Unable to Visualize map & navgraphs in RViz

Bug report

Required information:

• Operating system and version: Ubuntu 20.04
• OpenRMF installation type: From source, binaries
• OpenRMF version or commit hash: foxy
• ROS installation type: binaries
• Package or library, if applicable: N/A

Description of the bug

When we are trying to run the RMF office demo. We are not able to visualize the map and navgraph in the RViZ window that opens up. Where as when we try to run the RMF office demo along with the gazebo. We are able to visualize the map and navgraph in RViZ window. Sometimes the map and navgraph is visible when we reboot our system, and then run the RMF. After that when we try to run the RMF file, It doesn’t shows the map and navgraph.

Steps to reproduce the bug

1. Launch RMF using ros2 launch rmf_demos office_demo.launch.xml
2. After that, when the RViZ Window open’s up we can’t visualize the map.
3. Launch RMF using ros2 launch rmf_demos_gz office_demo.launch.xml
4. We can visualize the map and navgraph in RViZ

Expected behavior

When we launch the RMF demo file. It open ups a RViZ window in order to show the map as well as the Navgraph for particular robots.

Actual behavior

What actually is happening is that, When ever we try to run the RMF demo file. It open ups the RViZ window but is not showing the map and the Navgraph for the robots. Whereas just keeps on displaying a black screen in the RViZ window. Without anything to display.

[NaglaShubham]

Thank-you for replying @Yadunund ,

We actually are using the files, in a similar manner that you have mentioned above.

I also am having the same doubt. That it should be working, with use_sim_time set to false.

Yes, i can share the contents of office_demos.launch.xml. But, i don’t think we made any changes to the file itself office.ODT You can find the contents of the office.launch.xml in the above attached file.

[maurya3]

Hi Guys, I resolved this error by downgrading int numpy version below 1.16. There is some error in numpy. "AttributeError: module 'numpy' has no attribute 'asscalar'" because of Deprecated since version 1.16: Deprecated, use numpy.ndarray.item() instead.