: Current thread (0x5cf4c763a170) is not the object's thread (0x5cf4c7642640).
[rviz2-7] Cannot move to target thread (0x5cf4c763a170)
[rviz2-7]
[rviz2-7] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "/home/hello-robot/.local/lib/python3.10/site-packages/cv2/qt/plugins" even though it was found.
[rviz2-7] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
[rviz2-7]
[rviz2-7] Available platform plugins are: xcb, eglfs, linuxfb, minimal, minimalegl, offscreen, vnc.
[rviz2-7]
[d435i_accel_correction-2] [INFO] [1742234423.435820331] [d435i_accel_correction_node]: d435i_accel_correction_node started
[realsense2_camera_node-1] [INFO] [1742234423.724156445] [camera]: RealSense ROS v4.55.1
[realsense2_camera_node-1] [INFO] [1742234423.724265744] [camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1742234423.724278859] [camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-1] [INFO] [1742234423.815840411] [camera]: Device with serial number 239122074250 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1742234423.815912055] [camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:0d.0/usb2/2-1/2-1:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1742234423.815923039] [camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1742234423.816107385] [camera]: Device with port number 2-1 was found.
[realsense2_camera_node-1] [INFO] [1742234423.816122252] [camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1742234423.816131349] [camera]: Resetting device...
[ERROR] [rviz2-7]: process has died [pid 6507, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/hello-robot/ament_ws/install/stretch_funmap/share/stretch_funmap/rviz/stretch_mapping.rviz --ros-args'].
[funmap-6] /home/hello-robot/ament_ws/src/stretch_ros2/stretch_funmap/.venv/lib/python3.10/site-packages/matplotlib/projections/ __init__.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.
[funmap-6] warnings.warn("Unable to import Axes3D. This may be due to multiple versions of "
[stretch_driver-5] [INFO] [1742234424.422857068] [stretch_driver]: For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc.
[stretch_driver-5] [INFO] [1742234424.423135931] [stretch_driver]: stretch_driver started
[funmap-6] [INFO] [1742234424.987574056] [funmap]: funmap started
[stretch_driver-5] [WARN] [1742234425.160633758] [stretch_driver]: Robot not homed. Call /home_the_robot service.
[stretch_driver-5] Key mapped to End-Of-Arm Tool: eoa_wrist_dw3_tool_sg3
[stretch_driver-5] [INFO] [1742234426.184210075] [stretch_driver]: Changed to mode = position
[stretch_driver-5] [INFO] [1742234426.186753352] [stretch_driver]: broadcast_odom_tf = True
[stretch_driver-5] [INFO] [1742234426.217347206] [stretch_driver]: rate = 30.0 Hz
[stretch_driver-5] [INFO] [1742234426.217660235] [stretch_driver]: twist timeout = 0.5 s
[stretch_driver-5] [INFO] [1742234426.217867978] [stretch_driver]: base_frame_id = base_link
[stretch_driver-5] [INFO] [1742234426.218062625] [stretch_driver]: odom_frame_id = odom
[funmap-6] [INFO] [1742234426.280022562] [funmap]: Node funmap connected to /home_the_robot service.
[funmap-6] [INFO] [1742234426.281099635] [funmap]: Node funmap connected to /stow_the_robot service.
[funmap-6] [INFO] [1742234426.282440289] [funmap]: Node funmap connected to /stop_the_robot service.
[funmap-6] [INFO] [1742234426.283342784] [funmap]: Node funmap connected to /switch_to_trajectory_mode service.
[funmap-6] [INFO] [1742234426.284106423] [funmap]: Node funmap connected to /switch_to_position_mode service.
[funmap-6] [INFO] [1742234426.284913848] [funmap]: Node funmap connected to /switch_to_navigation_mode service.
[funmap-6] [INFO] [1742234426.288832598] [funmap]: Node funmap waiting to receive first point cloud.
[realsense2_camera_node-1] [INFO] [1742234430.003039234] [camera]: Device with serial number 239122074250 was found.
[realsense2_camera_node-1]
[realsense2_camera_node-1] [INFO] [1742234430.003087585] [camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:0d.0/usb2/2-1/2-1:1.0/video4linux/video0 was found.
[realsense2_camera_node-1] [INFO] [1742234430.003098589] [camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-1] [INFO] [1742234430.003231881] [camera]: Device with port number 2-1 was found.
[realsense2_camera_node-1] [INFO] [1742234430.003242873] [camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1742234430.003626436] [camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1742234430.337820503] [camera]: JSON file is loaded! (/home/hello-robot/ament_ws/install/stretch_core/share/stretch_core/config/HighAccuracyPreset.json)
[realsense2_camera_node-1] [INFO] [1742234430.337943071] [camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-1] [INFO] [1742234430.337962375] [camera]: Device Serial No: 239122074250
[realsense2_camera_node-1] [INFO] [1742234430.337977746] [camera]: Device physical port: /sys/devices/pci0000:00/0000:00:0d.0/usb2/2-1/2-1:1.0/video4linux/video0
[realsense2_camera_node-1] [INFO] [1742234430.337992486] [camera]: Device FW version: 5.15.1
[realsense2_camera_node-1] [INFO] [1742234430.338005601] [camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-1] [INFO] [1742234430.338017840] [camera]: Sync Mode: On
[realsense2_camera_node-1] [WARN] [1742234430.445617276] [camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1742234430.446120854] [camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1742234430.450797196] [camera]: re-enable the stream for the change to take effect.
[realsense2_camera_node-1] [ERROR] [1742234430.451177976] [camera]: Given value, 63 is invalid. Set ROS param back to: 100
[realsense2_camera_node-1] [INFO] [1742234430.454140841] [camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1742234430.454204490] [camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1742234430.454217850] [camera]: Stopping Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1742234430.471588544] [camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1742234430.474213102] [camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 15
[realsense2_camera_node-1] [INFO] [1742234430.477680219] [camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1742234430.480274548] [camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 15
[realsense2_camera_node-1] [INFO] [1742234430.507457501] [camera]: Starting Sensor: Motion Module
[realsense2_camera_node-1] [INFO] [1742234430.508561032] [camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 100
[realsense2_camera_node-1] [INFO] [1742234430.508591693] [camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200
[realsense2_camera_node-1] [INFO] [1742234430.510083392] [camera]: RealSense Node Is Up!
[funmap-6] [INFO] [1742234431.296783104] [funmap]: Node funmap received first point cloud, so continuing.
[funmap-6] [INFO] [1742234431.323825769] [stretch_funmap]: MoveBase __init__ : self.debug_directory = /home/hello-robot/stretch_user/debug/
```
---
### Author:  [@system](https://forum.hello-robot.com/u/system)
#### Post date: [March 18, 2025, 9:15pm UTC](https://forum.hello-robot.com/t/issues-with-demo-funmap-script-on-stretch3/1268/2 "2025-03-18T21:15:55Z")
---
### Author:  [@system](https://forum.hello-robot.com/u/system)
#### Post date: [March 20, 2025, 6:40pm UTC](https://forum.hello-robot.com/t/issues-with-demo-funmap-script-on-stretch3/1268/3 "2025-03-20T18:40:47Z")
---
### Author:  [@bshah](https://forum.hello-robot.com/u/bshah)
#### Post date: [March 20, 2025, 7:57pm UTC](https://forum.hello-robot.com/t/issues-with-demo-funmap-script-on-stretch3/1268/4 "2025-03-20T19:57:20Z")
Hey @zyaskawa, the QT error is the issue.
> [@zyaskawa](#):
>
> ```auto
> [rviz2-7] QObject::moveToThread: Current thread (0x5cf4c763a170) is not the object's thread (0x5cf4c7642640).
> [rviz2-7] Cannot move to target thread (0x5cf4c763a170)
> [rviz2-7]
> [rviz2-7] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "/home/hello-robot/.local/lib/python3.10/site-packages/cv2/qt/plugins" even though it was found.
> [rviz2-7] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
> [rviz2-7]
> [rviz2-7] Available platform plugins are: xcb, eglfs, linuxfb, minimal, minimalegl, offscreen, vnc.
> [rviz2-7]
>
> ```
@Mohamed_Fazil has more details about the issue in his post here: [QT applications error out due to conflict with cv2 (Could not load the Qt platform plugin "xcb")](https://forum.hello-robot.com/t/qt-applications-error-out-due-to-conflict-with-cv2-could-not-load-the-qt-platform-plugin-xcb/1047)
Would you try adding the below to `mapping.launch.py`? You’ll need to recompile the Ament workspace as well.
```auto
import os
os.environ['QT_QPA_PLATFORM_PLUGIN_PATH'] = '/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so'
```
---
### Author:  [@zyaskawa](https://forum.hello-robot.com/u/zyaskawa)
#### Post date: [March 21, 2025, 8:27pm UTC](https://forum.hello-robot.com/t/issues-with-demo-funmap-script-on-stretch3/1268/5 "2025-03-21T20:27:25Z")
Thank you for the suggestion! I believe I am now able to FUNmap!