Turtlebot not correctly shown in Rviz

[Daniel Ernesto Espitia Becerra]

Hi, I have problems with RVIZ in ROS Indigo.

I run the fake turtlebot and the rviz with the book code from page 31

roslaunch rbx1_bringup fake_turtlebot.launch
rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz

and the turtlebot is not shown correctly in Rviz (see attached file).
I have tried with:

export LIBGL_ALWAYS_SOFTWARE=1

and nothing happens.

Any solution?

Best regards

[Patrick Goebel]

Hi Daniel,

It looks like the Collada meshes are not being rendered by your graphics
card. Try bringing up the Kobuki model to see if you have the same problem:

$ sudo apt-get install ros-indigo-kobuki-description
$ roslaunch kobuki_description view_model.launch

--patrick

[Daniel Ernesto Espitia Becerra]

Hi Patrick

Is not the same problem, the kobuki is working correctly.
See attached file.

Regards

El lunes, 7 de septiembre de 2015, 9:56:38 (UTC-5), Pi Robot escribió:

Hi Daniel,

It looks like the Collada meshes are not being rendered by your graphics

card.  Try bringing up the Kobuki model to see if you have the same problem: i Patrick

[Patrick Goebel]

Hi Daniel,

This may be a mesh scale problem--the turtlebot plates and Kinect are being rendered too small to be seen in RViz.  I'm not sure why the scale would change from one computer to the next but try the following:

$ roscd rbx1_description/urdf

Then edit both the turtlebot_body.urdf.xacro and the turtlebot_kinect.urdf.xacro files and change the MESH_SCALE parameter near the top from 100 to 10000.  If that does not fix the problem, then try changing both parameters to 1.0.

--patrick

[Daniel Ernesto Espitia Becerra]

Hi Patrick

I tried changing the scale, but it didn't solve the problem.

Regards

[Patrick Goebel]

Hi Daniel,

You mentioned that your are running ROS Indigo but is it possible you are still using the Hydro version of the rbx1 repository?  I get the same results as you do if I use the Hydro version of rbx1 under ROS Indigo.  Please issue the following commands to make sure you checkout the Indigo version of rbx1:

$ roscd rbx1
$ git checkout indigo-devel
$ rospack profile

Then try launching the fake Turtlebot and RViz again.

--patrick

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[Daniel Ernesto Espitia Becerra]

Hi Patrick

It don't solve the problem for me...

Regards

[Patrick Goebel]

Hi Daniel,

What happens if you bring up the Indigo model of the Create-based Turtlebot as described here:

> export TURTLEBOT_BASE=create
> export TURTLEBOT_STACKS=circles
> export TURTLEBOT_3D_SENSOR=kinect
> roslaunch turtlebot_rviz_launchers view_model.launch --screen

Do you see the Create's white plates in RViz?

--patrick

[Daniel Ernesto Espitia Becerra]

Hi Patrick

Yes, I can see the white plates.

[Patrick Goebel]

Hi Daniel,

Interesting--notice how you don't see the vertical support posts in your view.  So something seems to be incompatible between RViz and your graphics environment.  Here's the view I see:

If you want to at least see the TurtleBot plates when using the fake Turtlebot, try using the attached alternative launch file, fake_system_turtlebot.launch.  This file uses the system Turtlebot model file instead of the one in the rbx1_description package.  You'll notice that the system model wheel joints don't get set correctly by the Arbotix fake controller but this can be ignored as the wheel joints aren't used for anything important.

--patrick


On 09/17/2015 06:30 PM, Daniel Ernesto Espitia Becerra wrote:

export TURTLEBOT_BASE=create

[Daniel Ernesto Espitia Becerra]

Hi Patrick

Thank you, it works.

Regards