RobotLocomotion / drake-external-examples

Examples of how to use Drake in your own project.

https://drake.mit.edu/

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The drake_cmake_installed example Particle does not plot in visualizer #233

Closed huweiATgithub closed 3 weeks ago

huweiATgithub commented 2 years ago

How to reproduce

Clone and change directory to particle example
mkdir build && cd build && cmake .. && make
Terminal 1: /opt/drake/bin/drake-visualizer; Terminal 2: ./uniformly_accelerated_particle

Then, the texts on the visualizer keep updating (sim time: xxx, real time factor: xxx). But I cannot find the particle. Also, from the Scene Browser of drake-visualizer, I see no scene of the added particle. (neither does the control pane in the meshcat)

What did I try

Replace DrakeVisualizer with MeshCatVisualizer.
Add a simulator->Initialize(); and a sleep after it to look at the visualizer carefully.

Thoughts

In class ParticleGeometry, the geometry has been added to the scene_graph with the illustration role assigned. Then, I think they will automatically be added to the visualizer attached later?

jwnimmer-tri commented 2 years ago

Thanks for the report, we'll take a look.

The purpose of drake-external-examples is to show how to set up the build system for your projects. To see examples of Drake's features, a better place to look is https://drake.mit.edu/#tutorials or https://github.com/RobotLocomotion/drake/tree/master/examples/.

Of course the programs and demo instructions here should still work correctly, but in that light I will probably resolve this bug by deleting the particle code here and replacing it with something simpler.

huweiATgithub commented 2 years ago

I might have found out the cause of this issue as raised in the drake repo: https://github.com/RobotLocomotion/drake/issues/17649

A current workaround to have things working properly is to drop usage of BuildInto. I can submit a PR if you think this is ok.

jwnimmer-tri commented 3 weeks ago

Thanks for reporting this!

The discussion in https://github.com/RobotLocomotion/drake/issues/17649 is more detailed at this point, so I'm going to close this issue as a duplicate of that other issue. It's still a bug to be fixed, but it will be easier for the Drake team to track it using the other issue number.