rviz keeps displaying initial pose

edit

I don't think this is a solution.

If with "Visual Enabled" you mean the checkbox under the "Robot Model" display, then that would indicate that something is not right with your TF setup.

Thanks for the input! If there's a problem in my setup then it's present in the universal_robot package too. If I run their gazebo and moveit launch files, followed by rviz rviz the same behavior occurs and is eliminated by unchecking Displays --> RobotState --> Visual Enabled.

I'm not saying you're wrong, but those pkgs are used by a lot of people daily and this is the first report that I see mentioning this.

Ha ha, I ought to have written, "your gazebo and moveit launch files" :) That package (and the driver) has been wonderful for us!

No problem. And I cannot take credit for all of it. It's been a combined effort of quite a nr of people together with the entire ROS community.

I would still recommend to debug why the Robot Model display doesn't correctly reflect the actual pose of your robot.

To clarify: rviz correctly displays the actual pose of the robot, it's just that the initial pose is continuously displayed too. That's what unchecking Visual Enabled resolved.

rviz correctly displays the actual pose of the robot

But which display is showing it?

The Robot Model display, or the one from MoveIt? Those are two different things.

The two displays that show the UR10 are RobotState and PlanningScene. The former never updates and so I uncheck Visual Enabled. The latter correctly reflects the actual pose of the manipulator.

This is hijacking my thread, but since we are talking about the universal_robot package: would it be possible to change from PositionJointInterface to EffortJointInterface for the UR joint control? I'm working on resolving a problem with manipulating objects in Gazebo and I want to try that.

For Gazebo: sure, you can definitely change that locally. As to making it the default: effort controllers need pid tuning and additionally we don't have any such control capability with the real robots. That is why it's currently set to position.

Cool. If you have a minute, I'd appreciate pointers on changing that. I figure it will include replacing PositionJointInterface with EffortJointInterface in ur.transmission.xacro but beyond that I'm unsure.

PS --- Do you know why this tutorial ( http://gazebosim.org/tutorials/?tut=r... ) states that "the <hardwareInterface> must be included in both the <joint> and <actuator> tags," yet ur.transmission.xacro only has it in the <joint> tag?

You could probably take a look at ros-industrial/universal_robot#227.

Thanks! Following those modifications allowed me to see that using PositionJointInterface is the source for the unrealistic interaction between the UR and the Gazebo environment. For a long time I've been messing with kp, max_vel, etc. so I'm happy to have that question answered.