Ask Your Question
1

What do I wait for to avoid RViz error "No robot state or robot model loaded" on launch?

asked 2019-01-09 10:57:06 -0600

aPonza gravatar image

updated 2019-01-09 11:28:45 -0600

gvdhoorn gravatar image

Including panda_control_moveit_rviz.launch in my own launch file which also launches a process which moves the robot results in

[ERROR] - [/rviz_<rviz_anonymized_name>::TrajectoryVisualization::incomingDisplayTrajectory::464]: No robot state or robot model loaded`.

This error is completely ignored and the process seems to run fine except for an update issue with the hand of the robot (possibly even unrelated).

Upon further investigation, this seems to stem from launch order, in the sense that running the other nodes separately beforehand and launching my own move-the-robot node after the others (rviz included) are initialized, avoids the message entirely.

Since roslaunch doesn't guarantee startup order I sought out to find which service/topic/other to wait on for before starting my own node, as I was doing in another case for planning scene service get_planning_scene, but:

  • I wanted to add a breakpoint at the incomingDisplayTrajectory call with gdb but I couldn't find some package like ros-kinetic-rviz-dbg as per this to have debug symbols, so that didn't work;
  • I couldn't find anything from exploring the RViz source code: I worked my way from the top to the likely path that leads to the message, found out it needs robot_loaded_ true in robot.h and from there went to RobotModelDisplay but in the end couldn't solve the issue.

In the end I would only like to find out what I should wait for, but it would be nice to know if the only way to set the breakpoint I wanted to would have been to get rviz from source and recompile it myself.

edit retag flag offensive close merge delete

Comments

1

but it would be nice to know if the only way to set the breakpoint I wanted to would have been to get rviz from source and recompile it myself.

if you want to use a debugger, then yes, that would be what is needed. The binary pkgs don't include debug symbols, and the buildfarm does not yet ..

gvdhoorn gravatar imagegvdhoorn ( 2019-01-09 11:30:21 -0600 )edit

.. generate -dbg pkgs (that is something that needs to be done explicitly, you don't get that for free when using .deb infrastructure).

Without the symbols, debugging is going to be rather difficult.

gvdhoorn gravatar imagegvdhoorn ( 2019-01-09 11:31:26 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2019-11-21 10:59:14 -0600

Void gravatar image

I solved this error message by making sure the "MotionPlanning" display is active in RViz.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2019-01-09 10:57:06 -0600

Seen: 208 times

Last updated: Nov 21