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Rviz unstable rendering

asked 2020-11-09 09:54:17 -0500

sisko
247 ●55 ●69 ●78

updated 2021-04-24 02:54:33 -0500

miura

1908 ●1 ●171 ●24 https://twitter.com/miura

I am learning URDF creation and having arrived at the end of the R2D2 tutorial, I found Rviz unstable and "gittery" in how it's rendering my robot simulation. I am using the Joint-State-Publisher GUI to publish data to the continueous and revolt joints but the movements are far from smooth and hindering proper testing.

Link to a short video showing the unhelpful behaviour I am trying to resolve.

UPDATE:

Thank you @gvdhoorn You are correct!

The rosnode list output does show is a joint_state_publisher node and a joint_state_publisher_gui node.

image description

RQT-Graph output: image description

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answered 2020-11-09 09:59:11 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2020-11-09 11:02:25 -0500

It's likely you have one instance of joint_state_publisher and another joint_state_publisher_gui.

Please verify with rosnode list and rqt_graph.

Even if this is not the cause in this case, what you show/describe is not a "rendering issue", but you're feeding RViz two streams of data (via the robot_state_publisher, which publishes TF based on the JointState msgs):

one which tells it all joints are always at zero, and
one which tells it, no header_joint is at 0.76

it should be obvious those two will conflict.

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Thank you. I corrected my mistake according to your input and all is now well in the Rviz-nivser.

sisko ( 2020-11-09 11:02:00 -0500 )edit

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Asked: 2020-11-09 09:54:17 -0500

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