Rviz error when launching navigation (ROS2, SE3)

[allen]

Hi,

I recently ran the following command to launch my navigation code:

ros2 launch navigation.launch.py map:=<mymap>

However, it failed to launch successfully. When I run the command with use_rviz:=false, it works fine, so I assume the issue is related to RViz. Below are some of the error logs I encountered:

Please let me know if any information is needed! Thanks!

[hello-vinitha]

Hi Allen,

Could you confirm how you are connected to the robot? Did you ssh in or are directly connected to the robot via a monitor, keyboard and mouse?

[allen]

Hi @hello-vinitha,

I’m using SSH and Moonlight remote desktop to connect, but I mainly use Moonlight to launch the navigation code so I can see the Rviz2 map. Navigation was working fine a few days ago, but it recently stopped functioning.

Thanks!

[Mohamed_Fazil]

Hi @allen, I believe this issue got fixed with our recent bug fix to Stretch ROS2. It is related to a bug where importing cv2 causes other QT applications to crash, which is Rviz, in your case, exits the demo. Have described it in his post

QT applications error out due to conflict with cv2 (Could not load the Qt platform plugin "xcb")

We would like to address an existing bug that will likely occur using Python scripts that import the cv2 library and have a component that uses the linux apt installed QT platform to run a GUI. The error output would look like the following: qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "/home/hello-robot/.local/lib/python3.10/site-packages/cv2/qt/plugins" even though it was found. This application failed to start because no Qt platform plugin could be initialized. Reinstalling …

Could you pull the latest stretch_ros2 repository updates, rebuild your workspace, and then try re-running the demo?

[allen]

Hi @Mohamed_Fazil ! It works now, thanks so much!