Ask Your Question
0

Why rviz crash when using robot_upstart?

asked 2022-06-17 23:46:45 -0500

dual-swordsman gravatar image

Hi everyone, really need some help in getting rviz to work with robot_upstart. I'll try to describe the issue and what I have tried as detailed as possible.

1) Requirement:

I would like to make an integrated roslaunch that start when the robot computer boot/turned on. My integrated roslaunch file includes these ROS nodes:

  • Arduino rosserial node (USB connected)
  • HMI node that is based on QT (touchscreen HDMI connected)
  • Hokuyo LiDAR using urg_node (USB connected)
  • Rviz node which received data from hokuyo lidar for Lidar reading
  • QR code reading node (using USB Webcam)

2) Specifications:

  • ROS Melodic
  • Ubuntu 18.04
  • Jetson Xavier AGX
  • Arduino Due

3) Issue

When I boot up the robot computer, every node except for rviz working as I intended. Note that I already tested the roslaunch before implementing the robot_upstart and the rviz node CAN work with the lidar. It can display live update from lidar reading. I used multiple steps and tutorial to implement robot_upstart in the robot computer.

First, I follow the step from this tutorial https://roboticsbackend.com/make-ros-... . I used this command to install my roslaunch to become:

rosrun robot_upstart install agv_slam/launch/agv_main.launch --job agv_uia  --symlink

However, this only allow my ros nodes to be run in the background only. So no display at all from my HMI node and camera node. I then tried these steps: https://github.com/Khalaf90/robot_ups... and https://stackoverflow.com/questions/6.... This tutorial basically ask me to modified my roslaunch service which is named as agv_uia and this service file in produced from the robot_upstart command. I did as the tutorial did and below is my service file:

sudo nano /lib/systemd/system/YourServiceName.service

This is the agv_uia.service file:

[Unit]
Description="bringup agv_uia"
After=network.target
After=display_manager.service
Wants=display_manager.service

[Service]
Type=simple
Environment=DISPLAY=:0
Environment="XAUTHORITY=/run/user/1000/gdm/Xauthority"
Environment="/home/mic-710aix"
Environment="XDG_RUNTIME_DIR=/home/mic-710aix/catkin_ws/tmp"
ExecStart=/usr/sbin/agv_uia-start

[Install]
WantedBy=multi-user.target

Even when I edited this, RVIZ still can't worked with robot_startup. The error that I got was:

rviz crashed with SIGABRT in__gnu_cxx::__verbose_terminate_handler()
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2022-08-01 03:57:57 -0500

dual-swordsman gravatar image

Hi all,

I just want to update that I already solved this. Apparently, there is a syntax error for home environment. Below is a working service file to implement robot upstart with launch file, QT generated interface and RVIZ.

[Unit]
Description="bringup agv_uia"
After=network.target
After=display_manager.service
Wants=display_manager.service

[Service]
Type=simple
Environment=DISPLAY=:0
Environment="XAUTHORITY=/run/user/1000/gdm/Xauthority"
Environment="HOME=/home/mic-710aix"
Environment="XDG_RUNTIME_DIR=/home/mic-710aix/catkin_ws/tmp"
ExecStart=/usr/sbin/agv_uia-start

[Install]
WantedBy=multi-user.target
edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2022-06-17 23:46:45 -0500

Seen: 19 times

Last updated: Aug 01