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Published 20 hours ago • verified publisher icon ms-iot

RViz window did not appear when run demo of Move Group C++ Interface

Open tangguotongling opened this issue 3 years ago • 2 comments

Describe the bug

Hi~

I installed ROS melodic + MoveIt on Win10 (following https://ms-iot.github.io/ROSOnWindows/Moveit/moveit_tutorials.html)

When I run the demon of Move Group C++ Interface: roslaunch panda_moveit_config demo.launch (http://docs.ros.org/en/melodic/api/moveit_tutorials/html/index.html)

The RViz window did not appear, which means that I can not interact with the moveit planning progress.

However, there seemed to be a moveit.rvz task on the task bar: RVizAbnormal

and I got the tail of console output as :

QObject::connect: Cannot queue arguments of type 'QVector<int>' (Make sure 'QVector<int>' is registered using qRegisterMetaType().) QObject::connect: Cannot queue arguments of type 'QVector<int>' (Make sure 'QVector<int>' is registered using qRegisterMetaType().)

but I do not think that relates with the phenomena.

What's more, I can run the demo of MoveIt Quickstart in RViz correctly: roslaunch panda_moveit_config demo.launch rviz_tutorial:=true (http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html) RVizOK2

Can anybody help me?

Thank you~

To Reproduce Steps to reproduce the behavior:

  • Catkin workspace setup instructions

call c:\opt\ros\melodic\x64\setup.bat

  • Clone locations
mkdir c:\moveit_ws\src
cd c:\moveit_ws\src
git clone https://github.com/ros-planning/moveit_tutorials.git -b melodic-devel
git clone https://github.com/ros-planning/panda_moveit_config.git -b melodic-devel
git clone https://github.com/frankaemika/franka_ros-release -b release/kinetic/franka_description
  • build command line
cd c:\moveit_ws
catkin_make
  • Launch command line c:\moveit_ws>call devel\setup.bat roslaunch panda_moveit_config demo.launch

Expected behavior

According to the moveit, there ought to be a RViz window with a robot like: RVizDesized where I can interact with the MoveIt.

Environment information:

  • OS version: winver Win10 Pro 21H1 19043.1320
  • Chocolatey Versions: choco list --local-only Chocolatey v0.11.3 chocolatey 0.11.3 chocolatey-core.extension 1.3.5.1 git 2.33.1 git.install 2.33.1 4 packages installed.

I attach the cmd output at last:

** Visual Studio 2019 Developer Command Prompt v16.9.4 ** Copyright (c) 2021 Microsoft Corporation

C:\Windows\System32>cd c:\

c:>cd moveit_ws

c:\moveit_ws>call devel\setup.bat

c:\moveit_ws>roslaunch panda_moveit_config demo.launch ... logging to C:\Users\ThinkStation.ros\log\7211bcee-41f9-11ec-90f7-c809a865ac12\roslaunch-ZGMFX10A-14916.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://127.0.0.1:2926/

SUMMARY

PARAMETERS

  • /joint_state_publisher/use_gui: False
  • /move_group/allow_trajectory_execution: True
  • /move_group/controller_list: [{'joints': ['pan...
  • /move_group/hand/planner_configs: ['SBLkConfigDefau...
  • /move_group/initial: [{'pose': 'ready'...
  • /move_group/jiggle_fraction: 0.05
  • /move_group/max_range: 5.0
  • /move_group/max_safe_path_cost: 1
  • /move_group/moveit_controller_manager: moveit_fake_contr...
  • /move_group/moveit_manage_controllers: True
  • /move_group/octomap_frame: camera_rgb_optica...
  • /move_group/octomap_resolution: 0.05
  • /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
  • /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
  • /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
  • /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
  • /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
  • /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
  • /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
  • /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
  • /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
  • /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
  • /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
  • /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
  • /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
  • /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
  • /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
  • /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
  • /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
  • /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
  • /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
  • /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
  • /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
  • /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
  • /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
  • /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/ESTkConfigDefault/range: 0.0
  • /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
  • /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
  • /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
  • /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
  • /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
  • /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
  • /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
  • /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
  • /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
  • /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
  • /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
  • /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
  • /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
  • /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
  • /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
  • /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
  • /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
  • /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
  • /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
  • /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
  • /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
  • /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
  • /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
  • /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
  • /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
  • /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
  • /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
  • /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
  • /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/RRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
  • /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
  • /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
  • /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
  • /move_group/planner_configs/SBLkConfigDefault/range: 0.0
  • /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
  • /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
  • /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
  • /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
  • /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
  • /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
  • /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
  • /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
  • /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
  • /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
  • /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
  • /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
  • /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
  • /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
  • /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
  • /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
  • /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
  • /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
  • /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
  • /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
  • /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
  • /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
  • /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
  • /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
  • /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
  • /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
  • /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
  • /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
  • /move_group/planner_configs/TrajOptDefault/type: geometric::TrajOpt
  • /move_group/planning_plugin: ompl_interface/OM...
  • /move_group/planning_scene_monitor/publish_geometry_updates: True
  • /move_group/planning_scene_monitor/publish_planning_scene: True
  • /move_group/planning_scene_monitor/publish_state_updates: True
  • /move_group/planning_scene_monitor/publish_transforms_updates: True
  • /move_group/request_adapters: default_planner_r...
  • /move_group/sensors: [{'point_subsampl...
  • /move_group/start_state_max_bounds_error: 0.1
  • /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
  • /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
  • /move_group/trajectory_execution/allowed_start_tolerance: 0.01
  • /robot_description: <?xml version="1....
  • /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
  • /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
  • /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
  • /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
  • /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
  • /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
  • /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
  • /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
  • /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
  • /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
  • /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
  • /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
  • /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
  • /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
  • /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
  • /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
  • /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
  • /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
  • /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
  • /robot_description_semantic: <?xml version="1....
  • /rosdistro: melodic
  • /rosversion: 1.14.10
  • /rviz_ZGMFX10A_14916_2087259776671793920/panda_arm/kinematics_solver: kdl_kinematics_pl...
  • /rviz_ZGMFX10A_14916_2087259776671793920/panda_arm/kinematics_solver_search_resolution: 0.005
  • /rviz_ZGMFX10A_14916_2087259776671793920/panda_arm/kinematics_solver_timeout: 0.05
  • /source_list: ['/move_group/fak...

NODES / joint_state_desired_publisher (topic_tools/relay) joint_state_publisher (joint_state_publisher/joint_state_publisher) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz_ZGMFX10A_14916_2087259776671793920 (rviz/rviz) virtual_joint_broadcaster_1 (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://127.0.0.1:11311 process[virtual_joint_broadcaster_1-1]: started with pid [14324] process[joint_state_publisher-2]: started with pid [11956] process[joint_state_desired_publisher-3]: started with pid [2852] process[robot_state_publisher-4]: started with pid [14740] process[move_group-5]: started with pid [5844] [ INFO] [1636530111.416647400]: Loading robot model 'panda'... process[rviz_ZGMFX10A_14916_2087259776671793920-6]: started with pid [2096] [ INFO] [1636530111.671729900]: rviz version 1.13.15 [ INFO] [1636530111.671956700]: compiled against Qt version 5.10.1 [ INFO] [1636530111.672974600]: compiled against OGRE version 1.10.11 (Xalafu) [ INFO] [1636530111.682107400]: Forcing OpenGl version 0. [ INFO] [1636530112.144900600]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1636530112.148052700]: MoveGroup debug mode is ON [96mStarting planning scene monitors... [0m[ INFO] [1636530112.148827800]: Starting planning scene monitor [ INFO] [1636530112.152069600]: Listening to '/planning_scene' [ INFO] [1636530112.152239900]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1636530112.154674200]: Listening to '/collision_object' [ INFO] [1636530112.156361600]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1636530112.173624900]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world ' [ INFO] [1636530112.177408000]: Listening to '/attached_collision_object' for attached collision objects [96mPlanning scene monitors started. [0m[ INFO] [1636530112.188903700]: Initializing OMPL interface using ROS parameters [ INFO] [1636530112.247129200]: Using planning interface 'OMPL' [ERROR] [1636530112.253172000]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are chomp/OptimizerAdapter default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds [ INFO] [1636530112.253932900]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1636530112.254651500]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1636530112.255017800]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1636530112.255730600]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1636530112.256285400]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1636530112.257002400]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1636530112.257161200]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1636530112.257405500]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1636530112.257670700]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1636530112.257940500]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1636530112.258207800]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1636530112.268226100]: Loading robot model 'panda'... [ INFO] [1636530112.319595100]: Set joints of group 'panda_arm' to pose 'ready'. [ INFO] [1636530112.319746200]: Set joints of group 'hand' to pose 'open'. [ INFO] [1636530112.321675500]: Fake controller 'fake_panda_arm_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ] [ INFO] [1636530112.323425600]: Fake controller 'fake_hand_controller' with joints [ panda_finger_joint1 panda_finger_joint2 ] [ INFO] [1636530112.325261100]: Returned 2 controllers in list [ INFO] [1636530112.334923300]: Trajectory execution is managing controllers [96mLoading 'move_group/ApplyPlanningSceneService'... [0m[96mLoading 'move_group/ClearOctomapService'... [0m[96mLoading 'move_group/MoveGroupCartesianPathService'... [0m[96mLoading 'move_group/MoveGroupExecuteTrajectoryAction'... [0m[96mLoading 'move_group/MoveGroupGetPlanningSceneService'... [0m[96mLoading 'move_group/MoveGroupKinematicsService'... [0m[96mLoading 'move_group/MoveGroupMoveAction'... [0m[96mLoading 'move_group/MoveGroupPickPlaceAction'... [0m[96mLoading 'move_group/MoveGroupPlanService'... [0m[96mLoading 'move_group/MoveGroupQueryPlannersService'... [0m[96mLoading 'move_group/MoveGroupStateValidationService'... [0m[ INFO] [1636530112.386223100]:

  • MoveGroup using:
  • - ApplyPlanningSceneService

  • - ClearOctomapService

  • - CartesianPathService

  • - ExecuteTrajectoryAction

  • - GetPlanningSceneService

  • - KinematicsService

  • - MoveAction

  • - PickPlaceAction

  • - MotionPlanService

  • - QueryPlannersService

  • - StateValidationService

[ INFO] [1636530112.387739300]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1636530112.388510000]: MoveGroup context initialization complete [92m You can start planning now!

[0m[ INFO] [1636530113.423653000]: Stereo is NOT SUPPORTED [ INFO] [1636530113.423827300]: OpenGl version: 4.6 (GLSL 4.6). [ INFO] [1636530113.533963000]: Loading robot model 'panda'... [ INFO] [1636530113.922282900]: Loading robot model 'panda'... [ INFO] [1636530114.060339000]: Starting planning scene monitor [ INFO] [1636530114.062917100]: Listening to '/move_group/monitored_planning_scene' QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().)

AB#509392

tangguotongling avatar Nov 10 '21 08:11 tangguotongling

Hello @tangguotongling,

I tried running the demo on the latest tutorial and was able to see this same behavior by omitting rviz_tutorial:=true from the command. Could you try running roslaunch panda_moveit_config demo.launch rviz_tutorial:=true. That is the command as recommended in the quickstart tutorial. http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html

Please let me know if that works. Thanks!

lilustga avatar Nov 12 '21 05:11 lilustga

Hello @tangguotongling,

I tried running the demo on the latest tutorial and was able to see this same behavior by omitting rviz_tutorial:=true from the command. Could you try running roslaunch panda_moveit_config demo.launch rviz_tutorial:=true. That is the command as recommended in the quickstart tutorial. http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html

Please let me know if that works. Thanks!

Hi @lilustga~

Thank you for your attention~ I tried the "MoveIt Quickstart in RViz"(http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html) command as you required: roslaunch panda_moveit_config demo.launch rviz_tutorial:=true Yes, I can see the RViz window. But if I continue with the "Move Group C++ Interface":(http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html) roslaunch panda_moveit_config demo.launch roslaunch moveit_tutorials move_group_interface_tutorial.launch RViz did not show which prevent the interactive with the demo since it requires a click on the 'Next' button. I can shield the rviz visualization related lines in the source code of "Move Group C++ Interface". But that degenerates to a pure console window.......

tangguotongling avatar Nov 15 '21 05:11 tangguotongling