UniversalRobots / Universal_Robots_ROS2_Gazebo_Simulation

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multiple rviz gets launched while launching moveit #17

Closed padhupradheep closed 1 month ago

padhupradheep commented 1 year ago

the issue is in this line

somehow the Ifcondition() is not taking in the value of the LaunchConfiguration. Maybe Open robotics changed something in the Python launch for Humble, which I might be unaware of.

As an alternate we need to use the LaunchContext to get the value of the LaunchConfiguration.

Hope this helps!

fmauch commented 1 year ago

If what you're saying is that

ros2 launch ur_simulation_gazebo ur_sim_control.launch.py launch_rviz:=false

does start an RViz window on ROS2 Humble, I cannot confirm this.

padhupradheep commented 1 year ago

No, I meant that, when I tried to launch ur_sim_moveit.launch.py we have 2 RViz window opened.

One from the ur_sim_control.launch.py

second one is from ur_config_moveit.launch.py

fmauch commented 1 year ago

Thanks for clarifying. Yes, that seems to be a problem, indeed. Looking at the galactic version the problem seems to exist there, as well.

Icon45 commented 1 year ago

Has this Issue been fixed? I have a similar problem

fmauch commented 6 months ago

44 adds a workaround (at least on my machine), but I don't quite understand why that happens in the first place / why it is resolved by this. Doesn't seem like a clean solution for the problem.

padhupradheep commented 6 months ago

I'd be working on a project with UR arms in next few days. I'll also analyze it a bit..