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Robot meshes not visible in rviz [Windows11, WSL2]

asked 2022-01-12 09:12:27 -0500

adrgru gravatar image

updated 2022-01-13 03:47:49 -0500

Hi, I am using ROS Noetic on Ubuntu 20.04 Windows11 WSL2. When I try to load my robot into rviz or into the MoveIt setup, no meshes are visible. I don't get any errors at all. Here is a picture of rviz( you can only see the two boxes which are the gripper pads): image description Here is the URDF file of the robot:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from kortex_description/robots/gen3_robotiq_2f_140.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="gen3_robotiq_2f_140">
  <!-- Run the macros -->
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000648 -0.000166 0.084487"/>
      <mass value="1.697"/>
      <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="shoulder_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-2.3E-05 -0.010364 -0.07336"/>
      <mass value="1.377"/>
      <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_1" type="continuous">
    <origin rpy="-3.1416 0.0 0.0" xyz="0 0 0.15643"/>
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="39" velocity="1.3963"/>
  </joint>
  <link name="bicep_link">
    <inertial>
      <origin rpy="0 0 0" xyz="3.5E-05 -0.208207 -0.01889"/>
      <mass value="1.262"/>
      <inertia ixx="0.046752" ixy="-9E-06" ixz="0" iyy="0.00085" iyz="-9.8E-05" izz="0.047188"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.75294 0.75294 0.75294 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_2" type="revolute">
    <origin rpy="1.5708 ...
(more)
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Comments

1

Please provide more details. Do you see any errors? If so please post them. Also try to post relevant parts of your code for someone to help you.

Akhil Kurup gravatar image Akhil Kurup  ( 2022-01-12 10:18:01 -0500 )edit

I can't upload a picture because I don't have 5 points. :(

adrgru gravatar image adrgru  ( 2022-01-13 02:39:11 -0500 )edit
1

I don't have 5 points. :(

you do now.

gvdhoorn gravatar image gvdhoorn  ( 2022-01-13 03:27:02 -0500 )edit

If I may add there are many unresolved issues with Windows 11 and WSL2 yet to be resolved. It’s promising as it offers better capabilities like being able to access GPUs but still work in progress. Perhaps raise an issue with: https://github.com/microsoft/WSL/issues

osilva gravatar image osilva  ( 2022-01-13 06:31:32 -0500 )edit

Hi, I have exactly the same problem. I have prepared a URDF file that works perfectly in ROS melodic, but it does not get visualized in RVIZ (Noetic + Windows 11 + WSL 2). I also tested the same URDF in Gazebo (in Noetic using spawn) and it works as expected. The problem is that I do not get any error in RVIZ (not even using --verbose or --ogre-log), so it is quite diffucult to debug. Please let us know if you find a solution. Thanks!

francisc0garcia gravatar image francisc0garcia  ( 2022-02-15 09:34:21 -0500 )edit

2 Answers

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1

answered 2022-07-07 06:10:03 -0500

AlexandrosNic gravatar image

With WSL there are still some issues with using GPU, and in particular OpenGL, and this creates problems for visualizing meshes in rviz. A temporary fix would be to export: LIBGL_ALWAYS_SOFTWARE=1 LIBGL_ALWAYS_INDIRECT=0 and if you are using an Xserver, leave "Native opengl" option unchecked. This however will force the system to work on CPU, but that's what we have for now

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Comments

Thank you! This works great on my system. Robot is now visible. :-) Performance is fine so far, considering it's rendered by the CPU... I added the two exports to my .bashrc so they're always active automatically.

rnitsch gravatar image rnitsch  ( 2023-03-13 05:53:43 -0500 )edit
0

answered 2022-08-16 04:51:33 -0500

Sayaki gravatar image

I faced the same issue ( running Noetic + Win11 + WSL2 ). It turns out the problem is with OpenGL. It was using version 3.1. I used a VM to confirm that OpenGL was the culprit, and after updating my mesa-utils by using the instructions given here, after which it worked as expected, though I did get a lot of warnings regarding the URDF collision defaults.

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Asked: 2022-01-12 09:12:27 -0500

Seen: 2,672 times

Last updated: Jul 07 '22