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ms-iot / ROSOnWindows

ROS on Windows Documentation Repository
https://aka.ms/ros/docs
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[melodic]Unable to use interactive markers in RViz #292

Closed tota1Noob closed 3 years ago

tota1Noob commented 4 years ago

I followed the installation tutorial http://wiki.ros.org/Installation/Windows and successfully installed ROS melodic on my windows 10 laptop. Same with MoveIt, following https://ms-iot.github.io/ROSOnWindows/Moveit/moveit_tutorials.html. But when I tried the tutorial here http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html, I was not able to move the robot with interactive markers. I could see the markers, but they were not highlighted when I moved the mouse cursor over them. And when I tried to drag the robot, only the camera moved. Been googling the problem for 2 days, still no luck. Any kind of help will be appreciated. Thank u in advance!!!

ooeygui commented 4 years ago

Hi @tota1Noob , Internally Interactive Markers use a feature of OpenGL to do hit testing. We have on occasion seen that the OpenGL driver for a video card may not correctly implement these features.

Can you give me more information about your computer? If you could - can you run dxdiag.exe, and save the output - then post it here?

tota1Noob commented 4 years ago

Below lists the "Display Devices" part of the dxdiag.exe output. The first and second part of the output refer to the integrated Intel UHD Graphics card, and the third part is the on-board NVIDIA MX250.

       Card name: Intel(R) UHD Graphics
    Manufacturer: Intel Corporation
       Chip type: Intel(R) UHD Graphics Family
        DAC type: Internal
     Device Type: Full Device (POST)
      Device Key: Enum\PCI\VEN_8086&DEV_9BCA&SUBSYS_3FD717AA&REV_04
   Device Status: 0180200A [DN_DRIVER_LOADED|DN_STARTED|DN_DISABLEABLE|DN_NT_ENUMERATOR|DN_NT_DRIVER]

Device Problem Code: No Problem Driver Problem Code: Unknown Display Memory: 8235 MB Dedicated Memory: 128 MB Shared Memory: 8107 MB Current Mode: 2560 x 1600 (32 bit) (60Hz) HDR Support: Not Supported Display Topology: Extend Display Color Space: DXGI_COLOR_SPACE_RGB_FULL_G22_NONE_P709 Color Primaries: Red(0.639648,0.330078), Green(0.299805,0.599609), Blue(0.150391,0.059570), White Point(0.313477,0.329102) Display Luminance: Min Luminance = 0.500000, Max Luminance = 270.000000, MaxFullFrameLuminance = 270.000000 Monitor Name: Generic PnP Monitor Monitor Model: unknown Monitor Id: AUO2026 Native Mode: 2560 x 1600(p) (60.001Hz) Output Type: Internal Monitor Capabilities: HDR Not Supported Display Pixel Format: DISPLAYCONFIG_PIXELFORMAT_32BPP Advanced Color: Not Supported Driver Name: C:\Windows\System32\DriverStore\FileRepository\iigd_dch.inf_amd64_93f2d438e2d7d4b7\igdumdim64.dll,C:\Windows\System32\DriverStore\FileRepository\iigd_dch.inf_amd64_93f2d438e2d7d4b7\igd10iumd64.dll,C:\Windows\System32\DriverStore\FileRepository\iigd_dch.inf_amd64_93f2d438e2d7d4b7\igd10iumd64.dll,C:\Windows\System32\DriverStore\FileRepository\iigd_dch.inf_amd64_93f2d438e2d7d4b7\igd12umd64.dll Driver File Version: 26.20.0100.7323 (English) Driver Version: 26.20.100.7323 DDI Version: 12 Feature Levels: 12_1,12_0,11_1,11_0,10_1,10_0,9_3,9_2,9_1 Driver Model: 2.6 WDDM Graphics Preemption: Triangle Compute Preemption: Thread Miracast: Supported Detachable GPU: No Hybrid Graphics GPU: Integrated Power P-states: Not Supported Virtualization: Paravirtualization Block List: No Blocks Catalog Attributes: Universal:False Declarative:True Driver Attributes: Final Retail Driver Date/Size: 19/10/7 8:00:00, 1643128 bytes WHQL Logo'd: Yes WHQL Date Stamp: Unknown Device Identifier: {D7B78E66-D88A-11CF-8168-B31FBFC2D735} Vendor ID: 0x8086 Device ID: 0x9BCA SubSys ID: 0x3FD717AA Revision ID: 0x0004 Driver Strong Name: oem71.inf:5f63e534c1887fe6:iCML_w10_DS:26.20.100.7323:PCI\VEN_8086&DEV_9BCA&SUBSYS_3FD717AA Rank Of Driver: 00CF0001 Video Accel: DXVA2 Modes: DXVA2_ModeMPEG2_VLD DXVA2_ModeMPEG2_IDCT DXVA2_ModeVC1_D2010 DXVA2_ModeWMV9_IDCT DXVA2_ModeVC1_IDCT DXVA2_ModeH264_VLD_NoFGT DXVA2_ModeH264_VLD_Stereo_Progressive_NoFGT DXVA2_ModeH264_VLD_Stereo_NoFGT DXVA2_ModeH264_VLD_Multiview_NoFGT DXVA2_ModeVP8_VLD DXVA2_ModeHEVC_VLD_Main DXVA2_ModeHEVC_VLD_Main10 DXVA2_ModeVP9_VLD_Profile0 DXVA2_ModeVP9_VLD_10bit_Profile2
...... D3D9 Overlay: Supported DXVA-HD: Supported DDraw Status: Enabled D3D Status: Enabled AGP Status: Enabled MPO MaxPlanes: 3 MPO Caps: RGB,YUV,BILINEAR,HIGH_FILTER,STRETCH_YUV,STRETCH_RGB,IMMEDIATE,HDR (MPO3) MPO Stretch: 5.000X - 0.334X MPO Media Hints: colorspace Conversion MPO Formats: NV12,YUY2,R16G16B16A16_FLOAT,R10G10B10A2_UNORM,R8G8B8A8_UNORM,B8G8R8A8_UNORM PanelFitter Caps: RGB,YUV,BILINEAR,HIGH_FILTER,STRETCH_YUV,STRETCH_RGB,IMMEDIATE,HDR (MPO3) PanelFitter Stretch: 5.000X - 0.334X Extension Drivers: Driver Name: C:\Windows\System32\DriverStore\FileRepository\iigd_ext.inf_amd64_93f456e8af7fb58c\iigd_ext.inf Driver Version: 26.20.100.7323 Driver Date: 10/07/2019 Driver Provider: Intel Corporation Catalog Attributes: Universal:N/A Declarative:True Component Drivers: Driver Name: Unknown Driver Version: Unknown Driver Date: Unknown Driver Provider: Unknown Catalog Attributes: N/A Driver Name: Unknown Driver Version: Unknown Driver Date: Unknown Driver Provider: Unknown Catalog Attributes: N/A

       Card name: Intel(R) UHD Graphics
    Manufacturer: Intel Corporation
       Chip type: Intel(R) UHD Graphics Family
        DAC type: Internal
     Device Type: Full Device (POST)
      Device Key: Enum\PCI\VEN_8086&DEV_9BCA&SUBSYS_3FD717AA&REV_04
   Device Status: 0180200A [DN_DRIVER_LOADED|DN_STARTED|DN_DISABLEABLE|DN_NT_ENUMERATOR|DN_NT_DRIVER]

Device Problem Code: No Problem Driver Problem Code: Unknown Display Memory: 8235 MB Dedicated Memory: 128 MB Shared Memory: 8107 MB Current Mode: 1920 x 1080 (32 bit) (60Hz) HDR Support: Not Supported Display Topology: Extend Display Color Space: DXGI_COLOR_SPACE_RGB_FULL_G22_NONE_P709 Color Primaries: Red(0.652344,0.335938), Green(0.321289,0.610352), Blue(0.153320,0.060547), White Point(0.313477,0.329102) Display Luminance: Min Luminance = 0.500000, Max Luminance = 270.000000, MaxFullFrameLuminance = 270.000000 Monitor Name: Dell E2417H(Analog) Monitor Model: DELL E2417H Monitor Id: DELA0E1 Native Mode: 1920 x 1080(p) (60.000Hz) Output Type: Displayport External Monitor Capabilities: HDR Not Supported Display Pixel Format: DISPLAYCONFIG_PIXELFORMAT_32BPP Advanced Color: Not Supported Driver Name: C:\Windows\System32\DriverStore\FileRepository\iigd_dch.inf_amd64_93f2d438e2d7d4b7\igdumdim64.dll,C:\Windows\System32\DriverStore\FileRepository\iigd_dch.inf_amd64_93f2d438e2d7d4b7\igd10iumd64.dll,C:\Windows\System32\DriverStore\FileRepository\iigd_dch.inf_amd64_93f2d438e2d7d4b7\igd10iumd64.dll,C:\Windows\System32\DriverStore\FileRepository\iigd_dch.inf_amd64_93f2d438e2d7d4b7\igd12umd64.dll Driver File Version: 26.20.0100.7323 (English) Driver Version: 26.20.100.7323 DDI Version: 12 Feature Levels: 12_1,12_0,11_1,11_0,10_1,10_0,9_3,9_2,9_1 Driver Model: 2.6 WDDM Graphics Preemption: Triangle Compute Preemption: Thread Miracast: Supported Detachable GPU: No Hybrid Graphics GPU: Integrated Power P-states: Not Supported Virtualization: Paravirtualization Block List: No Blocks Catalog Attributes: Universal:False Declarative:True Driver Attributes: Final Retail Driver Date/Size: 19/10/7 8:00:00, 1643128 bytes WHQL Logo'd: Yes WHQL Date Stamp: Unknown Device Identifier: {D7B78E66-D88A-11CF-8168-B31FBFC2D735} Vendor ID: 0x8086 Device ID: 0x9BCA SubSys ID: 0x3FD717AA Revision ID: 0x0004 Driver Strong Name: oem71.inf:5f63e534c1887fe6:iCML_w10_DS:26.20.100.7323:PCI\VEN_8086&DEV_9BCA&SUBSYS_3FD717AA Rank Of Driver: 00CF0001 Video Accel: DXVA2 Modes: DXVA2_ModeMPEG2_VLD DXVA2_ModeMPEG2_IDCT DXVA2_ModeVC1_D2010 DXVA2_ModeWMV9_IDCT DXVA2_ModeVC1_IDCT DXVA2_ModeH264_VLD_NoFGT DXVA2_ModeH264_VLD_Stereo_Progressive_NoFGT DXVA2_ModeH264_VLD_Stereo_NoFGT DXVA2_ModeH264_VLD_Multiview_NoFGT DXVA2_ModeVP8_VLD DXVA2_ModeHEVC_VLD_Main DXVA2_ModeHEVC_VLD_Main10 DXVA2_ModeVP9_VLD_Profile0 DXVA2_ModeVP9_VLD_10bit_Profile2
...... D3D9 Overlay: Supported DXVA-HD: Supported DDraw Status: Enabled D3D Status: Enabled AGP Status: Enabled MPO MaxPlanes: 3 MPO Caps: RGB,YUV,BILINEAR,HIGH_FILTER,STRETCH_YUV,STRETCH_RGB,IMMEDIATE,HDR (MPO3) MPO Stretch: 5.000X - 0.334X MPO Media Hints: colorspace Conversion MPO Formats: NV12,YUY2,R16G16B16A16_FLOAT,R10G10B10A2_UNORM,R8G8B8A8_UNORM,B8G8R8A8_UNORM PanelFitter Caps: RGB,YUV,BILINEAR,HIGH_FILTER,STRETCH_YUV,STRETCH_RGB,IMMEDIATE,HDR (MPO3) PanelFitter Stretch: 5.000X - 0.334X Extension Drivers: Driver Name: C:\Windows\System32\DriverStore\FileRepository\iigd_ext.inf_amd64_93f456e8af7fb58c\iigd_ext.inf Driver Version: 26.20.100.7323 Driver Date: 10/07/2019 Driver Provider: Intel Corporation Catalog Attributes: Universal:N/A Declarative:True 

       Card name: NVIDIA GeForce MX250
    Manufacturer: NVIDIA
       Chip type: GeForce MX250
        DAC type: Integrated RAMDAC
     Device Type: Render-Only Device
      Device Key: Enum\PCI\VEN_10DE&DEV_1D13&SUBSYS_3F1917AA&REV_A1
   Device Status: 0180200A [DN_DRIVER_LOADED|DN_STARTED|DN_DISABLEABLE|DN_NT_ENUMERATOR|DN_NT_DRIVER]

Device Problem Code: No Problem Driver Problem Code: Unknown Display Memory: 10090 MB Dedicated Memory: 1983 MB Shared Memory: 8107 MB Current Mode: Unknown HDR Support: Unknown Display Topology: Unknown Display Color Space: Unknown Color Primaries: Unknown Display Luminance: Unknown Driver Name: C:\Windows\System32\DriverStore\FileRepository\nvlti.inf_amd64_69927a76f6a50e6f\nvldumdx.dll,C:\Windows\System32\DriverStore\FileRepository\nvlti.inf_amd64_69927a76f6a50e6f\nvldumdx.dll,C:\Windows\System32\DriverStore\FileRepository\nvlti.inf_amd64_69927a76f6a50e6f\nvldumdx.dll,C:\Windows\System32\DriverStore\FileRepository\nvlti.inf_amd64_69927a76f6a50e6f\nvldumdx.dll Driver File Version: 27.21.0014.6020 (English) Driver Version: 27.21.14.6020 DDI Version: 12 Feature Levels: 12_1,12_0,11_1,11_0,10_1,10_0,9_3,9_2,9_1 Driver Model: 2.6 WDDM Graphics Preemption: Pixel Compute Preemption: Dispatch Miracast: Not Supported by Graphics driver Detachable GPU: No Hybrid Graphics GPU: Discrete Power P-states: Not Supported Virtualization: Paravirtualization Block List: No Blocks Catalog Attributes: Universal:False Declarative:True Driver Attributes: Final Retail Driver Date/Size: 20/9/17 8:00:00, 1048720 bytes WHQL Logo'd: Yes WHQL Date Stamp: Unknown Device Identifier: Unknown Vendor ID: 0x10DE Device ID: 0x1D13 SubSys ID: 0x3F1917AA Revision ID: 0x00A1 Driver Strong Name: oem59.inf:0f066de3ef96164d:Section110:27.21.14.6020:pci\ven_10de&dev_1d13&subsys_3f1917aa Rank Of Driver: 00CF0001 Video Accel: Unknown DXVA2 Modes: Deinterlace Caps: n/a D3D9 Overlay: Unknown DXVA-HD: Unknown DDraw Status: Enabled D3D Status: Enabled AGP Status: Enabled MPO MaxPlanes: 0 MPO Caps: Not Supported MPO Stretch: Not Supported MPO Media Hints: Not Supported MPO Formats: Not Supported PanelFitter Caps: Not Supported PanelFitter Stretch: Not Supported

lilustga commented 4 years ago

I was able to reproduce this following your steps. This does seem to a be a bug.

Notably, planning still works and the arm can be moved around by adjusting joint angles so I suspect it's an Rviz bug. However, I will need to look into it further.

tota1Noob commented 4 years ago

@ooeygui @lilustga Huge thanks to you guys! Thought it was me missing steps in the tutorials or something.

The planning and moving robots by adjusting joint angles does work, as I tried them yesterday. Looking forward to a solution for said bug.

matthias88 commented 4 years ago

I have the same issue with ROS noetic and moveit. I have installed ROS on 2 different systems, just for verification. 2020-10-15 16_11_35-Clipboard

ooeygui commented 4 years ago

We have a fix incoming.

seanyen commented 4 years ago

@matthias88 @tota1Noob A patch release is out! (Melodic and Noetic)

Please do choco upgrade ros-<distro>-desktop_full -y to acquire them. And let us know how it goes.

matthias88 commented 4 years ago

@matthias88 @tota1Noob A patch release is out! (Melodic and Noetic)

Please do choco upgrade ros-<distro>-desktop_full -y to acquire them. And let us know how it goes.

@seanyen The patch fixed it under Noetic. Thanks a lot 👍

tota1Noob commented 4 years ago

@ooeygui @seanyen It worked! Many thanks for the swift fix :D

ooeygui commented 3 years ago

Corrected in https://github.com/ros-visualization/rviz/commit/d2610074728ffb525c9d5b42fddf8a5d3b8de61c. Thank you!!!