[ROS2] Unable to move camera in librviz tutorial

[Sean-Katagiri]

I am running on Ubuntu 22.04 with ROS Humble installed.

While the rest of the components in the librviz tutorial works (changing grid spacing, grid line thickness), I am completely unable to move the camera.

I've attempted to enable mouse tracking of the render_panel_ via render_panel_->setMouseTracking(true); but this had no effect.

I can confirm QMouseEvents are triggering on the main window widget using qDebug, which to me strikes as a sign it's not a Qt installation issue.

Aside from the mouse tracking being enabled, the code is exactly as it is in the ros2 branch of MyViz under librviz_tutorial.

It's worth noting that I was able to move the camera programmatically using the following:

rviz_common::ViewController * controller_ = manager_->getViewManager()->getCurrent();
controller_->getCamera()->moveRelative(Ogre::Vector3(1,1,1));`

But would prefer to use the Orbit controller the render_panel_ already has for controlling the camera with a mouse if possible.
Anyone been able to get specifically the ROS2 branch of this code to work with camera mouse controls?

[Sean-Katagiri]

Finally figured it out after weeks of trudging through QT forums and rviz source code, seems simple once you figure it out!

The first indicator was the segfault caused when a key was pressed after having clicked the render panel:
0x00007ffff7f2fc0f in rviz_common::ToolManager::handleChar(QKeyEvent*, rviz_common::RenderPanel*) () from /opt/ros/humble/lib/librviz_common.so

At first I disregarded this as a separate issue but turns out it's somewhat related, and my problem was that I didn't properly add the moveCamera tool (dead obvious once figured out) to the VisualizationManager's ToolManager.

  auto clock = rviz_ros_node_.lock()->get_raw_node()->get_clock();
  rviz_common::WindowManagerInterface * wm = nullptr;
  manager_ = new rviz_common::VisualizationManager(render_panel_, rviz_ros_node_, wm, clock);
  render_panel_->initialize(manager_);
  std::cout << render_panel_->children().size() <<  std::endl;
  app_->processEvents();
  manager_->initialize();
  manager_->startUpdate();

  auto tm = manager_->getToolManager();
  tm->addTool("rviz_default_plugins/MoveCamera");

With the above code added to the rest of the widget code, it works perfectly and no longer segfaults on keypresses either.

[migranram]

Thank you!!

For anyone having this problem with Foxy (I know it is EOL). There is no tool_manager.hpp header when rviz is installed through apt. If you get the error:
error: invalid use of incomplete type ‘class rviz_common::ToolManager’

Just copy the tool_manager.hpp header from rviz_common/src to you package.