Ubuntu (how to get GUI?)

I am hosting Ubuntu 16.04 on Virtual Box from Windows 10. Inside that Ubuntu 16.04, there is QEmu emulating ARM processor, running Ubuntu Trusty (14.04).

When I start QEmu as follows, it shows a window with title QEMU , but completely black client area:

qemu-system-arm -smp 2 --drive format=raw,if=sd,file=vexpress-8G.img -kernel vmlinuz-3.13.0-24-generic-lpae -initrd initrd.img-3.13.0-24-generic-lpae -M vexpress-a15 -serial stdio -m 2048 -append 'root=/dev/mmcblk0 rw mem=2048M raid=noautodetect rootwait console=ttyAMA0,38400n8 devtmpfs.mount=0' -dtb ./vexpress-v2p-ca15-tc1.dtb

The console of the guest OS (ARM-Ubuntu) works, boot messages are displayed in the same terminal where qemu-system-arm command has been run. But when I type startx command, it shows errors:

Loading extension GLX
(EE) 
Fatal server error:
(EE) no screens found(EE) 
(EE) 
Please consult the The X.Org Foundation support 
     at http://wiki.x.org
 for help. 
(EE) Please also check the log file at "/var/log/Xorg.0.log" for additional information.
(EE) 
(EE) Server terminated with error (1). Closing log file.
xinit: giving up
xinit: unable to connect to X server: Connection refused
xinit: server error

/var/log/Xorg.0.log contains the following:

[   214.406] 
X.Org X Server 1.15.1
Release Date: 2014-04-13
[   214.411] X Protocol Version 11, Revision 0
[   214.411] Build Operating System: Linux 3.2.0-58-highbank armv7l Ubuntu
[   214.412] Current Operating System: Linux VM-Ubuntu1 3.13.0-24-generic-lpae #46-Ubuntu SMP Thu Apr 10 21:01:14 UTC 2014 armv7l
[   214.413] Kernel command line: root=/dev/mmcblk0 rw mem=2048M raid=noautodetect rootwait console=ttyAMA0,38400n8 devtmpfs.mount=0
[   214.416] Build Date: 16 April 2014  01:41:53PM
[   214.417] xorg-server 2:1.15.1-0ubuntu2 (For technical support please see http://www.ubuntu.com/support) 
[   214.418] Current version of pixman: 0.30.2
[   214.418]    Before reporting problems, check http://wiki.x.org
    to make sure that you have the latest version.
[   214.419] Markers: (--) probed, (**) from config file, (==) default setting,
    (++) from command line, (!!) notice, (II) informational,
    (WW) warning, (EE) error, (NI) not implemented, (??) unknown.
[   214.431] (==) Log file: "/var/log/Xorg.0.log", Time: Fri Aug 19 16:21:42 2016
[   214.446] (==) Using system config directory "/usr/share/X11/xorg.conf.d"
[   214.461] (==) No Layout section.  Using the first Screen section.
[   214.462] (==) No screen section available. Using defaults.
[   214.463] (**) |-->Screen "Default Screen Section" (0)
[   214.463] (**) |   |-->Monitor "<default monitor>"
[   214.468] (==) No monitor specified for screen "Default Screen Section".
    Using a default monitor configuration.
[   214.470] (==) Automatically adding devices
[   214.471] (==) Automatically enabling devices
[   214.471] (==) Automatically adding GPU devices
[   214.475] (WW) The directory "/usr/share/fonts/X11/cyrillic" does not exist.
[   214.476]    Entry deleted from font path.
[   214.476] (WW) The directory "/usr/share/fonts/X11/100dpi/" does not exist.
[   214.477]    Entry deleted from font path.
[   214.478] (WW) The directory "/usr/share/fonts/X11/75dpi/" does not exist.
[   214.478]    Entry deleted from font path.
[   214.479] (WW) The directory "/usr/share/fonts/X11/100dpi" does not exist.
[   214.479]    Entry deleted from font path.
[   214.480] (WW) The directory "/usr/share/fonts/X11/75dpi" does not exist.
[   214.480]    Entry deleted from font path.
[   214.481] (==) FontPath set to:
    /usr/share/fonts/X11/misc,
    /usr/share/fonts/X11/Type1,
    built-ins
[   214.482] (==) ModulePath set to "/usr/lib/arm-linux-gnueabihf/xorg/extra-modules,/usr/lib/xorg/extra-modules,/usr/lib/xorg/modules"
[   214.484] (II) The server relies on udev to provide the list of input devices.
    If no devices become available, reconfigure udev or disable AutoAddDevices.
[   214.485] (II) Loader magic: 0xb7008f18
[   214.486] (II) Module ABI versions:
[   214.486]    X.Org ANSI C Emulation: 0.4
[   214.487]    X.Org Video Driver: 15.0
[   214.487]    X.Org XInput driver : 20.0
[   214.489]    X.Org Server Extension : 8.0
[   214.495] Initializing built-in extension Generic Event Extension
[   214.496] Initializing built-in extension SHAPE
[   214.497] Initializing built-in extension MIT-SHM
[   214.497] Initializing built-in extension XInputExtension
[   214.498] Initializing built-in extension XTEST
[   214.498] Initializing built-in extension BIG-REQUESTS
[   214.499] Initializing built-in extension SYNC
[   214.500] Initializing built-in extension XKEYBOARD
[   214.500] Initializing built-in extension XC-MISC
[   214.501] Initializing built-in extension SECURITY
[   214.501] Initializing built-in extension XINERAMA
[   214.503] Initializing built-in extension XFIXES
[   214.503] Initializing built-in extension RENDER
[   214.504] Initializing built-in extension RANDR
[   214.505] Initializing built-in extension COMPOSITE
[   214.505] Initializing built-in extension DAMAGE
[   214.506] Initializing built-in extension MIT-SCREEN-SAVER
[   214.506] Initializing built-in extension DOUBLE-BUFFER
[   214.507] Initializing built-in extension RECORD
[   214.507] Initializing built-in extension DPMS
[   214.508] Initializing built-in extension Present
[   214.508] Initializing built-in extension DRI3
[   214.509] Initializing built-in extension X-Resource
[   214.509] Initializing built-in extension XVideo
[   214.510] Initializing built-in extension XVideo-MotionCompensation
[   214.512] Initializing built-in extension SELinux
[   214.513] Initializing built-in extension XFree86-VidModeExtension
[   214.514] Initializing built-in extension XFree86-DGA
[   214.514] Initializing built-in extension XFree86-DRI
[   214.515] Initializing built-in extension DRI2
[   214.516] (II) LoadModule: "glx"
[   214.537] (II) Loading /usr/lib/xorg/modules/extensions/libglx.so
[   214.612] (II) Module glx: vendor="X.Org Foundation"
[   214.613]    compiled for 1.15.1, module version = 1.0.0
[   214.614]    ABI class: X.Org Server Extension, version 8.0
[   214.615] (==) AIGLX enabled
[   214.616] Loading extension GLX
[   214.619] (==) Matched modesetting as autoconfigured driver 0
[   214.619] (==) Matched fbdev as autoconfigured driver 1
[   214.620] (==) Assigned the driver to the xf86ConfigLayout
[   214.621] (II) LoadModule: "modesetting"
[   214.625] (II) Loading /usr/lib/xorg/modules/drivers/modesetting_drv.so
[   214.628] (II) Module modesetting: vendor="X.Org Foundation"
[   214.629]    compiled for 1.15.0, module version = 0.8.1
[   214.630]    Module class: X.Org Video Driver
[   214.630]    ABI class: X.Org Video Driver, version 15.0
[   214.631] (II) LoadModule: "fbdev"
[   214.635] (II) Loading /usr/lib/xorg/modules/drivers/fbdev_drv.so
[   214.638] (II) Module fbdev: vendor="X.Org Foundation"
[   214.639]    compiled for 1.15.0, module version = 0.4.4
[   214.639]    Module class: X.Org Video Driver
[   214.640]    ABI class: X.Org Video Driver, version 15.0
[   214.642] (II) modesetting: Driver for Modesetting Kernel Drivers: kms
[   214.644] (II) FBDEV: driver for framebuffer: fbdev
[   214.647] (--) using VT number 7

[   214.652] (WW) Falling back to old probe method for modesetting
[   214.656] (EE) open /dev/dri/card0: No such file or directory
[   214.657] (WW) Falling back to old probe method for fbdev
[   214.658] (II) Loading sub module "fbdevhw"
[   214.658] (II) LoadModule: "fbdevhw"
[   214.663] (II) Loading /usr/lib/xorg/modules/libfbdevhw.so
[   214.666] (II) Module fbdevhw: vendor="X.Org Foundation"
[   214.669]    compiled for 1.15.1, module version = 0.0.2
[   214.669]    ABI class: X.Org Video Driver, version 15.0
[   214.671] (EE) open /dev/fb0: No such file or directory
[   214.672] (EE) No devices detected.
[   214.674] (==) Matched modesetting as autoconfigured driver 0
[   214.674] (==) Matched fbdev as autoconfigured driver 1
[   214.675] (==) Assigned the driver to the xf86ConfigLayout
[   214.675] (II) LoadModule: "modesetting"
[   214.679] (II) Loading /usr/lib/xorg/modules/drivers/modesetting_drv.so
[   214.680] (II) Module modesetting: vendor="X.Org Foundation"
[   214.681]    compiled for 1.15.0, module version = 0.8.1
[   214.681]    Module class: X.Org Video Driver
[   214.682]    ABI class: X.Org Video Driver, version 15.0
[   214.682] (II) UnloadModule: "modesetting"
[   214.683] (II) Unloading modesetting
[   214.685] (II) Failed to load module "modesetting" (already loaded, -1205831248)
[   214.686] (II) LoadModule: "fbdev"
[   214.689] (II) Loading /usr/lib/xorg/modules/drivers/fbdev_drv.so
[   214.690] (II) Module fbdev: vendor="X.Org Foundation"
[   214.691]    compiled for 1.15.0, module version = 0.4.4
[   214.691]    Module class: X.Org Video Driver
[   214.692]    ABI class: X.Org Video Driver, version 15.0
[   214.692] (II) UnloadModule: "fbdev"
[   214.694] (II) Unloading fbdev
[   214.695] (II) Failed to load module "fbdev" (already loaded, -1205831248)
[   214.695] (II) modesetting: Driver for Modesetting Kernel Drivers: kms
[   214.696] (II) FBDEV: driver for framebuffer: fbdev
[   214.699] (++) using VT number 7

[   214.699] (WW) xf86OpenConsole: setpgid failed: Operation not permitted
[   214.700] (WW) xf86OpenConsole: setsid failed: Operation not permitted
[   214.701] (WW) Falling back to old probe method for modesetting
[   214.702] (EE) open /dev/dri/card0: No such file or directory
[   214.702] (WW) Falling back to old probe method for fbdev
[   214.703] (II) Loading sub module "fbdevhw"
[   214.703] (II) LoadModule: "fbdevhw"
[   214.708] (II) Loading /usr/lib/xorg/modules/libfbdevhw.so
[   214.708] (II) Module fbdevhw: vendor="X.Org Foundation"
[   214.709]    compiled for 1.15.1, module version = 0.0.2
[   214.710]    ABI class: X.Org Video Driver, version 15.0
[   214.710] (EE) open /dev/fb0: No such file or directory
[   214.711] (EE) No devices detected.
[   214.711] (EE) 
Fatal server error:
[   214.714] (EE) no screens found(EE) 
[   214.716] (EE) 
Please consult the The X.Org Foundation support 
     at http://wiki.x.org
 for help. 
[   214.717] (EE) Please also check the log file at "/var/log/Xorg.0.log" for additional information.
[   214.718] (EE) 
[   214.723] (EE) Server terminated with error (1). Closing log file.

The complete steps it took me to create and boot an ARM-Ubuntu image are below (based on https://wiki.ubuntu.com/Kernel/Dev/QemuARMVexpress ):

# 1) setup the rootfs

sudo apt-get install qemu-user-static qemu-system-arm

mkdir vexpress
cd vexpress
mkdir qemu-img

# Create 8-GB image
dd if=/dev/zero of=./vexpress-8G.img bs=8M count=1024
sudo losetup -f ./vexpress-8G.img
sudo mkfs.ext4 /dev/loop0
sudo mount /dev/loop0 qemu-img

# Bootstrap Ubuntu Trusty armhf rootfs in the qemu-img directory
# For Ubuntu versions later than Trusty some commands fail
# For Ubuntu versions before Saucy there is no port to ARM
# Ubuntu Saucy is not supported anymore
sudo qemu-debootstrap --arch=armhf trusty qemu-img
sudo cp `which qemu-arm-static` qemu-img/usr/bin/

# setup serial console, apt repositories and network
sudo chroot qemu-img
sed 's/tty1/ttyAMA0/g' /etc/init/tty1.conf > /etc/init/ttyAMA0.conf
echo "deb  http://ports.ubuntu.com trusty main restricted multiverse universe" > /etc/apt/sources.list
apt-get update
echo -e "nauto eth0niface eth0 inet dhcp" >> /etc/network/interfaces

# root password
passwd


# 2) pick and install a kernel

# Fix locale problems http://askubuntu.com/questions/162391/how-do-i-fix-my-locale-issue
locale
sudo locale-gen "be_BY.UTF-8"
sudo locale-gen "en_US"
sudo locale-gen "en_US.UTF-8"
sudo dpkg-reconfigure locales

apt-get install wget ca-certificates
wget https://launchpad.net/ubuntu/+archive/primary/+files/linux-image-3.13.0-24-generic-lpae_3.13.0-24.46_armhf.deb
dpkg -i linux-image-3.13.0-24-generic-lpae_3.13.0-24.46_armhf.deb

# So far I'm getting the following warnings:
#   Warning: cannot read table of mounted file systems: No such file or directory
#   warning: failed to read mtab

# !!! press CTRL+D to exit the chroot
^D


# 3) Boot it up


# copy kernel, initrd and dtb files
sudo cp qemu-img/boot/vmlinuz-3.13.0-24-generic-lpae .
sudo cp qemu-img/boot/initrd.img-3.13.0-24-generic-lpae .
sudo cp qemu-img/lib/firmware/3.13.0-24-generic-lpae/device-tree/vexpress-v2p-ca15-tc1.dtb .

# umount the rootfs img
sudo umount qemu-img

sudo chmod 777 vmlinuz-3.13.0-24-generic-lpae
sudo chmod 777 initrd.img-3.13.0-24-generic-lpae
sudo chmod 777 vexpress-v2p-ca15-tc1.dtb
sudo chmod 777 vexpress-8G.img

# http://unix.stackexchange.com/questions/167165/how-to-pass-ctrl-c-in-qemu
# Allow Ctrl+C and Ctrl+Z on guest, changing them on host to Ctrl+] and Ctrl+[
stty intr ^]
stty susp ^j

qemu-system-arm -smp 2 --drive format=raw,if=sd,file=vexpress-8G.img -kernel vmlinuz-3.13.0-24-generic-lpae -initrd initrd.img-3.13.0-24-generic-lpae -M vexpress-a15 -serial stdio -m 2048 -append 'root=/dev/mmcblk0 rw mem=2048M raid=noautodetect rootwait console=ttyAMA0,38400n8 devtmpfs.mount=0' -dtb ./vexpress-v2p-ca15-tc1.dtb

I don't know if it's an Ubuntu (software) or QEmu (emulated hardware) problem.

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