Rviz unstable rendering

Question

I am learning URDF creation and having arrived at the end of the R2D2 tutorial, I found Rviz unstable and "gittery" in how it's rendering my robot simulation. I am using the Joint-State-Publisher GUI to publish data to the continueous and revolt joints but the movements are far from smooth and hindering proper testing.

Link to a short video showing the unhelpful behaviour I am trying to resolve.

UPDATE:

Thank you @gvdhoorn You are correct!

The rosnode list output does show is a joint_state_publisher node and a joint_state_publisher_gui node.

RQT-Graph output:

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Originally posted by sisko on ROS Answers with karma: 247 on 2020-11-09

Post score: 0

Answer 1

It's likely you have one instance of joint_state_publisher and another joint_state_publisher_gui.

Please verify with rosnode list and rqt_graph.

Even if this is not the cause in this case, what you show/describe is not a "rendering issue", but you're feeding RViz two streams of data (via the robot_state_publisher, which publishes TF based on the JointState msgs):

• one which tells it all joints are always at zero, and
• one which tells it, no header_joint is at 0.76

it should be obvious those two will conflict.

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Originally posted by gvdhoorn with karma: 86574 on 2020-11-09

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by sisko on 2020-11-09:
Thank you. I corrected my mistake according to your input and all is now well in the Rviz-nivser.