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mangdangroboticsclub / mini_pupper_ros

ROS 1 & 2 repos based on Mini Pupper legged robots from MangDang
https://mangdang.store/
Apache License 2.0
99 stars 37 forks source link

RViz2 cannot show RobotModel #53

Open Tiryoh opened 1 year ago

Tiryoh commented 1 year ago

Reproduction steps

  1. Create "ubuntu" user on Raspberry Pi
  2. Create "dev" user on laptop (anything but "ubuntu")
  3. Run ros2 launch mini_pupper_bringup bringup.launch on Raspberry Pi
  4. Launch RViz2 on laptop and show RobotModel from /robot_description topic

Actual results

RViz2 shows "Could not load mesh resource 'file:///home/ubuntu/..." when the path to the mesh file is written as file://$(find package_name)/meshes/base_link.stl in URDF. Screenshot_from_2023-03-04_18-00-48

Expected results

RViz2 can show RobotModel

Version

Mini Pupper

Relevant log output

RViz2 + Mesh file path written file://$(find package_name)/meshes/base_link.stl : OK only if bringup launch and RViz2 are launched on the same PC Gazebo + Mesh file path written file://$(find package_name)/meshes/base_link.stl : OK RViz2 + Mesh file path written package://package_name/meshes/base_link.stl : OK Gazebo + Mesh file path written package://package_name/meshes/base_link.stl : Error

reference

Code of Conduct

sskorol commented 1 year ago

That's exactly the same issue I mentioned in a Discord a while ago. :)

Tiryoh commented 1 year ago

@sskorol Thanks again for sharing all the information! I have looked into it and it seems to work for both Gazebo and RViz if converted to SDF, but I don't know how far it will go with Champ. I don't think I can solve this problem right away, so I decided to create an Issue and deal with it later.