I am following the tutorial at https://moveit.picknik.ai/humble/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html

I have a fresh install of ROS Humble on Ubuntu 22.04.

There are no errors reported but rviz never starts.

Here is the output:

shackle@SQUALL:~/ws_moveit2$ ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
[INFO] [launch]: All log files can be found below /home/isd/shackle/.ros/log/2023-02-08-15-11-42-959221-SQUALL-4121
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [4122]
[INFO] [robot_state_publisher-2]: process started with pid [4124]
[INFO] [move_group-3]: process started with pid [4126]
[INFO] [ros2_control_node-4]: process started with pid [4128]
[INFO] [spawner-5]: process started with pid [4130]
[INFO] [spawner-6]: process started with pid [4132]
[INFO] [spawner-7]: process started with pid [4134]
[static_transform_publisher-1] [WARN] [1675887103.265022183] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-1] [INFO] [1675887103.281837852] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-1] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-1] from 'world' to 'panda_link0'
[ros2_control_node-4] [INFO] [1675887103.285242478] [resource_manager]: Loading hardware 'PandaFakeSystem' 
[ros2_control_node-4] [INFO] [1675887103.285963387] [resource_manager]: Initialize hardware 'PandaFakeSystem' 
[ros2_control_node-4] [WARN] [1675887103.286004068] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example: 
[ros2_control_node-4] <state_interface name="velocity"> 
[ros2_control_node-4]   <param name="initial_value">0.0</param> 
[ros2_control_node-4] </state_interface>
[ros2_control_node-4] [INFO] [1675887103.286017150] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem'
[ros2_control_node-4] [INFO] [1675887103.286037630] [resource_manager]: Loading hardware 'PandaHandFakeSystem' 
[ros2_control_node-4] [INFO] [1675887103.286048524] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' 
[ros2_control_node-4] [INFO] [1675887103.286059422] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem'
[ros2_control_node-4] [INFO] [1675887103.286089852] [resource_manager]: 'configure' hardware 'PandaFakeSystem' 
[ros2_control_node-4] [INFO] [1675887103.286095437] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem'
[ros2_control_node-4] [INFO] [1675887103.286102756] [resource_manager]: 'activate' hardware 'PandaFakeSystem' 
[ros2_control_node-4] [INFO] [1675887103.286107383] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem'
[ros2_control_node-4] [INFO] [1675887103.286111588] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' 
[ros2_control_node-4] [INFO] [1675887103.286115402] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem'
[ros2_control_node-4] [INFO] [1675887103.286120286] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' 
[ros2_control_node-4] [INFO] [1675887103.286124154] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem'
[robot_state_publisher-2] [INFO] [1675887103.286522177] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-2] [INFO] [1675887103.286613482] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-2] [INFO] [1675887103.286619161] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-2] [INFO] [1675887103.286621955] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-2] [INFO] [1675887103.286624432] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-2] [INFO] [1675887103.286626711] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-2] [INFO] [1675887103.286629015] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-2] [INFO] [1675887103.286631290] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-2] [INFO] [1675887103.286633655] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-2] [INFO] [1675887103.286635971] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-2] [INFO] [1675887103.286638161] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-2] [INFO] [1675887103.286640338] [robot_state_publisher]: got segment panda_rightfinger
[ros2_control_node-4] [INFO] [1675887103.289251487] [controller_manager]: update rate is 100 Hz
[ros2_control_node-4] [INFO] [1675887103.289359450] [controller_manager]: RT kernel is recommended for better performance
[move_group-3] [INFO] [1675887103.316072356] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00251416 seconds
[move_group-3] [INFO] [1675887103.316223692] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[move_group-3] [INFO] [1675887103.355118639] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1675887103.355227176] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-3] [INFO] [1675887103.355873141] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-3] [INFO] [1675887103.356132711] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1675887103.356141259] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1675887103.356245068] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1675887103.356249356] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1675887103.356357661] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-3] [INFO] [1675887103.356432398] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1675887103.357307146] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] [ERROR] [1675887103.357319108] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-3] [INFO] [1675887103.357787063] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-3] [INFO] [1675887103.378809941] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-3] [INFO] [1675887103.382587255] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1675887103.382602864] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1675887103.382605708] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-3] [INFO] [1675887103.382623032] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1675887103.382632117] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1675887103.382635763] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1675887103.382642170] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1675887103.382644872] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1675887103.382652514] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1675887103.382658972] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-3] [INFO] [1675887103.382662228] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-3] [INFO] [1675887103.382663888] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1675887103.382665676] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1675887103.382667231] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1675887103.382668826] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1675887103.384364946] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-3] [INFO] [1675887103.389929074] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
[move_group-3] [INFO] [1675887103.391469880] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1675887103.391477954] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1675887103.391480777] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-3] [INFO] [1675887103.391489510] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1675887103.391498296] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1675887103.391501338] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1675887103.391508294] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1675887103.391510880] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1675887103.391513535] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1675887103.391519853] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-3] [INFO] [1675887103.391522136] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1675887103.391523944] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1675887103.391526264] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1675887103.391527921] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1675887103.391804809] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[spawner-6] [INFO] [1675887103.394642773] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
[move_group-3] [INFO] [1675887103.394722117] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-3] [WARN] [1675887103.395082286] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[move_group-3] [WARN] [1675887103.395093976] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[spawner-7] [INFO] [1675887103.395089472] [spawner_panda_hand_controller]: Waiting for '/controller_manager' node to exist
[move_group-3] [INFO] [1675887103.396750790] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-3] [INFO] [1675887103.396758815] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-3] [INFO] [1675887103.398396870] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-3] [INFO] [1675887103.398405063] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-3] [INFO] [1675887103.399168112] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-3] [INFO] [1675887103.399173869] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-3] [INFO] [1675887103.399895920] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-3] [INFO] [1675887103.399910050] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[ros2_control_node-4] [INFO] [1675887103.401224138] [controller_manager]: Loading controller 'joint_state_broadcaster'
[move_group-3] [INFO] [1675887103.401407390] [moveit_ros.fix_workspace_bounds]: Param 'pilz_industrial_motion_planner.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1675887103.401419425] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_bounds_error' was not set. Using default value: 0.050000
[move_group-3] [INFO] [1675887103.401433972] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1675887103.401442124] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1675887103.401444631] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1675887103.401447424] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1675887103.401454325] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1675887103.401456917] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1675887103.401458518] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1675887103.401460178] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1675887103.417286030] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[move_group-3] [INFO] [1675887103.417325688] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-3] [INFO] [1675887103.418337812] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
[move_group-3] [INFO] [1675887103.418423480] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1675887103.418442879] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1675887103.418596674] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-3] [INFO] [1675887103.418603639] [move_group.move_group]: MoveGroup debug mode is ON
[spawner-5] [INFO] [1675887103.420055668] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-4] [INFO] [1675887103.420515513] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-4] [INFO] [1675887103.420569470] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[move_group-3] [INFO] [1675887103.431307024] [move_group.move_group]: 
[move_group-3] 
[move_group-3] ********************************************************
[move_group-3] * MoveGroup using: 
[move_group-3] *     - ApplyPlanningSceneService
[move_group-3] *     - ClearOctomapService
[move_group-3] *     - CartesianPathService
[move_group-3] *     - ExecuteTrajectoryAction
[move_group-3] *     - GetPlanningSceneService
[move_group-3] *     - KinematicsService
[move_group-3] *     - MoveAction
[move_group-3] *     - MotionPlanService
[move_group-3] *     - QueryPlannersService
[move_group-3] *     - StateValidationService
[move_group-3] ********************************************************
[move_group-3] 
[move_group-3] [INFO] [1675887103.431343846] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-3] [INFO] [1675887103.431353920] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-3] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-3] Loading 'move_group/ClearOctomapService'...
[move_group-3] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-3] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-3] Loading 'move_group/MoveGroupMoveAction'...
[move_group-3] Loading 'move_group/MoveGroupPlanService'...
[move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-3] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-3] 
[move_group-3] You can start planning now!
[move_group-3] 
[spawner-5] [INFO] [1675887103.439902524] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-5]: process has finished cleanly [pid 4130]
[ros2_control_node-4] [INFO] [1675887103.601072666] [controller_manager]: Loading controller 'panda_arm_controller'
[ros2_control_node-4] [INFO] [1675887103.607296476] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.
[ros2_control_node-4] [INFO] [1675887103.609663702] [controller_manager]: Loading controller 'panda_hand_controller'
[spawner-6] [INFO] [1675887103.609994571] [spawner_panda_arm_controller]: Loaded panda_arm_controller
[ros2_control_node-4] [INFO] [1675887103.619697183] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-4] [INFO] [1675887103.619753394] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-4] [INFO] [1675887103.619772587] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-4] [INFO] [1675887103.619782584] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.
[ros2_control_node-4] [INFO] [1675887103.619785214] [panda_arm_controller]: Using 'splines' interpolation method.
[ros2_control_node-4] [INFO] [1675887103.620177481] [panda_arm_controller]: Controller state will be published at 50.00 Hz.
[spawner-7] [INFO] [1675887103.620275905] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[ros2_control_node-4] [INFO] [1675887103.620581847] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-4] [INFO] [1675887103.623085713] [controller_manager]: Configuring controller 'panda_hand_controller'
[ros2_control_node-4] [INFO] [1675887103.623146713] [panda_hand_controller]: Action status changes will be monitored at 20Hz.
[spawner-7] [INFO] [1675887103.640119111] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller
[spawner-6] [INFO] [1675887103.660138747] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller
[INFO] [spawner-7]: process has finished cleanly [pid 4134]
[INFO] [spawner-6]: process has finished cleanly [pid 4132]

rviz can be started in its own terminal.

It shows Global Status : Error Fixed Frame | Frame [map] does not exist.