ERROR: (localhost:2002) failed to write data: [Errno 32] Broken pipe

[Khansa11]

hai, i run course4finalproject. it doesn't work with matplotlib 3.0.1, so i installed matplotlib 2.2.3 and it worked, but it give me another error:

pygame 2.0.1 (SDL 2.0.14, Python 3.6.9)
Hello from the pygame community. https://www.pygame.org/contribute.html
INFO: listening to server localhost:2000
ERROR: (localhost:2000) failed to connect: [Errno 111] Connection refused
Carla client connected.
Starting new episode at 'RaceTrack'...
SERVER SIMULATION STEP APPROXIMATION: 0.09119999999999999
/home/khsalsabila/.local/lib/python3.6/site-packages/matplotlib/figure.py:2299: UserWarning: This figure includes Axes that are not compatible with tight_layout, so results might be incorrect.
  warnings.warn("This figure includes Axes that are not compatible "
/home/khsalsabila/.local/lib/python3.6/site-packages/matplotlib/tight_layout.py:228: UserWarning: tight_layout : falling back to Agg renderer
  warnings.warn("tight_layout : falling back to Agg renderer")
ERROR: (localhost:2002) failed to write data: [Errno 32] Broken pipe
Carla client connected.
Starting new episode at 'RaceTrack'...
SERVER SIMULATION STEP APPROXIMATION: 0.0901
ERROR: (localhost:2002) failed to write data: [Errno 32] Broken pipe
Carla client connected.
Starting new episode at 'RaceTrack'...
SERVER SIMULATION STEP APPROXIMATION: 0.0868
Exceeded assessment time. Writing to controller_output...
Done.

could you help me out? thanks