Cannot get the effort display on Rviz to work.

asked 2020-05-28 05:40:34 -0500

Paco98
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updated 2022-02-13 16:44:27 -0500

8729 ●137 ●239 ●256 https://github.com/lucasw

I'm trying to display the efforts like here http://wiki.ros.org/rviz/DisplayTypes.... To do this I publish the effort information in my /joint_states topic. On Rviz I have a robot visualization that is working perfectly. When I open the Rviz effort display and set it up, it says that the status is ok. It found the robot_description and that the display is receiving messages published to /joint_states:

What I see in Rviz

Yet under "Joints" I don't see any of the robot joints like on the website screenshot,

what I should see according to ros.org

and there are no efforts being displayed on my model (no circles with arrows). Has anyone gotten the effort display to work? I found a post from 2013 with the same problem: https://answers.ros.org/question/9922...

the joints on my URDF look like this:

<joint name="FLpitch_HJ" type="continuous">
    <parent link="FLpitch_T"/>
    <child link="flpitch_hj_endpoint"/>
    <axis xyz="1.0 0.0 0.0"/>
    <origin xyz="-3.58 0.19999999935024748 -0.0905"/>
</joint>

I tried adding:

<limit effort="30" velocity="1.0" lower="-2.2" upper="0.7" />

on every joint but It did not change things. Is this tag necessary for the Rviz display to work?

If I can provide any more information please let me know. I'm running ROS Melodic distro on a virtual machine with Ubuntu 18.04.

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Comments

Please attach your screenshots to the post directly, instead of linking to a 3rd party host. I've given you sufficient karma.

gvdhoorn ( 2020-05-28 06:12:57 -0500 )edit

Something to check: does your .urdf has the effort attribute set on the limits of the joints?

gvdhoorn ( 2020-05-28 06:16:30 -0500 )edit

@gvdhoorn my .urdf does not have an effort attribute set on the limits of the joints. I tried adding: <limit effort="30" velocity="1.0" lower="-2.2" upper="0.7" /> (where the values are random) for each joint, but saw no difference. Is this needed for it to work?

Paco98 ( 2020-05-28 09:51:01 -0500 )edit

Please attach your images directly to the question.

gvdhoorn ( 2020-05-28 12:06:08 -0500 )edit

@gvdhoorn done.

Paco98 ( 2020-05-28 13:24:05 -0500 )edit

Was this ever resolved?

AdamGronewold ( 2021-06-29 17:54:13 -0500 )edit

@AdamGronewold nope, in the end I gave up. I'd say the best best is to look into the rviz source code.

Paco98 ( 2021-06-30 03:09:28 -0500 )edit

Edit: moved this part to the answer below.

Edit: it looks like @rhaschke has added a send_efforts.py script to test whether the display works. @AdamGronewold: the robot used there (or at least: implied) is the Franka Emika Panda, which also has revolute joints.

You could adapt that script to test whether it works with whatever robot you're trying to visualise.

gvdhoorn ( 2021-06-30 03:13:59 -0500 )edit

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<joint name="FLpitch_HJ" type="continuous"> <parent link="FLpitch_T"/> <child link="flpitch_hj_endpoint"/> <axis xyz="1.0 0.0 0.0"/> <origin xyz="-3.58 0.19999999935024748 -0.0905"/> </joint>

for (std::map<std::string, urdf::JointSharedPtr>::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it++) { urdf::JointSharedPtr joint = it->second; if (joint->type == urdf::Joint::REVOLUTE) { ... } }

Cannot get the effort display on Rviz to work.

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Cannot get the effort display on Rviz to work.