在rviz上找不到相机主题

Question

我用demo.launch在ros上启动了techman机器人。当我第一次在rviz上发布它的时候，我可以看到主题下的摄像头，我可以看到视频输出。因此，我编辑了moveit设置，并为机器人添加了一些姿势。所以当我再次发射的时候。现在我在主题下面找不到相机了。我对ros还很陌生。

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下面是我的demo.launch文件

<launch>

  <!-- specify the planning pipeline -->
  <arg name="pipeline" default="ompl" />

  <!-- By default, we do not start a database (it can be large) -->
  <arg name="db" default="false" />
  <!-- Allow user to specify database location -->
  <arg name="db_path" default="$(find new_techman)/default_warehouse_mongo_db" />

  <!-- By default, we are not in debug mode -->
  <arg name="debug" default="false" />

  <!-- By default, we will load or override the robot_description -->
  <arg name="load_robot_description" default="true"/>

  <!-- Set execution mode for fake execution controllers -->
  <arg name="execution_type" default="interpolate" />

  <!--
  By default, hide joint_state_publisher's GUI

  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
  The latter one maintains and publishes the current joint configuration of the simulated robot.
  It also provides a GUI to move the simulated robot around "manually".
  This corresponds to moving around the real robot without the use of MoveIt.
  -->
  <arg name="use_gui" default="false" />
  <arg name="use_rviz" default="true" />

  <!-- If needed, broadcast static tf for robot root -->


  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
  </node>
  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
  </node>

  <!-- Given the published joint states, publish tf for the robot links -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
  <include file="$(find new_techman)/launch/move_group.launch">
    <arg name="allow_trajectory_execution" value="true"/>
    <arg name="fake_execution" value="true"/>
    <arg name="execution_type" value="$(arg execution_type)"/>
    <arg name="info" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
    <arg name="pipeline" value="$(arg pipeline)"/>
    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
  </include>

  <!-- Run Rviz and load the default config to see the state of the move_group node -->
  <include file="$(find new_techman)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
    <arg name="rviz_config" value="$(find new_techman)/launch/moveit.rviz"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(find new_techman)/launch/default_warehouse_db.launch" if="$(arg db)">
    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
  </include>

</launch>

当我启动由moveit setup助手创建的gazebo.launch时，我可以看到相机从gazebo平台进入rviz。

Answer 1

你在发布demo.launch之前还是之后发布过Gazebo？试着用相反的方式来做！

似乎是Gazebo提供了你的相机模拟。Rviz本身并不创建相机视图，它只是监听一个主题，在这个主题中，另一个引擎(通常是一个机器人，在您的情况下是机器人--模拟Gazebo)发布图像，然后向您显示这些图像。

Rviz和Gazebo有时会因为先从哪个开始通信而出现问题。