URDF Rviz Unit 2 - don' t show the RedBox

Hello,
I have a question regarding Gazebo Simulator Unit 2. In fact, i launched the rviz.launch but i did not get any red box displayed.
Could someone give me some hint ?

Hi @KTBE

There are a few questions for you

  • What shows Rviz on shell?
  • Did you try to change “Fixed Frame” to see your robot?

I can’t changed to ‘Fixed Frame’

@Voltedge
Here is what rviz shown
user:~$ rviz
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-user’
[ INFO] [1680696855.404577177]: rviz version 1.14.9
[ INFO] [1680696855.404666625]: compiled against Qt version 5.12.8
[ INFO] [1680696855.404699989]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1680696855.416091990]: Forcing OpenGl version 0.
[ INFO] [1680696855.582656439]: Stereo is NOT SUPPORTED
[ INFO] [1680696855.582755092]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
[ INFO] [1680696855.582804966]: OpenGl version: 3.1 (GLSL 1.4).

Hi @KTBE ,

You can change the Fixed Frame in Rviz by clicking it on the Displays Properties on the left side panel.
On your picture, you currently see “map”. Double click on this map and change it to something else, that you can find in the dropdown.

You should probably also add RobotModel and TF in your RViz to actually visualize the model.

I hope this helps. Let me know if you still have issues.

Regards,
Girish

@girishkumar.kannan Thank you so much for your help. I added the RobotModel.
But unfortunetly, I can’t edit the fixed frame to link_chassis as suggested in the course.

Hi @KTBE ,

Glad to know that you got something there!

So, you get a white RobotModel when the Fixed Frame value is incorrect.

To fix this:

Method 1: (Easy Method)
Click next to Fixed Frame where you see the words “map”. A cursor should start blinking. Now you can either delete the word “map” and type in “link_chassis” (without quotes). You can also find a dropdown button at the right end of the textbox where “map” is. Click on the arrow mark to show the dropdown menu and you can select “link_chassis” from there.

Method 2: (Long Method for a beginner!)
Save your current Rviz configuration as a <config_name>.rviz file in your package folder.
Now open this file in your IDE. You should find the lines like shown below:

  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: map
    Frame Rate: 30

Locate the Fixed Frame: map line and change map to link_chassis and save the file.
Close the Rviz and relaunch Rviz. Once Rviz is launched, load the configuration file on RViz.

One of the method should solve your problem.

Regards,
Girish

Hi, me too. I cannot see redbox.
Here is my rviz log

... logging to /home/user/.ros/log/282d981e-daa1-11ee-b356-0242ac120006/roslaunch-1_xterm-8069.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://1_xterm:35707/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES
  /
    joint_state_publisher_gui (joint_state_publisher_gui/joint_state_publisher_gui)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [8085]
ROS_MASTER_URI=http://1_xterm:11311

setting /run_id to 282d981e-daa1-11ee-b356-0242ac120006
process[rosout-1]: started with pid [8104]
started core service [/rosout]
process[joint_state_publisher_gui-2]: started with pid [8107]
process[robot_state_publisher-3]: started with pid [8108]
process[rviz-4]: started with pid [8120]
[ WARN] [1709609620.823748232]: The root link link_chassis has an inertia specified in the URDF, but KDL does not support a root linkwith an inertia.  As a workaround, you can add an extra dummy link to your URDF.
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-user'
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-user

Here is how I launch

/catkin_ws/src/robot_description/launch$ roslaunch ./rviz.launch

or try

~/catkin_ws/src$ roslaunch robot_description rviz.launch

Both not working.

Here is what I see on GUI, no robot model. I already change the fixed frame to “link_chassis”

Please help. What did I do wrong

Hi @peerajak ,

You have not added the RobotModel display element that actually displays the robot on Rviz.
Click on Add on the left panel and choose RobotModel. After adding this, your robot should be displayed.
It is specified clearly in the course instructions to add RobotModel otherwise the robot will not be visible. Why did you miss this step?

Regards,
Girish

I can now see the red box, and can continue with the lesson.
Thank you very much.