The Moveit Setup Assistant crashes when loading an URDF. #3576
Description
Description
I am currently in the process of porting all my packages from ROS 1 Noetic to ROS 2 Jazzy. However, when I tried to generate new MoveIt configurations for the URDFs in my robot library, I encountered a problem.
The MoveIt Setup Assistant crashes at the 70% mark when attempting to create a new configuration using a URDF or XACRO file.
This happens with both my own XACRO files and the Fanuc and Panda files from the MoveIt resources.
ROS Distro
Jazzy
OS and version
Ubuntu 24.04
Source or binary build?
Binary
If binary, which release version?
2.12.3-1noble.20250814.120310
If source, which branch?
No response
Which RMW are you using?
None
Steps to Reproduce
Run the Setup Assistant and select 'Create New MoveIt Configuration Package'. Then select the URDF or XACRO file. For example, select the URDF file from the Fanuc robot in the MoveIt resources.
Expected behavior
The setup assistant loads the file and I can use it to configure moveit.
Actual behavior
The setup assistant crashes at 70%.
Backtrace or Console output
ros2 run moveit_setup_assistant moveit_setup_assistant
QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[INFO] [1757796610.794630580] [moveit_setup_assistant.urdf]: Loaded fanuc robot model.
[INFO] [1757796610.816944723] [moveit_2769337253.moveit.core.robot_model]: Loading robot model 'fanuc'...
[INFO] [1757796610.817029270] [moveit_2769337253.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[INFO] [1757796612.163934719] [moveit_setup_assistant.urdf]: Loaded fanuc robot model.
[INFO] [1757796612.164007679] [moveit_2769337253.moveit.core.robot_model]: Loading robot model 'fanuc'...
[INFO] [1757796612.164020538] [moveit_2769337253.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz_rendering:debug] Available Renderers(1): OpenGL Rendering Subsystem, at ./src/rviz_rendering/render_system.cpp:289
[rviz_rendering:info] Stereo is NOT SUPPORTED, at ./src/rviz_rendering/render_system.cpp:531
[rviz_rendering:info] OpenGl version: 4.5 (GLSL 4.5), at ./src/rviz_rendering/render_system.cpp:272
[rviz_rendering:info] Stereo is NOT SUPPORTED, at ./src/rviz_rendering/render_system.cpp:531
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/TF.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_default_plugins/icons/classes/TF.svg]: Couldn't open file /opt/ros/jazzy/share/rviz_default_plugins/icons/classes/TF.svg, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/TF.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/classes/Identity.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_common/icons/classes/Identity.svg]: Couldn't open file /opt/ros/jazzy/share/rviz_common/icons/classes/Identity.svg, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_common/icons/classes/Identity.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_common/icons/classes/Identity.png]: Couldn't open file /opt/ros/jazzy/share/rviz_common/icons/classes/Identity.png, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_common/icons/default_class_icon.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/options.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/ok.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/warning.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/error.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/Orbit.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_default_plugins/icons/classes/Orbit.svg]: Couldn't open file /opt/ros/jazzy/share/rviz_default_plugins/icons/classes/Orbit.svg, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/Orbit.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_default_plugins/icons/classes/Orbit.png]: Couldn't open file /opt/ros/jazzy/share/rviz_default_plugins/icons/classes/Orbit.png, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_common/icons/rotate.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/cursor.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/rotate_cam.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/move2d.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/move_z.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/zoom.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_common/icons/crosshair.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/FocusCamera.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/Interact.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_default_plugins/icons/classes/Interact.svg]: Couldn't open file /opt/ros/jazzy/share/rviz_default_plugins/icons/classes/Interact.svg, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/Interact.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/Measure.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/MoveCamera.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_default_plugins/icons/classes/MoveCamera.svg]: Couldn't open file /opt/ros/jazzy/share/rviz_default_plugins/icons/classes/MoveCamera.svg, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/MoveCamera.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/PublishPoint.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/Select.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_default_plugins/icons/classes/Select.svg]: Couldn't open file /opt/ros/jazzy/share/rviz_default_plugins/icons/classes/Select.svg, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/Select.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/SetGoal.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_default_plugins/icons/classes/SetGoal.svg]: Couldn't open file /opt/ros/jazzy/share/rviz_default_plugins/icons/classes/SetGoal.svg, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/SetGoal.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/SetInitialPose.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_default_plugins/icons/classes/SetInitialPose.svg]: Couldn't open file /opt/ros/jazzy/share/rviz_default_plugins/icons/classes/SetInitialPose.svg, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/SetInitialPose.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_visual_tools/icons/classes/KeyTool.svg, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_visual_tools/icons/classes/KeyTool.svg]: Couldn't open file /opt/ros/jazzy/share/rviz_visual_tools/icons/classes/KeyTool.svg, at ./src/rviz_common/load_resource.cpp:55
[rviz_common:debug] Load pixmap at package://rviz_visual_tools/icons/classes/KeyTool.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Error retrieving file [file:///opt/ros/jazzy/share/rviz_visual_tools/icons/classes/KeyTool.png]: Couldn't open file /opt/ros/jazzy/share/rviz_visual_tools/icons/classes/KeyTool.png, at ./src/rviz_common/load_resource.cpp:55
[INFO] [1757796612.261026905] [moveit_2769337253.moveit.ros.rdf_loader]: Loaded robot model in 0.00034944 seconds
[INFO] [1757796612.261081426] [moveit_2769337253.moveit.core.robot_model]: Loading robot model 'fanuc'...
[INFO] [1757796612.261114769] [moveit_2769337253.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/RobotLink.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/RobotLinkNoGeom.png, at ./src/rviz_common/load_resource.cpp:71
[rviz_common:debug] Load pixmap at package://rviz_default_plugins/icons/classes/RobotJoint.png, at ./src/rviz_common/load_resource.cpp:71
[INFO] [1757796612.277252316] [moveit_2769337253.moveit.ros.rdf_loader]: Loaded robot model in 0.000427871 seconds
[INFO] [1757796612.277324898] [moveit_2769337253.moveit.core.robot_model]: Loading robot model 'fanuc'...
[INFO] [1757796612.277360068] [moveit_2769337253.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
Stack trace (most recent call last):
#31 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7890a9373736, in
#30 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7890a93145c4, in
#29 Object "/usr/lib/x86_64-linux-gnu/libQt5XcbQpa.so.5.15.13", at 0x7890982fcd05, in
#28 Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.13", at 0x7890aad17bfb, in QWindowSystemInterface::sendWindowSystemEvents(QFlagsQEventLoop::ProcessEventsFlag)
#27 Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.13", at 0x7890aad45a3a, in QGuiApplicationPrivate::processMouseEvent(QWindowSystemInterfacePrivate::MouseEvent*)
#26 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7890aa8d8117, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#25 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab56bd44, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#24 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab5cdfbe, in
#23 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab5caa38, in
#22 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab572873, in QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer&, bool, bool)
#21 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7890aa8d8117, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#20 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab5746af, in QApplication::notify(QObject*, QEvent*)
#19 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab56bd44, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#18 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab5b0df7, in QWidget::event(QEvent*)
#17 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab6697b7, in QAbstractButton::mouseReleaseEvent(QMouseEvent*)
#16 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab6695af, in
#15 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab66796e, in
#14 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab6676e3, in QAbstractButton::clicked(bool)
#13 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7890aa912dbe, in
#12 Object "/opt/ros/jazzy/lib/libmoveit_setup_core_plugins.so", at 0x78909802e5c1, in moveit_setup::core::StartScreenWidget::loadFilesClick()
#11 Object "/opt/ros/jazzy/lib/libmoveit_setup_core_plugins.so", at 0x78909802e249, in moveit_setup::core::StartScreenWidget::loadNewFiles()
#10 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7890aa935278, in QEventDispatcherGlib::processEvents(QFlagsQEventLoop::ProcessEventsFlag)
#9 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7890a9313a62, in g_main_context_iteration
#8 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7890a9373736, in
#7 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.8000.0", at 0x7890a93145c4, in
#6 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7890aa935c0e, in
#5 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7890aa8db94a, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#4 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7890aa8d8117, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#3 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.13", at 0x7890ab56bd44, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#2 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7890aa906342, in QObject::event(QEvent*)
#1 Object "/opt/ros/jazzy/lib/librviz_common.so", at 0x7890ac0abc00, in rviz_common::properties::PropertyTreeModel::propertyHiddenChanged(rviz_common::properties::Property const*)
#0 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.13", at 0x7890aa91267c, in
Segmentation fault (Address not mapped to object [0x9])
[ros2run]: Segmentation fault