Hi guys,

I'm trying to load my robot model in rviz using python launch file, but somehow the launch process just paused after loading robotstatepublisher and jointstatepublisher, and no error messages are returned:

[INFO] [launch]: All log files can be found below /home/muyejia1202/.ros/log/2023-01-07-15-15-17-482970-sampc-7847
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [7848]
[INFO] [robot_state_publisher-2]: process started with pid [7850]
**[robot_state_publisher-2] Link base_link had 5 children
[robot_state_publisher-2] Link caster_back_link had 0 children
[robot_state_publisher-2] Link imu_link had 0 children
[robot_state_publisher-2] Link base_scan had 0 children
[robot_state_publisher-2] Link wheel_left_link had 0 children
[robot_state_publisher-2] Link wheel_right_link had 0 children
[robot_state_publisher-2] [INFO] [1673126117.700923627] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1673126117.701017667] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1673126117.701023003] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-2] [INFO] [1673126117.701026084] [robot_state_publisher]: got segment caster_back_link
[robot_state_publisher-2] [INFO] [1673126117.701029177] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-2] [INFO] [1673126117.701032263] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-2] [INFO] [1673126117.701035342] [robot_state_publisher]: got segment wheel_right_link** 

And above is all I got in my terminal, the process just stuck here, anyone knows why is this? Thanks!

Below is my launch file:

def generate_launch_description():

    urdf_path = get_package_share_path('nuturtle_description')
    default_model_path = urdf_path / 'urdf/turtlebot3_burger.urdf.xacro'
    default_rviz_config_path = urdf_path / 'rviz/burger.rviz'

    use_jsp = DeclareLaunchArgument(name='use_jsp', default_value='true',
                                    choices=['true', 'false'],
                                    description='determine how to publish joint states')
    model_arg = DeclareLaunchArgument(name='model', default_value=str(default_model_path),
                                      description='Absolute path to robot urdf file')
    use_rviz = DeclareLaunchArgument(name='use_rviz', default_value='true',
                                    choices=['true', 'false'],
                                    description='determine whether to use rviz')
    rviz_arg = DeclareLaunchArgument(name='rvizconfig',
                                     default_value=str(default_rviz_config_path),
                                     description='Absolute path to rviz config file')

    # pass color value
    use_color = DeclareLaunchArgument(name='robot_color', default_value='purple',
                                      choices=['purple', 'red', 'green', 'blue'],
                                      description='determine the robot color')

    doc = xacro.process_file(default_model_path, \
                             mappings={'color': str(LaunchConfiguration('robot_color'))})
    robot_description = doc.toprettyxml(indent='  ')

    robot_state_publisher_node = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        output='both',
        parameters=[{'robot_description': robot_description}]
    )

    # Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui
    joint_state_publisher_node = Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
        arguments=[os.path.join(urdf_path, 'urdf/turtlebot3_burger.urdf.xacro')],
        condition=LaunchConfigurationEquals('use_jsp', 'true')
    )

    joint_state_publisher_gui_node = Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        arguments=[os.path.join(urdf_path, 'urdf/turtlebot3_burger.urdf.xacro')],
        condition=LaunchConfigurationEquals('use_jsp', 'false')
    )

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', LaunchConfiguration('rvizconfig')],
        condition=LaunchConfigurationEquals('use_rviz', 'true'),
        on_exit=Shutdown() # Shut down launched system upon closing rviz.
    )

    return LaunchDescription([
        use_jsp,
        model_arg,
        rviz_arg,
        joint_state_publisher_node,
        joint_state_publisher_gui_node,
        robot_state_publisher_node,
        rviz_node,
        use_rviz,
        use_color,
    ])