ur_sim_moveit.launch.py launches two rviz instances

[mrjogo]

Affected ROS Driver version(s)

847d052b7c9154905386b6633aaf39e182887740

Used ROS distribution.

Humble

What combination of platform is the ROS driver running on.

Linux without realtime patch

How did you install the UR ROS driver

Build the driver from source and using the UR Client Library from binary

What robot platform are the driver connected to.

URSim in linux

Robot SW / URSim version(s)

N/A, running in Gazebo (not an option above)

How are you using the ROS driver

Others

Issue details

Summery

Running ros2 launch ur_simulation_ignition ur_sim_moveit.launch.py causes two instances of rviz to launch, when only one should.

Issue details

ur_sim_moveit.launch.py includes ur_sim_control.launch.py with "launch_rviz": "false", and ur_moveit.launch.py with "launch_rviz": "true",. However, two RViz instances are started.

From experimenting, it appears that the ur_moveit.launch.py launch_rviz argument is somehow leaking into ur_sim_control.launch.py. Setting it to false causes no instances of rviz to launch. Also, when it is true, commenting out delay_rviz_after_joint_state_broadcaster_spawner from ur_sim_control.launch.py results in the expected behavior of only the MoveIt RViz being started.

Steps to Reproduce

Run ros2 launch ur_simulation_ignition ur_sim_moveit.launch.py

Expected Behavior

One RViz launching

Actual Behavior

Two RViz's

Workaround Suggestion

Comment out delay_rviz_after_joint_state_broadcaster_spawner in ur_sim_control.launch.py

Relevant log output

No response

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[fmauch]

Same as in https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/issues/17

[fmauch]

For rolling / jazzy this is already fixed, PRs for iron and humble have been created in #27 and its upcoming backport.