Rviz crashing on changing the global fixed frame

[anubhav1772]

Hi,

I am trying to work with UR5 robotic arm inside ros2-humble environment. When I am running below commands
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
and
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5 launch_rviz:=true, I am getting few warning/error messages:

[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1683235268.394930831] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available

Although the rviz is opening but whenever I am trying to change the global fixed frame (like from world -> base_link, world -> shoulder_link, etc.) the rviz is crashing with below error:

[rviz2-2] [INFO] [1683236264.339479077] [interactive_marker_display_94914280135008]: Target frame is now base_link_inertia
[ERROR] [rviz2-2]: process has died [pid 34038, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/anubhav1772/ros2_ws/install/ur_moveit_config/share/ur_moveit_config/rviz/view_robot.rviz --ros-args -r __node:=rviz2_moveit --params-file /tmp/launch_params_h0c3u07r --params-file /tmp/launch_params_zvk4sdwm --params-file /tmp/launch_params_02avgfbb --params-file /home/anubhav1772/ros2_ws/install/ur_moveit_config/share/ur_moveit_config/config/kinematics.yaml --params-file /tmp/launch_params_kc4sqae6 --params-file /tmp/launch_params_6biamqi8'].

It provides no meaningful information, just includes few params-files which basically has urdf, sdf and .yaml parameters and data.
Am I doing something wrong here ? Any help/guidance would be highly appreciated. Thank you.

[VinDp]

Hi @anubhav1772,
sorry for the late reply, I was able to reproduce your issue but I think it's more related to MoveIt rather than us. There is also a relatively recent open issue for that.
To provide some more info: disabling the MotionPlanning and adding only the RobotModel is not enough, because trying to change the fixed frame still leads to crash. But, if the MotionPlanning is removed, then it's possible to freely change the fixed frame. After that, you can also add MotionPlanning again and it works fine with the new fixed frame.