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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
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[Bug]: rviz2 crash #73

Open ncnynl opened 1 month ago

ncnynl commented 1 month ago

What happened?

rviz crash when run ros2 launch interbotix_xslocobot_moveit xslocobot_moveit.launch.py robot_model:=locobot_wx200 use_lidar:=true hardware_type:=gz_classic

Robot Model

locobot_wx200

Operating System

Ubuntu 22.04

ROS Distro

ROS 2 Humble

Steps To Reproduce

ros2 launch interbotix_xslocobot_moveit xslocobot_moveit.launch.py robot_model:=locobot_wx200 use_lidar:=true hardware_type:=gz_classic

Relevant log output

No response

Additional Info

No response

ncnynl commented 1 month ago

I found that the moveit control of the robot arm is normal, such as this command ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py ​​robot_model:=rx200 hardware_type:=gz_classic

But when running this command, rviz will make an error ros2 launch interbotix_xslocobot_moveit xslocobot_moveit.launch.py ​​robot_model:=locobot_wx200 use_lidar:=true hardware_type:=gz_classic

By comparing the differences between the two commands in detail, it was finally found that the configuration file of rviz2 was wrong, interbotix_ros_xslocobots/interbotix_xslocobot_moveit/rviz/xslocobot_moveit.rviz was wrong. By regenerating an rviz2 configuration file, the control is now normal.