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Error running docker hello-world example from stand-alone docker binaries

I need to run docker from stand-alone docker binaries on the NVIDIA Jetson TX2 using Linux4Tegra.

The steps I followed to start the daemon are:

1. curl -O https://download.docker.com/linux/static/stable/aarch64/docker-20.10.6.tgz
2. tar xzvf docker-20.10.6.tgz
3. cp docker/* /usr/bin/
4. dockerd &

The output of the daemon start up is as follows:

INFO[2021-05-19T14:44:13.343425599+09:00] Starting up                        
WARN[2021-05-19T14:44:13.353088628+09:00] could not change group /var/run/docker.sock to docker: group docker not found
INFO[2021-05-19T14:44:13.360355133+09:00] libcontainerd: started new containerd process  pid=8564
INFO[2021-05-19T14:44:13.360550874+09:00] parsed scheme: "unix"                         module=grpc
INFO[2021-05-19T14:44:13.360610390+09:00] scheme "unix" not registered, fallback to default scheme  module=grpc
INFO[2021-05-19T14:44:13.360801809+09:00] ccResolverWrapper: sending update to cc: {[{unix:///var/run/docker/containerd/containerd.sock  <nil> 0 <nil>}] <nil> <nil>}  module=grpc
INFO[2021-05-19T14:44:13.360955481+09:00] ClientConn switching balancer to "pick_first"  module=grpc
INFO[2021-05-19T14:44:13.403511139+09:00] starting containerd                           revision=05f951a3781f4f2c1911b05e61c160e9c30eaa8e version=v1.4.4
INFO[2021-05-19T14:44:13.476985884+09:00] loading plugin "io.containerd.content.v1.content"...  type=io.containerd.content.v1
INFO[2021-05-19T14:44:13.477198464+09:00] loading plugin "io.containerd.snapshotter.v1.aufs"...  type=io.containerd.snapshotter.v1
INFO[2021-05-19T14:44:13.485841492+09:00] skip loading plugin "io.containerd.snapshotter.v1.aufs"...  error="aufs is not supported (modprobe aufs failed: exit status 1 \"modprobe: FATAL: Module aufs not found in directory /lib/modules/4.9.140-tegra_AIBOX_20200130\\n\"): skip plugin" type=io.containerd.snapshotter.v1
INFO[2021-05-19T14:44:13.485948903+09:00] loading plugin "io.containerd.snapshotter.v1.btrfs"...  type=io.containerd.snapshotter.v1
INFO[2021-05-19T14:44:13.486845678+09:00] skip loading plugin "io.containerd.snapshotter.v1.btrfs"...  error="path /var/lib/docker/containerd/daemon/io.containerd.snapshotter.v1.btrfs (rootfs) must be a btrfs filesystem to be used with the btrfs snapshotter: skip plugin" type=io.containerd.snapshotter.v1
INFO[2021-05-19T14:44:13.486950656+09:00] loading plugin "io.containerd.snapshotter.v1.devmapper"...  type=io.containerd.snapshotter.v1
WARN[2021-05-19T14:44:13.487044012+09:00] failed to load plugin io.containerd.snapshotter.v1.devmapper  error="devmapper not configured"
INFO[2021-05-19T14:44:13.487105193+09:00] loading plugin "io.containerd.snapshotter.v1.native"...  type=io.containerd.snapshotter.v1
INFO[2021-05-19T14:44:13.487328979+09:00] loading plugin "io.containerd.snapshotter.v1.overlayfs"...  type=io.containerd.snapshotter.v1
INFO[2021-05-19T14:44:13.487618299+09:00] loading plugin "io.containerd.snapshotter.v1.zfs"...  type=io.containerd.snapshotter.v1
INFO[2021-05-19T14:44:13.488089466+09:00] skip loading plugin "io.containerd.snapshotter.v1.zfs"...  error="path /var/lib/docker/containerd/daemon/io.containerd.snapshotter.v1.zfs must be a zfs filesystem to be used with the zfs snapshotter: skip plugin" type=io.containerd.snapshotter.v1
INFO[2021-05-19T14:44:13.488145909+09:00] loading plugin "io.containerd.metadata.v1.bolt"...  type=io.containerd.metadata.v1
WARN[2021-05-19T14:44:13.488218647+09:00] could not use snapshotter devmapper in metadata plugin  error="devmapper not configured"
INFO[2021-05-19T14:44:13.488248677+09:00] metadata content store policy set             policy=shared
INFO[2021-05-19T14:44:13.488663145+09:00] loading plugin "io.containerd.differ.v1.walking"...  type=io.containerd.differ.v1
INFO[2021-05-19T14:44:13.488724710+09:00] loading plugin "io.containerd.gc.v1.scheduler"...  type=io.containerd.gc.v1
INFO[2021-05-19T14:44:13.488814897+09:00] loading plugin "io.containerd.service.v1.introspection-service"...  type=io.containerd.service.v1
INFO[2021-05-19T14:44:13.488915936+09:00] loading plugin "io.containerd.service.v1.containers-service"...  type=io.containerd.service.v1
INFO[2021-05-19T14:44:13.488962999+09:00] loading plugin "io.containerd.service.v1.content-service"...  type=io.containerd.service.v1
INFO[2021-05-19T14:44:13.489003306+09:00] loading plugin "io.containerd.service.v1.diff-service"...  type=io.containerd.service.v1
INFO[2021-05-19T14:44:13.489042940+09:00] loading plugin "io.containerd.service.v1.images-service"...  type=io.containerd.service.v1
INFO[2021-05-19T14:44:13.489080462+09:00] loading plugin "io.containerd.service.v1.leases-service"...  type=io.containerd.service.v1
INFO[2021-05-19T14:44:13.489120193+09:00] loading plugin "io.containerd.service.v1.namespaces-service"...  type=io.containerd.service.v1
INFO[2021-05-19T14:44:13.489161268+09:00] loading plugin "io.containerd.service.v1.snapshots-service"...  type=io.containerd.service.v1
INFO[2021-05-19T14:44:13.489201992+09:00] loading plugin "io.containerd.runtime.v1.linux"...  type=io.containerd.runtime.v1
INFO[2021-05-19T14:44:13.489450685+09:00] loading plugin "io.containerd.runtime.v2.task"...  type=io.containerd.runtime.v2
INFO[2021-05-19T14:44:13.489629874+09:00] loading plugin "io.containerd.monitor.v1.cgroups"...  type=io.containerd.monitor.v1
INFO[2021-05-19T14:44:13.490583540+09:00] loading plugin "io.containerd.service.v1.tasks-service"...  type=io.containerd.service.v1
INFO[2021-05-19T14:44:13.490661785+09:00] loading plugin "io.containerd.internal.v1.restart"...  type=io.containerd.internal.v1
INFO[2021-05-19T14:44:13.490763785+09:00] loading plugin "io.containerd.grpc.v1.containers"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.490804156+09:00] loading plugin "io.containerd.grpc.v1.content"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.490845072+09:00] loading plugin "io.containerd.grpc.v1.diff"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.490956933+09:00] loading plugin "io.containerd.grpc.v1.events"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.491001530+09:00] loading plugin "io.containerd.grpc.v1.healthcheck"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.491045807+09:00] loading plugin "io.containerd.grpc.v1.images"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.491084897+09:00] loading plugin "io.containerd.grpc.v1.leases"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.491125460+09:00] loading plugin "io.containerd.grpc.v1.namespaces"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.491162278+09:00] loading plugin "io.containerd.internal.v1.opt"...  type=io.containerd.internal.v1
INFO[2021-05-19T14:44:13.491246766+09:00] loading plugin "io.containerd.grpc.v1.snapshots"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.491291811+09:00] loading plugin "io.containerd.grpc.v1.tasks"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.491330389+09:00] loading plugin "io.containerd.grpc.v1.version"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.491369480+09:00] loading plugin "io.containerd.grpc.v1.introspection"...  type=io.containerd.grpc.v1
INFO[2021-05-19T14:44:13.491788558+09:00] serving...                                    address=/var/run/docker/containerd/containerd-debug.sock
INFO[2021-05-19T14:44:13.491917546+09:00] serving...                                    address=/var/run/docker/containerd/containerd.sock.ttrpc
INFO[2021-05-19T14:44:13.492012023+09:00] serving...                                    address=/var/run/docker/containerd/containerd.sock
INFO[2021-05-19T14:44:13.492056172+09:00] containerd successfully booted in 0.090968s
INFO[2021-05-19T14:44:13.509242180+09:00] parsed scheme: "unix"                         module=grpc
INFO[2021-05-19T14:44:13.509597740+09:00] scheme "unix" not registered, fallback to default scheme  module=grpc
INFO[2021-05-19T14:44:13.509835196+09:00] ccResolverWrapper: sending update to cc: {[{unix:///var/run/docker/containerd/containerd.sock  <nil> 0 <nil>}] <nil> <nil>}  module=grpc
INFO[2021-05-19T14:44:13.509898458+09:00] ClientConn switching balancer to "pick_first"  module=grpc
INFO[2021-05-19T14:44:13.512753438+09:00] parsed scheme: "unix"                         module=grpc
INFO[2021-05-19T14:44:13.512856367+09:00] scheme "unix" not registered, fallback to default scheme  module=grpc
INFO[2021-05-19T14:44:13.512923791+09:00] ccResolverWrapper: sending update to cc: {[{unix:///var/run/docker/containerd/containerd.sock  <nil> 0 <nil>}] <nil> <nil>}  module=grpc
INFO[2021-05-19T14:44:13.512967107+09:00] ClientConn switching balancer to "pick_first"  module=grpc
WARN[2021-05-19T14:44:13.541129949+09:00] Your kernel does not support cgroup blkio weight
WARN[2021-05-19T14:44:13.541206593+09:00] Your kernel does not support cgroup blkio weight_device
INFO[2021-05-19T14:44:13.541700010+09:00] Loading containers: start.
INFO[2021-05-19T14:44:14.500635479+09:00] Default bridge (docker0) is assigned with an IP address 172.17.0.0/16. Daemon option --bip can be used to set a preferred IP address
INFO[2021-05-19T14:44:15.143361102+09:00] Loading containers: done.
WARN[2021-05-19T14:44:15.188416489+09:00] Not using native diff for overlay2, this may cause degraded performance for building images: failed to set opaque flag on middle layer: operation not supported  storage-driver=overlay2
INFO[2021-05-19T14:44:15.189449547+09:00] Docker daemon                                 commit=8728dd2 graphdriver(s)=overlay2 version=20.10.6
INFO[2021-05-19T14:44:15.189724011+09:00] Daemon has completed initialization
INFO[2021-05-19T14:44:15.322797581+09:00] API listen on /var/run/docker.sock

But when I try to run the hello-world example

docker run hello-world

I get the following error

INFO[0019] shim docker-containerd-shim started           address="/containerd-shim/moby/096a2b4b3127de0073fb593da42e31f2783155ba49c7e31e97d409d08e7361b8/shim.sock" debug=false pid=6461
INFO[0020] shim reaped                                   id=096a2b4b3127de0073fb593da42e31f2783155ba49c7e31e97d409d08e7361b8
ERRO[2021-05-19T14:23:05.943801087+09:00] stream copy error: reading from a closed fifo
ERRO[2021-05-19T14:23:05.943831391+09:00] stream copy error: reading from a closed fifo
ERRO[2021-05-19T14:23:06.138646054+09:00] 096a2b4b3127de0073fb593da42e31f2783155ba49c7e31e97d409d08e7361b8 cleanup: failed to delete container from containerd: no such container
ERRO[2021-05-19T14:23:06.138757607+09:00] Handler for POST /v1.38/containers/096a2b4b3127de0073fb593da42e31f2783155ba49c7e31e97d409d08e7361b8/start returned error: OCI runtime create failed: container_linux.go:348: starting container process caused "process_linux.go:402: container init caused \"rootfs_linux.go:109: jailing process inside rootfs caused \\\"pivot_root invalid argument\\\"\"": unknown

Output of docker version:

Client:
 Version:           20.10.6
 API version:       1.41
 Go version:        go1.13.15
 Git commit:        370c289
 Built:             Fri Apr  9 22:42:28 2021
 OS/Arch:           linux/arm64
 Context:           default
 Experimental:      true

Server: Docker Engine - Community
 Engine:
  Version:          20.10.6
  API version:      1.41 (minimum version 1.12)
  Go version:       go1.13.15
  Git commit:       8728dd2
  Built:            Fri Apr  9 22:45:51 2021
  OS/Arch:          linux/arm64
  Experimental:     false
 containerd:
  Version:          v1.4.4
  GitCommit:        05f951a3781f4f2c1911b05e61c160e9c30eaa8e
 runc:
  Version:          1.0.0-rc93
  GitCommit:        12644e614e25b05da6fd08a38ffa0cfe1903fdec
 docker-init:
  Version:          0.19.0
  GitCommit:        de40ad0

Output of docker info:

Client:
 Context:    default
 Debug Mode: false

Server:
 Containers: 1
  Running: 0
  Paused: 0
  Stopped: 1
 Images: 1
 Server Version: 20.10.6
 Storage Driver: overlay2
  Backing Filesystem: ramfs
  Supports d_type: true
  Native Overlay Diff: false
  userxattr: false
 Logging Driver: json-file
 Cgroup Driver: cgroupfs
 Cgroup Version: 1
 Plugins:
  Volume: local
  Network: bridge host ipvlan macvlan null overlay
  Log: awslogs fluentd gcplogs gelf journald json-file local logentries splunk syslog
 Swarm: inactive
 Runtimes: runc io.containerd.runc.v2 io.containerd.runtime.v1.linux
 Default Runtime: runc
 Init Binary: docker-init
 containerd version: 05f951a3781f4f2c1911b05e61c160e9c30eaa8e
 runc version: 12644e614e25b05da6fd08a38ffa0cfe1903fdec
 init version: de40ad0
 Security Options:
  seccomp
   Profile: default
 Kernel Version: 4.9.140-tegra_20200130
 Operating System: Ubuntu 18.04.3 LTS
 OSType: linux
 Architecture: aarch64
 CPUs: 6
 Total Memory: 7.67GiB
 Name: tegra-ubuntu
 ID: U3SC:FN46:YZNB:SSUX:LSD3:EPJV:EMU5:ACIE:FCRV:SOEQ:T66N:WDRC
 Docker Root Dir: /var/lib/docker
 Debug Mode: false
 Registry: https://index.docker.io/v1/
 Labels:
 Experimental: false
 Insecure Registries:
  127.0.0.0/8
 Live Restore Enabled: false
 Product License: Community Engine