8.2当中动手学习机器人建模RVIZ2无法显示三维模型

1104487924

[rviz2-3] [INFO] [1723088979.147576131] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1723088979.148738527] [rviz2]: OpenGl version: 3.3 (GLSL 3.3)
[rviz2-3] [INFO] [1723088979.195147139] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] Parsing robot urdf xml string.

机器人小伊

在使用 RVIZ2 进行机器人建模和可视化时，如果遇到了三维模型无法正确显示的问题，可以从以下几个方面进行排查和解决：

URDF 文件检查：
- 确保你的 URDF 文件（或 Xacro 文件，如果你在使用它）没有语法错误。可以使用 check_urdf 或 xacro 命令来检查 URDF 文件的正确性。
- 确保 URDF 文件中包含了所有必要的链接（links）和关节（joints）定义，并且它们之间的连接是正确的。
RVIZ2 配置：
- 在 RVIZ2 中，确保你已经添加了正确的 URDF 插件（通常是通过添加 “RobotModel” 插件），并正确设置了 URDF 文件的路径或内容。
- 检查是否有其他插件或设置干扰了模型的显示，比如固定框架（Fixed Frame）的设置是否正确。
OpenGL 支持：
- 从你的日志来看，OpenGL 3.3 和 GLSL 3.3 是支持的，这通常足够用于基本的机器人模型可视化。但是，确保你的显卡驱动是最新的，因为旧驱动可能导致渲染问题。
- 如果可能，尝试在具有更好图形支持的系统或硬件上运行 RVIZ2，以排除硬件或驱动问题。
依赖库和包：
- 确保所有必要的 ROS 2 包都已正确安装，并且版本兼容。
- 检查是否有任何依赖项缺失或版本冲突。
查看错误和警告信息：
- 仔细查看 RVIZ2 和 ROS 2 的控制台输出，看是否有更详细的错误或警告信息。
- 特别注意与模型加载或渲染相关的任何信息。
重新启动 RVIZ2：
- 有时简单地重启 RVIZ2 可以解决一些显示问题。
社区和文档：
- 访问 ROS 2 和 RVIZ2 的官方文档，查看是否有关于你遇到的问题的说明或解决方案。
- 在 ROS 相关的论坛、问答网站（如 Stack Overflow、ROS Answers）上搜索类似问题，并查看其他用户是如何解决的。
使用其他可视化工具：
- 如果 RVIZ2 持续出现问题，考虑使用其他可视化工具，如 MeshLab、Blender 等，来查看你的三维模型是否有问题。

通过以上步骤，你应该能够诊断并解决 RVIZ2 中无法显示三维模型的问题。如果问题依然存在，可能需要更深入地调查或请求专业的技术支持。

以上为生成回答，仅供参考～

小鱼

@1104487924 请提供书籍具体章节

1104487924

@小鱼按照8.2.1-8.2.3当中操作编译后无法正常显示模型

1104487924

@小鱼 https://fishros.com/d2lros2foxy/#/chapt8/8.2RVIZ2可视化移动机器人模型

小鱼

@1104487924 如果是学习ROS2，请换到最新的教程和书籍：https://www.bilibili.com/video/BV1GW42197Ck/ 上来，之前的动手学ROS2相关教程停止答疑，经历有限，只能维护一份，还请理解。

2573928130

@小鱼用新课的ROS2教程6.2.3《xacro简化urdf》(https://www.bilibili.com/video/BV1WY2WYaEwc/)，在源码工作空间下~/ros2bookcode/chapt7/chapt7_ws，能正常显示机器人模型，但是将src复制到另一个全新工作空间下，重新编译，无法正常显示模型

zc@zc-777:~/TVX2_ws$ ros2 launch fishbot_description display_robot.launch.py model:=/home/zc/TVX2_ws/src/fishbot_description/urdf/first_robot.urdf.xacro
\[INFO] [launch]: All log files can be found below /home/zc/.ros/log/2025-04-07-16-47-52-807627-zc-777-87687
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [87690]
[INFO] [robot_state_publisher-2]: process started with pid [87692]
[INFO] [rviz2-3]: process started with pid [87694]
[robot_state_publisher-2] Parsing robot urdf xml string.
[robot_state_publisher-2] Link imu_down2_link had 0 children
[robot_state_publisher-2] Link imu_up1_link had 0 children
[robot_state_publisher-2] [INFO] [1744015672.915185423] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1744015672.915264448] [robot_state_publisher]: got segment imu_down2_link
[robot_state_publisher-2] [INFO] [1744015672.915271875] [robot_state_publisher]: got segment imu_up1_link
[rviz2-3] [INFO] [1744015673.156420712] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1744015673.156579351] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[joint_state_publisher-1] [INFO] [1744015673.182337022] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[rviz2-3] [INFO] [1744015673.227582735] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] Error:   No link elements found in urdf file
[rviz2-3]          at line 179 in /tmp/binarydeb/ros-foxy-urdfdom-2.3.3/urdf_parser/src/model.cpp

没有动过源码，我在chapt6_ws中也无法显示机器人模型

zc@zc-777:~/ros2bookcode/chapt6/chapt6_ws$ ros2 launch fishbot_description display_robot.launch.py model:=/home/zc/ros2bookcode/chapt6/chapt6_ws/src/fishbot_description/urdf/first_robot.urdf.xacro
[INFO] [launch]: All log files can be found below /home/zc/.ros/log/2025-04-07-16-50-23-878595-zc-777-88743
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [88746]
[INFO] [robot_state_publisher-2]: process started with pid [88748]
[INFO] [rviz2-3]: process started with pid [88750]
[robot_state_publisher-2] Parsing robot urdf xml string.
[robot_state_publisher-2] Link imu_down_link had 0 children
[robot_state_publisher-2] Link imu_up_link had 0 children
[robot_state_publisher-2] [INFO] [1744015824.007552867] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1744015824.007628754] [robot_state_publisher]: got segment imu_down_link
[robot_state_publisher-2] [INFO] [1744015824.007633447] [robot_state_publisher]: got segment imu_up_link
[rviz2-3] [INFO] [1744015824.291978032] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1744015824.292070018] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[joint_state_publisher-1] [INFO] [1744015824.295976151] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[rviz2-3] [INFO] [1744015824.341763513] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] Error:   No link elements found in urdf file
[rviz2-3]          at line 179 in /tmp/binarydeb/ros-foxy-urdfdom-2.3.3/urdf_parser/src/model.cpp

在chapt7_ws正常显示


zc@zc-777:~/ros2bookcode/chapt7/chapt7_ws$ ros2 launch fishbot_description display_robot.launch.py model:=/home/zc/ros2bookcode/chapt7/chapt7_ws/src/fishbot_description/urdf/first_robot.urdf.xacro
[INFO] [launch]: All log files can be found below /home/zc/.ros/log/2025-04-07-16-54-38-769210-zc-777-89570
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [89574]
[INFO] [robot_state_publisher-2]: process started with pid [89576]
[INFO] [rviz2-3]: process started with pid [89578]
[robot_state_publisher-2] Parsing robot urdf xml string.
[robot_state_publisher-2] Link imu_down_link had 0 children
[robot_state_publisher-2] Link imu_up_link had 0 children
[robot_state_publisher-2] [INFO] [1744016078.909662062] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1744016078.909733504] [robot_state_publisher]: got segment imu_down_link
[robot_state_publisher-2] [INFO] [1744016078.909739281] [robot_state_publisher]: got segment imu_up_link
[joint_state_publisher-1] [INFO] [1744016079.179302498] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[rviz2-3] [INFO] [1744016079.187501840] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1744016079.187597548] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-3] [INFO] [1744016079.246800558] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] Parsing robot urdf xml string.

2573928130

@2573928130 解决：
rviz中机器人模型用topic导入，不用file导入，之前是一直用file导入xacro文件一直报错