multiple rviz gets launched while launching moveit

[padhupradheep]

the issue is in this line

somehow the Ifcondition() is not taking in the value of the LaunchConfiguration. Maybe Open robotics changed something in the Python launch for Humble, which I might be unaware of.

As an alternate we need to use the LaunchContext to get the value of the LaunchConfiguration.

Hope this helps!

[fmauch]

If what you're saying is that

ros2 launch ur_simulation_gazebo ur_sim_control.launch.py launch_rviz:=false

does start an RViz window on ROS2 Humble, I cannot confirm this.

[padhupradheep]

No, I meant that, when I tried to launch ur_sim_moveit.launch.py we have 2 RViz window opened.

One from the ur_sim_control.launch.py

second one is from ur_config_moveit.launch.py

[fmauch]

Thanks for clarifying. Yes, that seems to be a problem, indeed. Looking at the galactic version the problem seems to exist there, as well.

[Icon45]

Has this Issue been fixed? I have a similar problem

[fmauch]

#44 adds a workaround (at least on my machine), but I don't quite understand why that happens in the first place / why it is resolved by this. Doesn't seem like a clean solution for the problem.

[padhupradheep]

I'd be working on a project with UR arms in next few days. I'll also analyze it a bit..