rvizでSAMPLE_HUMANOID.rvizのロボットが表示されない
Closed this issue · 4 comments
shmpwk commented
センサ付きのサンプルロボットをrvizで表示することができません．
gazeboは正常に表示されました．
環境は，Ubuntu18.04, melodicです．
エラーとその時のrvizの画面は以下のようになりました．
$ rosrun rviz rviz -d SAMPLE_HUMANOID.rviz
[ INFO] [1589516560.914524810]: rviz version 1.13.9
[ INFO] [1589516560.914627324]: compiled against Qt version 5.9.5
[ INFO] [1589516560.914651259]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1589516560.922955151]: Forcing OpenGl version 0.
[ INFO] [1589516561.311496981]: Stereo is NOT SUPPORTED
[ INFO] [1589516561.311633459]: OpenGl version: 4.5 (GLSL 4.5).
[ERROR] [1589516561.429916254]: PluginlibFactory: The plugin for class 'rviz_plugin_tutorials/Imu' failed to load. Error: According to the loaded plugin descriptions the class rviz_plugin_tutorials/Imu with base class type rviz::Display does not exist. Declared types are jsk_rviz_plugin/AmbientSound jsk_rviz_plugin/BoundingBox jsk_rviz_plugin/BoundingBoxArray jsk_rviz_plugin/CameraInfo jsk_rviz_plugin/Diagnostics jsk_rviz_plugin/Footstep jsk_rviz_plugin/NormalDisplay jsk_rviz_plugin/OverlayCamera jsk_rviz_plugin/OverlayDiagnostic jsk_rviz_plugin/OverlayImage jsk_rviz_plugin/OverlayMenu jsk_rviz_plugin/OverlayText jsk_rviz_plugin/PeoplePositionMeasurementArray jsk_rviz_plugin/Pictogram jsk_rviz_plugin/PictogramArray jsk_rviz_plugin/PieChart jsk_rviz_plugin/Plotter2D jsk_rviz_plugin/PolygonArray jsk_rviz_plugin/PoseArray jsk_rviz_plugin/QuietInteractiveMarker jsk_rviz_plugin/SegmentArray jsk_rviz_plugin/SimpleOccupancyGridArray jsk_rviz_plugin/TFTrajectory jsk_rviz_plugin/TargetVisualizer jsk_rviz_plugin/TorusArray jsk_rviz_plugin/TwistStamped jsk_rviz_plugin/VideoCapture moveit_rviz_plugin/MotionPlanning moveit_rviz_plugin/PlanningScene moveit_rviz_plugin/RobotState moveit_rviz_plugin/Trajectory rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped
エラーをググると，CMakeLists.txtやpackage.xmlをいじることが書かれていて，見様見真似でやってみましたが，解決できませんでした．
不必要かもしれませんが，rvizのpluginのある場所は以下の通りです．
$ rospack plugins --attrib=plugin rviz
moveit_ros_visualization /opt/ros/melodic/share/moveit_ros_visualization/robot_state_rviz_plugin_description.xml
moveit_ros_visualization /opt/ros/melodic/share/moveit_ros_visualization/planning_scene_rviz_plugin_description.xml
moveit_ros_visualization /opt/ros/melodic/share/moveit_ros_visualization/motion_planning_rviz_plugin_description.xml
moveit_ros_visualization /opt/ros/melodic/share/moveit_ros_visualization/trajectory_rviz_plugin_description.xml
jsk_interactive_marker /home/shumpeiwakabayashi/new_ws/src/jsk_visualization/jsk_interactive_markers/jsk_interactive_marker/plugin_description.xml
jsk_rviz_plugins /home/shumpeiwakabayashi/new_ws/src/jsk_visualization/jsk_rviz_plugins/plugin_description.xml
rviz /opt/ros/melodic/share/rviz/plugin_description.xml
これを見ると，エラーで出てきたrviz_plugin_tutorialsが存在しないので，それをインストールするのでしょうか．
YoheiKakiuchi commented
sudo apt install ros-melodic-rviz-plugin-tutorials
をしてみてください
shmpwk commented
ありがとうございます．
インストールの仕方がわからなかったので，助かりました．
ですが，全てのエラーは消えたものの，Robot modelがrviz上に表示されません．
rvizを見ると，parameter robot_description does not existと表示されています．
YoheiKakiuchi commented
rvizの表示には、gazeboが動いている必要があります。
gazeboをlaunchしてから、rvizを立ち上げてみてください。
shmpwk commented
なるほど，できました．ありがとうございます．