Kevin,
are you running RigPi 1 or RigPi 2? If RigPi 1, then the underlying PiOS does not install PulseAudio. The lack of it would explain your cryptic error message. PiOS Buster does install PulseAudio, and should "just work".
It might be some totally other reason, of course.
If you are using RigPi hardware, then without a local display, there is no way for GQRX to function, nor for PulseAudio to work—it may be possible to use a virtual display to allow this if you are running totally headless, though.
In short, an answer to your problem needs more specific detail to provide something directed and useful.
HTH, 73,
Robin, G8DQX