[rviz-3] process has died

asked 2019-10-15 10:46:10 -0600

Crowdeal gravatar image

updated 2019-10-17 06:43:33 -0600

Hello

sorry for my bad english

I used solidwork to create my robotmodel and exporter it to urdf

but when i launch display.launch

then add robotmodel

it will has a error

[rviz-3] process has died [pid 9048, exit code -7, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/pi/catkin_ws/src/project3/urdf.rviz __name:=rviz __log:=/home/pi/.ros/log/bf814e84-ef61-11e9-8dbb-b827eb7385f0/rviz-3.log].
log file: /home/pi/.ros/log/bf814e84-ef61-11e9-8dbb-b827eb7385f0/rviz-3*.log

display.launch

<launch>
  <arg
    name="model" />
  <arg
    name="gui"
    default="true" />
  <param
    name="robot_description"
    textfile="$(find project3)/urdf/project3.urdf" />
  <param
    name="use_gui"
    value="$(arg gui)" />
  <node
    name="joint_state_publisher"
    pkg="joint_state_publisher"
    type="joint_state_publisher" />
  <node
    name="robot_state_publisher"
    pkg="robot_state_publisher"
    type="state_publisher" />
  <node
    name="rviz"
    pkg="rviz"
    type="rviz"
    args="-d $(find project3)/urdf.rviz" />
</launch>

it's my new error

[ WARN] [1571311955.119769841]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
libEGL warning: DRI2: failed to authenticate
[ INFO] [1571311957.240473668]: rviz version 1.12.17
[ INFO] [1571311957.240868508]: compiled against Qt version 5.5.1
[ INFO] [1571311957.240994185]: compiled against OGRE version 1.9.0 (Ghadamon)
libEGL warning: DRI2: failed to authenticate
[ INFO] [1571311958.669318716]: Stereo is NOT SUPPORTED
[ INFO] [1571311958.670846882]: OpenGl version: 3 (GLSL 1.3).
[rviz-3] process has died [pid 6848, exit code -7, cmd /opt/ros/kinetic/lib/rviz/rviz __name:=rviz __log:=/home/pi/.ros/log/56917078-f0d0-11e9-b686-b827eb7385f0/rviz-3.log].
log file: /home/pi/.ros/log/56917078-f0d0-11e9-b686-b827eb7385f0/rviz-3*.log

and following is my new code

<launch>
  <arg
    name="model" />
  <arg
    name="gui"
    default="true" />
  <param
    name="robot_description"
    textfile="$(find project3)/urdf/project3.urdf" />
  <param
    name="use_gui"
    value="$(arg gui)" />
  <node
    name="joint_state_publisher"
    pkg="joint_state_publisher"
    type="joint_state_publisher"
    output="screen" />
  <node
    name="robot_state_publisher"
    pkg="robot_state_publisher"
    type="robot_state_publisher"
    output="screen" />
  <node
    name="rviz"
    pkg="rviz"
    type="rviz"
    output="screen"/>
</launch>

Thank you for your help

edit retag flag offensive close merge delete

Comments

Hi,

It would be good if you post what you are launching in the display.launch file or the log. With such little information there are a lot of things that can cause the error.

Weasfas gravatar imageWeasfas ( 2019-10-16 06:56:45 -0600 )edit

i posted it .

Crowdeal gravatar imageCrowdeal ( 2019-10-16 07:09:06 -0600 )edit

Several things that can be usefull:

  1. When you launch robot_state_publisher node change type from state_publisher to robot_state_publisher.
  2. You have several params that are not used (E.g.: use_gui).
  3. Try to launch rviz without the config file, it seems to me you have plugins in that file that are causing conflicts.
Weasfas gravatar imageWeasfas ( 2019-10-16 10:27:58 -0600 )edit

How can i solve 2.?

For 3. I try to make a rviz file and put it into project3 then when i launched display.launch it will have a error before rviz open

Crowdeal gravatar imageCrowdeal ( 2019-10-16 18:10:37 -0600 )edit

Hi,

I will post here a launch file that can help you, I place the output tag for debug purposes, to see what is the console output of the nodes:

<launch>

  <arg name="model"/>
  <arg name="gui" default="true"/>

  <param name="robot_description" textfile="$(find ares_description)/urdf/bus/ares.urdf"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen">
   <param name="use_gui" value="$(arg gui)" />
  </node>

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>

  <node name="rviz" pkg="rviz" type="rviz" output="screen"/>

</launch>
Weasfas gravatar imageWeasfas ( 2019-10-17 04:44:53 -0600 )edit

i updated my new error

Crowdeal gravatar imageCrowdeal ( 2019-10-17 06:44:34 -0600 )edit

Well it seems that you have problems with RVIZ and the URDF description.

For the first one, are you working on a Raspberry Pi?. Seems you have not installed or properly configured the libEGL library. Exit code -7 generally means in most unix systems a BUS error.

That error is generally caused by the graphics memory allocation on the Raspberry Pi being too low

For the other problem, you have a base link with an inertia and that is not permitted. Add a dummy link with no inertia as its parent.

Weasfas gravatar imageWeasfas ( 2019-10-17 07:14:05 -0600 )edit

Yes, I use raspberry pi 3 to make my project. how should I exactly to add a dummy link?

sorry, I am a new to ros

Crowdeal gravatar imageCrowdeal ( 2019-10-17 09:02:15 -0600 )edit