Moveit: Robot not displayed in setup assistant Melodic

[ammaar8]

Description

Hello,
I tried to use moveit setup assistant with open manipulator for learning but after loading it didn't show up in the display so I tried it with the franka_ros description and have the same issue. I saw similar issue for ros-indgo and did try exporting export $LC_NUMERIC but it didn't change anything.

Your environment

• ROS Distro: Melodic
• OS Version: e.g. Ubuntu 18.04
• Source or Binary build? Binary
• If binary, which release version? 1.0.6-Alpha

Steps to reproduce

I cloned the frank_ros description while following the setup-assistant tutorial on https://ros-planning.github.io/ and loaded the panda_arm_hand.urdf.xacro file. The setup happens and all the collisions are shown in the second tab but it is not displayed in the visual panel.

Backtrace or Console output

backtrace

[welcome[bot]]

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

[felixvd]

What command are you running exactly? Does the display for roslaunch panda_moveit_config demo.launch work?

[ammaar8]

I installed the franka_ros package using sudo apt-get install ros-melodic-franka-description
then ran roslaunch moveit_setup_assistant setup_assistant.launch.
After selecting the .urdf.xacro I get this -

It does generate the collision matrix -

Yes roslaunch panda_moveit_config demo.launch works fine

[rhaschke]

I can confirm this bug. rviz's RobotModel correctly displays the robot. Thus, seems to be related to MSA. I will look into this asap.

[rhaschke]

The problem seems to be fixed in MoveIt's master branch.

[rhaschke]

The culprit was backport #2245, which partially included #1625, but not (yet) its fixup #1738. Should be fixed in melodic-devel now.

[brandonlawrence1996]

@rhaschke i am still facing the issue where the robot model doesn't load in the setup assistant. May I know what is the fix to this problem?

[rhaschke]

As we didn't yet re-released in Melodic, you need to build melodic-devel branch from source to get this fix.