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Panda robot model not displaying in rviz2 #108

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dpiet opened this issue Aug 30, 2021 · 9 comments
Closed

Panda robot model not displaying in rviz2 #108

dpiet opened this issue Aug 30, 2021 · 9 comments
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bug Something isn't working

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@dpiet
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dpiet commented Aug 30, 2021

Description

Similar to issue #68 . Panda robot description model appears to load properly but the model isn't displaying in rviz2.

Your environment

  • ROS Distro: Foxy
  • OS Version: Ubuntu 20.04 via WSL2
  • Source or Binary build? Binary MoveIt release, Source moveit2_tutorials
  • If binary, which release version? MoveIt Foxy release
  • If source, which git commit or tag? moveit2_tutorials commit 59cf8c

Steps to reproduce

Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.

Environment is WSL2 with Win 11 preview build allowing GUI and GPU usage.

$ ros2 launch run_moveit_cpp run_moveit_cpp.launch.py
or
$ ros2 launch moveit2_tutorials demo.launch.py

Expected behaviour

Tell us what should happen

Panda robot model mesh displays in rviz2 scene.

Backtrace or Console output

Console output
Screenshot 2021-08-30 113211

@vatanaksoytezer
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Hello @dpiet, thanks for reporting the issue!

Looking at the log I am seeing:

[ERROR] [ros2 run controller_manager spawner.py panda_hand_controller-7]: process has died [pid 474, exit code 1, cmd 'ros2 run controller_manager spawner.py panda_hand_controller'].
[ros2_control_node-5] [INFO] [1630334922.948028639] [controller_manager]: Loading controller 'joint_state_controller'
[ros2_control_node-5] [ERROR] [1630334922.948097035] [controller_manager]: Available classes:
[ros2_control_node-5] [ERROR] [1630334922.948106816] [controller_manager]: controller_manager/test_controller
[ros2_control_node-5] [ERROR] [1630334922.948111891] [controller_manager]: controller_manager/test_controller_failed_init
[ros2_control_node-5] [ERROR] [1630334922.948116437] [controller_manager]: controller_manager/test_controller_with_interfaces
[ros2_control_node-5] [ERROR] [1630334922.948121251] [controller_manager]: Loader for controller 'joint_state_controller' not found.
[ros2_control_node-5] [INFO] [1630334922.952385891] [controller_manager]: Loading controller 'panda_arm_controller'
[ros2_control_node-5] [ERROR] [1630334922.952437098] [controller_manager]: Available classes:
[ros2_control_node-5] [ERROR] [1630334922.952449073] [controller_manager]: controller_manager/test_controller
[ros2_control_node-5] [ERROR] [1630334922.952454184] [controller_manager]: controller_manager/test_controller_failed_init
[ros2_control_node-5] [ERROR] [1630334922.952458979] [controller_manager]: controller_manager/test_controller_with_interfaces
[ros2_control_node-5] [ERROR] [1630334922.952464177] [controller_manager]: Loader for controller 'panda_arm_controller' not found.
[ERROR] [ros2 run controller_manager spawner.py joint_state_controller-8]: process has died [pid 505, exit code 1, cmd 'ros2 run controller_manager spawner.py joint_state_controller'].
[ERROR] [ros2 run controller_manager spawner.py panda_arm_controller-6]: process has died [pid 471, exit code 1, cmd 'ros2 run controller_manager spawner.py panda_arm_controller'].

starting in Line 42. This seems like controller_manager was not able to start correctly. Can you make sure ros2_control and ros2_controllers are installed and sourced?

For eg.

apt-get install ros-foxy-ros2-control ros-foxy-ros2-controllers

and source your /opt/ros/${ROS_DISTRO}/setup.bash ?

@dpiet
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dpiet commented Aug 30, 2021

Hi @vatanaksoytezer thanks for the quick response. Good catch! I double checked that and installed the missing packages. See revised console output. It seems that on L100 the controller_manager is throwing an error: https://gist.github.com/dpiet/e1f2ab0e66e6619390a450c280dc2985#file-console-output-after-ros2-control-package-install-check-L100. Any suggestions?

@vatanaksoytezer
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vatanaksoytezer commented Aug 30, 2021

@dpiet I think this might be related with moveit/moveit_resources#95. @tylerjw do you happen to resolve this? I have a Foxy docker that has source built version of everything and it seem to work fine.

@gautz
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gautz commented Aug 31, 2021

@dpiet
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dpiet commented Sep 5, 2021

I built everything from source and everything is now working as expected. I think the issue should stay open until a new Foxy release resolves it.

@vatanaksoytezer
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I built everything from source and everything is now working as expected. I think the issue should stay open until a new Foxy release resolves it.

That's great to know, let's keep it open for now. We are pushing towards a release in 10 September and hopefully everything will be all good after the release and following the next Foxy sync.

@vatanaksoytezer vatanaksoytezer added the bug Something isn't working label Sep 6, 2021
@dpiet
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dpiet commented Oct 7, 2021

@vatanaksoytezer can you confirm whether these updates were released?

@vatanaksoytezer
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vatanaksoytezer commented Oct 7, 2021

@dpiet So I just tested with a fresh foxy installation and foxy release of MoveIt 2 with the instructions on the website . The issue in tutorials is currently fixed by #115 and tutorials should work as is. I just confirmed run_moveit_cpp is still broken in released version and we just missed the sync so it might take until the next foxy sync and a new MoveIt 2 release to fix this in released version of Foxy, source should just work as is. Having said that MoveIt 2 functionality is not broken, but only the released demos inside MoveIt 2.

If you don't mind giving this a test I would be happy to close the issue after.

Extra info: A new moveit_resources release for Foxy has been made in ros/rosdistro#30807 and should be synced nowadays (actually planned for today see relevant post: https://discourse.ros.org/t/preparing-for-foxy-sync-and-patch-release-2021-10-07-last-release-with-macos-support/22470). After the sync we will revert 115.

@vatanaksoytezer
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Closing this since the releases are done.

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