demo.launch.py requires a display even when setting use_rviz:=false

[boilerbots]

Description

I am trying to run the planners and controllers on a headless machine that is attached to my robot. When I launch something in the chain of the moveit_configs has a dependency that requires me to export DISPLAY=:0 even though my machine doesn't have a display.

It would be nice to understand why or what is causing this.

Your environment

• ROS Distro: Rolling

• OS Version:Ubuntu 22.04

• Source or Binary build? Binaries

• Which RMW (Fast DDS or Cyclone DDS)? Fast DDS which is another problem that I am not mixing into this bug.

Steps to reproduce

Remove the display and desktop environment from any system. SSH into that system and launch the demo as follows:

substitue k1_moveit for whatever you have available.

ros2 launch k1_moveit demo.launch.py use_rviz:=false

Expected behaviour

Controllers and Planners come up running

Actual behaviour

ros2 launch k1_moveit demo.launch.py use_rviz:=false
[INFO] [launch]: All log files can be found below /home/cmeyers/.ros/log/2024-04-14-10-59-40-538604-flexo-3150
[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'DISPLAY'

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions[bot]]

This issue was closed because it has been stalled for 45 days with no activity.