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answered 2018-09-03 10:28:44 -0500

CatchMe gravatar image

The problem is with urdf.rviz:

It works well after changing its conetent to rrbot.rviz

Panels: - Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: ~ Splitter Ratio: 0.5 Tree Height: 257 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.588679016 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: LaserScan Visualization Manager: Class: ""
Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: <fixed frame=""> Value: true - Alpha: 1 Class: rviz/RobotModel Collision Enabled: false Enabled: true Links: All Links Enabled: true Expand Joint Details: false Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order camera_link: Alpha: 1 Show Axes: false Show Trail: false Value: true hokuyo_link: Alpha: 1 Show Axes: false Show Trail: false Value: true link1: Alpha: 1 Show Axes: false Show Trail: false Value: true link2: Alpha: 1 Show Axes: false Show Trail: false Value: true link3: Alpha: 1 Show Axes: false Show Trail: false Value: true world: Alpha: 1 Show Axes: false Show Trail: false Name: RobotModel Robot Description: robot_description TF Prefix: "" Update Interval: 0 Value: true Visual Enabled: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/LaserScan Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: -999999 Min Color: 0; 0; 0 Min Intensity: 999999 Name: LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.00999999978 Style: Flat Squares Topic: /rrbot/laser/scan Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Class: rviz/Camera Enabled: true Image Rendering: background and overlay Image Topic: /rrbot/camera1/image_raw Name: Camera Overlay Alpha: 0.5 Queue Size: 2 Transport Hint: raw Unreliable: false Value: true Visibility: Grid: true LaserScan: true RobotModel: true Value: true Zoom Factor: 1 Enabled: true Global Options: Background Color: 238; 238; 238 Fixed Frame: world Frame Rate: 30 Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - Class: rviz/FocusCamera - Class: rviz/Measure - Class: rviz/SetInitialPose Topic: /initialpose - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Class: rviz/Orbit Distance: 10.3891287 Enable Stereo Rendering: Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: X: -0.543884933 Y: -0.380490273 Z: 0.564803362 Focal Shape Fixed Size: false Focal Shape Size: 0.0500000007 Name: Current View Near Clip Distance: 0.00999999978 Pitch: 0.845398188 Target Frame: <fixed frame=""> Value: Orbit (rviz) Yaw: 0.89539808 Saved: ~ Window Geometry: Camera: collapsed: false Displays: collapsed: false Height: 876 Hide Left Dock: false Hide Right Dock: false QMainWindow State: 000000ff00000000fd00000004000000000000028a00000326fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000190000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003b00000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 1600 X: 0 Y: 24

click to hide/show revision 2
No.2 Revision

updated 2018-09-03 13:23:33 -0500

jayess gravatar image

The problem is with urdf.rviz:

It works well after changing its conetent to rrbot.rviz

Panels:
   - Class: rviz/Displays
     Help Height: 78
     Name: Displays
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.5
     Tree Height: 257
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
     Expanded:
       - /2D Pose Estimate1
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
     Splitter Ratio: 0.588679016
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
     Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: LaserScan Visualization Manager:   Class: "" 
   Displays:
     - Alpha: 0.5
       Cell Size: 1
       Class: rviz/Grid
       Color: 160; 160; 164
       Enabled: true
       Line Style:
         Line Width: 0.0299999993
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
       Offset:
         X: 0
         Y: 0
         Z: 0
       Plane: XY
       Plane Cell Count: 10
       Reference Frame: <fixed frame="">
  <Fixed Frame>
      Value: true
     - Alpha: 1
       Class: rviz/RobotModel
       Collision Enabled: false
       Enabled: true
       Links:
         All Links Enabled: true
         Expand Joint Details: false
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
         camera_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
         hokuyo_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
         link1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
         link2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
         link3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
         world:
           Alpha: 1
           Show Axes: false
           Show Trail: false
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
         Max Value: 10
         Min Value: -10
         Value: true
       Axis: Z
       Channel Name: intensity
       Class: rviz/LaserScan
       Color: 255; 255; 255
       Color Transformer: Intensity
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Max Intensity: -999999
       Min Color: 0; 0; 0
       Min Intensity: 999999
       Name: LaserScan
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.00999999978
       Style: Flat Squares
       Topic: /rrbot/laser/scan
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
     - Class: rviz/Camera
       Enabled: true
       Image Rendering: background and overlay
       Image Topic: /rrbot/camera1/image_raw
       Name: Camera
       Overlay Alpha: 0.5
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
       Value: true
       Visibility:
         Grid: true
         LaserScan: true
         RobotModel: true
         Value: true
       Zoom Factor: 1   Enabled: true   Global Options:
     Background Color: 238; 238; 238
     Fixed Frame: world
     Frame Rate: 30   Name: root   Tools:
     - Class: rviz/Interact
       Hide Inactive Objects: true
     - Class: rviz/MoveCamera
     - Class: rviz/Select
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
       Topic: /initialpose
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
       Single click: true
       Topic: /clicked_point   Value: true   Views:
     Current:
       Class: rviz/Orbit
       Distance: 10.3891287
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
         X: -0.543884933
         Y: -0.380490273
         Z: 0.564803362
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.0500000007
       Name: Current View
       Near Clip Distance: 0.00999999978
       Pitch: 0.845398188
       Target Frame: <fixed frame="">
  <Fixed Frame>
      Value: Orbit (rviz)
       Yaw: 0.89539808
     Saved: ~ Window Geometry:   Camera:
     collapsed: false   Displays:
     collapsed: false   Height: 876   Hide Left Dock: false   Hide Right
 Dock: false   QMainWindow State:
 000000ff00000000fd00000004000000000000028a00000326fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000190000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003b00000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
 Selection:
     collapsed: false   Time:
     collapsed: false   Tool Properties:
     collapsed: false   Views:
     collapsed: false   Width: 1600   X: 0   Y: 24
24

The problem is with urdf.rviz:ogre 1.11 new API.

It works well after changing its conetent to rrbot.rvizI have reinstalled rviz using https://github.com/ProfFan/rviz commits.

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded: ~
      Splitter Ratio: 0.5
    Tree Height: 257
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan Visualization Manager:   Class: ""  
He has a pull-request here https://github.com/fizyr-forks/rviz/pull/1
 Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        camera_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        hokuyo_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        link3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        world:
          Alpha: 1
          Show Axes: false
          Show Trail: false
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: -999999
      Min Color: 0; 0; 0
      Min Intensity: 999999
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.00999999978
      Style: Flat Squares
      Topic: /rrbot/laser/scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Camera
      Enabled: true
      Image Rendering: background and overlay
      Image Topic: /rrbot/camera1/image_raw
      Name: Camera
      Overlay Alpha: 0.5
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
      Visibility:
        Grid: true
        LaserScan: true
        RobotModel: true
        Value: true
      Zoom Factor: 1   Enabled: true   Global Options:
    Background Color: 238; 238; 238
    Fixed Frame: world
    Frame Rate: 30   Name: root   Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point   Value: true   Views:
    Current:
      Class: rviz/Orbit
      Distance: 10.3891287
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: -0.543884933
        Y: -0.380490273
        Z: 0.564803362
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.0500000007
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 0.845398188
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 0.89539808
    Saved: ~ Window Geometry:   Camera:
    collapsed: false   Displays:
    collapsed: false   Height: 876   Hide Left Dock: false   Hide Right
Dock: false   QMainWindow State:
000000ff00000000fd00000004000000000000028a00000326fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000190000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003b00000032600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
    collapsed: false   Time:
    collapsed: false   Tool Properties:
    collapsed: false   Views:
    collapsed: false   Width: 1600   X: 0   Y: 24

And it's working now.
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