X Error of failed request: BadDrawable (invalid Pixmap or Window parameter)

[Light7Rain]

I installed autoware(source installation) and AWSIM-1080p simulator by following official guide.I can run autoware successfully, but I can't run AWSIM simulator.When I ran ./AWSIM.x86_64, the window E2ESimulator appeared, remained black, then disappeared several seconds later. And Player.log shows(the last few lines) like that:

requesting resize 1024 x 768
resizing window to 1024 x 768
Desktop is 2560 x 1440 @ 60 Hz
InitializeOrResetSwapChain 1024x768 hdr=0 samples=1
X Error of failed request: BadDrawable (invalid Pixmap or Window parameter)
Major opcode of failed request: 149 ()
Minor opcode of failed request: 4
Resource id in failed request: 0x2800012
Serial number of failed request: 243
Current serial number in output stream: 249

My system is Ubuntu20.04.2 LTS.