collision meshes not shown in RViz

[christian-rauch]

The collision geometry defined in the XACRO is not visualised in RViz.

Steps to reproduce:

1. follow instructions at https://support.franka.de/docs/franka_ros2.html
2. start the fake robot: ros2 launch franka_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true
3. show collision geometry: tick PlanningScene -> Scene Robot -> Show Robot Collision and untick Show Robot Visual

Expected Results:

You should see the collision geometry, such as <cylinder radius="${0.06+safety_distance}" length="0.03" /> for link "${arm_id}_link0" in RViz.

Actual Results:

No collision geometry is shown.

MoveIt seems to respect the collision geometry as it prevents collision states, but they are not shown in RViz.

[christian-rauch]

I overlooked the Optional .bashrc Settings part.

The workaround for this issue is to reset LC_NUMERIC, i.e.:

LC_NUMERIC= ros2 launch franka_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true

[BarisYazici]

Can you visualize the collision geometries on rviz now?

[christian-rauch]

Can you visualize the collision geometries on rviz now?

Yes, but only with the workaround above. This is not a proper fix and I would like to keep this open until fixed.

[BarisYazici]

Is this the cause moveit/moveit2_tutorials#508?
In my setup, I can visualize the collisions. Can you maybe check with the .devcontainer or the dockerfile we provide in the humble branch?

[marcbone]

I think the issue is fixed here, so I guess the next version of ROS 2 will not have the problem. However, since its definitely not something that we can fix in our repo, I would like to close this issue

[christian-rauch]

I think the issue is fixed here, so I guess the next version of ROS 2 will not have the problem. However, since its definitely not something that we can fix in our repo, I would like to close this issue

This was merged more than 5 years ago and I am pretty sure that this fix already made it into released versions.

[christian-rauch]

Is this the cause ros-planning/moveit2_tutorials#508?

This problem and the one discussed here may have the same cause. Most likely, both issues are caused by the different decimal point conventions in different locales.

In my setup, I can visualize the collisions.

What does your setup look like? Are you running "native" via the ROS packages outside of a Docker container? Which locale are you using?

Can you maybe check with the .devcontainer or the dockerfile we provide in the humble branch?

The Docker image seems to only build libfranka and does nothing with respect to the ROS node. In any case, it may work inside Docker with a different locale, but most people will use it as part of their colcon workspace so it has to work with any locale.

[BarisYazici]

I suspect this might be an issue in parameter parser as mentioned in the moveit/moveit2_tutorials#508.

Could you try this?

ros2 launch franka_description visualize_franka.launch.py

And go under robot_model and tick the collision_enabled checkbox. Can you see the meshes then?

[AndreasKuhner]

Hi @christian-rauch ,
is this issue still persisting? If yes, don't hesitate to re-open the issue 😄