rviz keeps displaying initial pose

asked 2018-05-14 14:00:44 -0500

raequin
368 ●13 ●23 ●27

updated 2018-05-14 14:01:23 -0500

When I use rviz, the initial state of the robot persists throughout the entire session. In the picture below, the robot started stretched out parallel to the ground then moved up into the higher pose. Everything in rviz seems to work fine but it would be nice to (a) know what's causing this artifact, and (b) not have that pose cluttering the view. Can you help me?

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I haven't seen this happen. Have you tried deactivating elements of the Rviz display and/or adjusting alpha values to see which object the dead pose belongs to? Does it have TF frames? Check out the tree. If nothing else works, can you post your Rviz tab, URDF and SRDF?

fvd ( 2018-09-05 02:27:00 -0500 )edit

Thanks. That helped. I'll put it in an answer.

raequin ( 2018-09-07 08:19:27 -0500 )edit

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answered 2018-09-07 08:22:06 -0500

raequin
368 ●13 ●23 ●27

Thanks to the suggestion by @fvd, I unchecked the "Visual Enabled" box under Displays --> RobotState. That solved the problem!

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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.

gvdhoorn ( 2018-09-07 08:30:42 -0500 )edit

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.

raequin ( 2018-09-07 08:45:25 -0500 )edit

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.

gvdhoorn ( 2018-09-07 10:11:08 -0500 )edit

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

raequin ( 2018-09-07 10:36:14 -0500 )edit

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.

gvdhoorn ( 2018-09-08 13:25:59 -0500 )edit

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.

raequin ( 2018-09-09 21:09:28 -0500 )edit

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.

gvdhoorn ( 2018-09-10 01:35:04 -0500 )edit

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.

raequin ( 2018-09-10 08:34:23 -0500 )edit

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