Rviz

[audrow]

This is a sanity check to ensure that the GUI tools aren't fundamentally broken.

Setup

• DDS vendor: FastDDS
• BuildType: Debian
• Chip: Amd64
• Os: Ubuntu Jammy

Links

• Repo URL

Checks

• Check Rviz

  Launch using the rviz2 command.

  The rviz window should be generally usable and should be able to load some of the discovered visualizations.

  Loading visualizations into the tree and using the mouse to navigate through the virtual workspace is sufficient for this test.

  details

  Try

  1. # User input in terminal 1
     ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py

  2. # User input in terminal 2
     rviz2

  3. In RViz, in the left pane, click 'Add'. A window will pop up. In that window, under 'rviz_default_plugins', select 'TF' and click 'OK'. Under 'Displays', in the 'Global Options' section, change the 'Fixed Frame' to '/world'.

  4. In RViz, in the left pane, click 'Add'. A window will pop up. In that window, under 'rviz_default_plugins', select 'LaserScan' and click 'OK'. Under 'Displays', in the 'LaserScan' section, change the 'Topic' to '/scan'.

  Expect

  1. You should see the dummy robot's kinematic tree waving back and forth in the rviz window.

  2. You should see a laser scan emitting from the waving end of the dummy robot.

  3. Play around, move the camera, enable and disable things in the 'Displays' pane. RViz should be stable.

---

You can find the code used to generate this test case here

[audrow]

The bring up works, but I'm not able to see the laser scan. The laser scan status flickers between okay and the shown error.

Also, I'm on a Docker container hosted on a 20.04 computer while sharing my xhost and running 22.04.

And here's the error that I was seeing in my console:

[ERROR] [1649708129.291003156] [rviz2]: No techniques available for material [PointCloudMaterial4782Sphere]
[ERROR] [1649708129.291092606] [rviz2]: No techniques available for material [PointCloudMaterial4782FlatSquare]
[ERROR] [1649708129.292613843] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1649708129.301776 but the latest data is at time 1649708129.278832, when looking up transform from frame [single_rrbot_hokuyo_link] to frame [world]
[ERROR] [1649708129.354371221] [rviz2]: No techniques available for material [PointCloudMaterial4783Sphere]

[clalancette]

I've fixed a few of the issues surrounding this test in ros2/rviz#850 and in ros2/rviz#851 .

The bring up works, but I'm not able to see the laser scan. The laser scan status flickers between okay and the shown error.

However, this one remains (and I see it in my testing too). @audrow can you open a new issue for this so we can track it on the Humble board?

[audrow]

This seems to match this issue: ros2/rviz#805, which is already on the Humble board.

[clalancette]

This seems to match this issue: ros2/rviz#805, which is already on the Humble board.

That's true, but actually that issue describes a few different problematic cases. I think we should use that one to track the fix in ros2/rviz#851, and then open a separate one for the "flickering" Status error.