display_trajectory_publisher Python - noetic

[RauchLukas]

Display a trajectory in RVIz doesn't work

I try to follow the move_group_python_interface_tutorial but after planing a Cartesian Path, the display_trajectory_publisher.publish(display_trajectory) does not show the graph. Instead it just executes the path.

So it looks like the pathplaning just works fine but the Publish to Rviz method broken.

I doublechecked the Trajectory Topic. But cannot fix the issue.

(The Cpp Tutorial works without any complains)

My environment

• ROS Distro: [noetic]
• OS Version: e.g. Ubuntu 20.04

[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[Stephen-Tellis]

Hi @RauchLukas, The display trajectory publisher relies on rviz being configured to render the same.

I was trying to reproduce the stated issue but the only way I could do that was by manually toggling the "Show Robot Visual" option in the Trajectory display(within the Rviz panel). Everything seems to be working with the default config.
Could you double-check if there were any changes made to your rviz config?

[neeyoo]

I also have the similar issue. With Cpp Tutorial, the trajectory can be shown but with python tutorial, it is not. I have toggled the "show robot visual" option in the Planned path subsection. Does anyone know how to solve this issue? Thanks.

[rhaschke]

I still cannot confirm the issue. @neeyoo, do you use the latest versions of:

• panda_moveit_config: b5ce35571832b4165f67f5db51c69581354d2cee
• moveit_tutorials: 71ab5ee7d4c9db9b67363b6abb385fe33cd02ddb

[neeyoo]

Hi @rhaschke, I believe I use the latest version, here are the results of using "git log -1" command to check: commit b5ce35571832b4165f67f5db51c69581354d2cee (HEAD -> noetic-devel, origin/noetic-devel, origin/HEAD) commit 71ab5ee7d4c9db9b67363b6abb385fe33cd02ddb (HEAD -> master, origin/master, origin/HEAD)

[neeyoo]

I also checked the /move_group/display_planned_path topic, there had data published to this topic during the trajectory planning but nothing showed in rviz.

[rhaschke]

Can you reproduce the issue, when starting from scratch, i.e. closing/finishing all ROS-related processes and then:

roslaunch panda_moveit_config demo.launch
rosrun moveit_tutorials move_group_python_interface_tutorial.py

I hope, you can't. Otherwise, I don't have an idea anymore. If so, maybe you changed your rviz config by prior work? Do you have local changes in the above-mentioned repos, which might explain the problem?

[Lipeng-Robotics]

Hi, I am having also the same issue. Any idea?