Unable to get Rviz to display robot
I have been working on a robot of my own design and I have it working with hardware but when I try to visualize it in Rviz it's not working. code repository
When I run the display.launch the robot displays correctly.
<launch>
<arg
name="model" />
<arg
name="gui"
default="true" />
<param
name="robot_description"
textfile="$(find shelob_syropod)/robot/shelob_syropod.urdf" />
<param
name="use_gui"
value="$(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="robot_state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find shelob_syropod)/rviz/urdf.rviz" />
</launch>
However when I use the shelob_highlevel.launch.
<!-- -*- xml -*- -->
<launch>
<!-- Define ancillary node launch arguments -->
<arg name="syropod" default="shelob" />
<arg name="config" default="shelob" />
<arg name="gait" default="gait" />
<arg name="auto_pose" default="auto_pose" />
<arg name="control" default="joy" />
<arg name="rviz" default="true" />
<arg name="gazebo" default="false" />
<arg name="plot" default="false" />
<arg name="reconfigure" default="false" />
<arg name="logging" default="false" />
<!-- Set package name -->
<arg name="package" value="(find $(arg syropod)_syropod)" />
<!-- Control method (joypad or keyboard)-->
<node if="$(eval control == 'joy')" pkg="joy" type="joy_node" name="joystick"/>
<rosparam if="$(eval control == 'key')" file="$(find syropod_keyboard_control)/config/dell_key_map.yaml" command="load"/>
<node if="$(eval control == 'key')" pkg="syropod_keyboard_control" type="syropod_keyboard_control_node" name="key" output="screen"/>
<node if="$(eval control == 'rqt')" pkg="syropod_rqt_reconfigure_control" type="syropod_rqt_reconfigure_control" name="rqt_control" output="screen"/>
<node if="$(eval control == 'rqt')" pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure" output="screen"/>
<!-- Remote Start-->
<node if="$(eval arg('control') not in ('rqt'))" pkg="syropod_remote" type="syropod_remote" name="syropod_remote" output="screen">
<param name="publish_rate" value="10"/>
<param name="imu_sensitivity" value="3"/>
<param name="invert_compass" value="true"/>
<param name="invert_imu" value="true"/>
</node>
<!-- Highlevel controller related parameters -->
<rosparam file="$$(arg package)/config/$(arg gait).yaml" command="load"/>
<rosparam file="$$(arg package)/config/$(arg auto_pose).yaml" command="load"/>
<rosparam file="$$(arg package)/config/$(arg config).yaml" command="load"/>
<!-- Highlevel Controller Start -->
<node name="shc" pkg="syropod_highlevel_controller" type="syropod_highlevel_controller_node" output="screen" />
<!-- Launch RVIZ with default SHC config -->
<group if="$(arg rviz)">
<param name="/syropod/parameters/debug_rviz" value="true"/>
<param
name="robot_description"
textfile="$(find shelob_syropod)/robot/shelob_syropod.urdf" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find syropod_highlevel_controller)/rviz_cfg/shelob_SHC_display.rviz"/>
</group>
<!-- Launch Gazebo Simulation -->
<group if="$(arg gazebo)">
<param name="/syropod/parameters/individual_control_interface" value="true"/>
<include file="$$(arg package)/launch/$(arg syropod)_gazebo.launch"/>
</group>
<!-- Launch ancillary nodes if requested -->
<node if="$(arg plot)" name="rqt_plot" pkg="rqt_plot" type="rqt_plot"/>
<node if="$(arg reconfigure)" name="reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
<!-- Logging -->
<group if="$(arg logging)">
<include file="$$(arg package)/launch/$(arg syropod)_log.launch">
<arg name="bagfile_name" value ...