Initialization error InitError_Driver_PeerDriverNotInstalled

[cambel]

I have been trying to use pyopenvr for tracking of the controllers without the HMD.

For some reason when I try to initialize pyopenvr I get the following error

VR Server (v1683151457)

Using breakpad crash handler
Setting breakpad minidump AppID = 250820
Forcing breakpad minidump interfaces to load
Looking up breakpad interfaces from steamclient
Calling BreakpadMiniDumpSystemInit
07/05 01:31:51 Init: Installing breakpad exception handler for appid(250820)/version(1.25.8)/tid(1080664)

Traceback (most recent call last):
    openvr.init(openvr.VRApplication_Other)
  File "/usr/local/lib/python3.8/dist-packages/openvr/__init__.py", line 7273, in init
    initInternal2(applicationType, pStartupInfo)
  File "/usr/local/lib/python3.8/dist-packages/openvr/__init__.py", line 7405, in initInternal2
    openvr.error_code.InitError.check_error_value(error.value)
  File "/usr/local/lib/python3.8/dist-packages/openvr/error_code/__init__.py", line 23, in check_error_value
    raise error_class(error_value, message)
openvr.error_code.InitError_Driver_PeerDriverNotInstalled

It seems to start the VR Server without problem but then it just fails to connect.

System

Ubuntu 20.04

Workaround

If I start the vr server first in a different terminal ${STEAMVR}/bin/linux64/vrserver --keepalive and then try to run my openvr application. It also fails the first time with the same error message mentioned before. Then, from the second attempt to run the application, it works fine.

Has anyone face this issue?