Rviz

[audrow]

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

Setup

• DDS vendor: FastDDS
• BuildType: Debian
• Chip: Arm64
• 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.

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

[clalancette]

The LaserScan functionality does not completely work here. First of all, as soon as we add in the LaserScan plugin, we start getting error messages on the console like:

[ERROR] [1649778879.930802101] [rviz2]: No techniques available for material [PointCloudMaterial0Sphere]
[ERROR] [1649778879.931095227] [rviz2]: No techniques available for material [PointCloudMaterial0FlatSquare]

We also don't see the LaserScan drawn with the style being "Flat Squares" (the default), "Squares", "Spheres", or "Boxes". We do see the LaserScan drawn with the style as "Points" or "Tiles", but we still get the error messages on the console. Likely related to ros2/rviz#805

[clalancette]

All fixed in the latest RViz. Closing this out.