Melodic release

[rhaschke]

I would like to prepare a new release into Melodic asap. However, because there are many new commits, I would like to get some feedback from the community first to resolve potential regressions. Particularly, @wjwwood, @simonschmeisser, @VictorLamoine, @v4hn could you please use the melodic-devel branch on a daily basis and report (new) issues?

• [feature] RobotModelDisplay: Poll robot_description at 1Hz until found
• [feature] Use assimp to load STL files (Use assimp to load STL files #1365)
• [feature] Added frame-aligned view controller (Frame-Aligned View Controller #1405)
• [feature] Systematically check parameters of incoming marker messages (systematic check of incoming markers #1275, Fix marker handling #1400)
• [feature] MarkerDisplay: clear statuses on disable()
• [feature] Increase zoom range in orbit view controllers (Allow to zoom more in orbit view controllers #1373)
• [feature] Add shortcut "C" to the Publish Point tool (Add a shortcut key to the Publish Point tool #1321)
• [fix] Fixed several issues with Camera and Image display (Fix several issues with Camera and Image display #1409)
• [fix] Fixed several issues with view controllers, particularly FPS (Cleanup view controllers #1407)
• [fix] Fixed (small) memory leak in TFDisplay (TFDisplay: simplify + fix memory leak #1408)
• [fix] Fixed memory leak in MapDisplay (Properly free allocated memory #1406)
• [fix] Properly resize RenderWidget on high-DPI displays (Resize RenderWidget properly when using different DPI scaling. #1263)
• [fix] Fixed opacity of Collada meshes (Fix opacity of Collada meshes #1387)
• [fix] Enable non-ascii chars for MovableText (Enable non-ascii chars for MovableText #1374)
• [fix] Ignore nan and inf values when normalizing images (Ignore special conditions when normalizing image #1378)
• [fix] MovableText: consider full translation vector (MovableText: consider full mGlobalTranslation vector #1375)
• [maintanence] ToolManager: simplify key handling code
• [maintanence] Move sip bindings' build directory into the build space. (Move sip bindings build directory into the build space. #1360)
• [maintanence] Use std random generators for portability on Windows ([Windows][melodic] Fix the run_tests build breaks on Windows. #1356)
• [api] public CovarianceVisual (public CovarianceVisual #1410)
• [api] Properly override FailedDisplay::save (Overload FailedDisplay::save for proper override #1402)
• [api] Removed extra wrapper MarkerArrayDisplay::handleMarkerArray (Remove extra wrapper MarkerArrayDisplay::handleMarkerArray #1401)

[v4hn]

Thanks for asking.
Running it, I noticed a regression introduced by #1275 . See #1415 .

Also, I've been fighting a lot with the bugs mentioned in #1409 recently.
I'll test the latest branch with our setup later today.

[simonschmeisser]

There seems to be quite some visual regression. Before:

after:

Those are all stls with a color set from urdf.

Also I see a new crash which I'll debug now. We should hold back the release a bit

[rhaschke]

@simonschmeisser, can you please verify whether the visual regression is due to your #1365?
The only other commit, I can think of, that affects rendering is #1387. If those are not the culprit, could you please do a git bisect. Alternatively, please provide your URDF (and meshes), so that I can do it.
Thanks a lot.

[simonschmeisser]

it worked after #1387 , will test further but first fix the crash

[simonschmeisser]

So the crash is here:

rviz/src/rviz/default_plugin/markers/text_view_facing_marker.cpp

Line 86 in 325e74c

if ( text_->getMaterial().get() )

with text_ being 0

1   rviz::TextViewFacingMarker::getMaterials                                                                                                                                                                                                                                                                                                                                                                                                text_view_facing_marker.cpp    86   0x7f111d5be0a8 
2   rviz::InteractiveMarkerControl::makeMarkers                                                                                                                                                                                                                                                                                                                                                                                             interactive_marker_control.cpp 122  0x7f111d57ac61 
3   rviz::InteractiveMarkerControl::processMessage                                                                                                                                                                                                                                                                                                                                                                                          interactive_marker_control.cpp 189  0x7f111d57b650 
4   rviz::InteractiveMarker::processMessage                                                                                                                                                                                                                                                                                                                                                                                                 interactive_marker.cpp         198  0x7f111d581a49 
5   rviz::InteractiveMarkerDisplay::updateMarkers                                                                                                                                                                                                                                                                                                                                                                                           interactive_marker_display.cpp 269  0x7f111d5716ff 
6   rviz::InteractiveMarkerDisplay::initCb                                                                                                                                                                                                                                                                                                                                                                                                  interactive_marker_display.cpp 337  0x7f111d571e8b 
7   boost::_mfi::mf1<void, rviz::InteractiveMarkerDisplay, boost::shared_ptr<visualization_msgs::InteractiveMarkerInit_<std::allocator<void>> const>>::operator()                                                                                                                                                                                                                                                                           mem_fn_template.hpp            165  0x7f111d572eca 
8   boost::_bi::list2<boost::_bi::value<rviz::InteractiveMarkerDisplay *>, boost::arg<1>>::operator()<boost::_mfi::mf1<void, rviz::InteractiveMarkerDisplay, boost::shared_ptr<visualization_msgs::InteractiveMarkerInit_<std::allocator<void>> const>>, boost::_bi::rrlist1<boost::shared_ptr<visualization_msgs::InteractiveMarkerInit_<std::allocator<void>> const> const&>>                                                             bind.hpp                       319  0x7f111d572eca 
9   boost::_bi::bind_t<void, boost::_mfi::mf1<void, rviz::InteractiveMarkerDisplay, boost::shared_ptr<visualization_msgs::InteractiveMarkerInit_<std::allocator<void>> const>>, boost::_bi::list2<boost::_bi::value<rviz::InteractiveMarkerDisplay *>, boost::arg<1>>>::operator()<boost::shared_ptr<visualization_msgs::InteractiveMarkerInit_<std::allocator<void>> const> const&>                                                        bind.hpp                       1306 0x7f111d572eca 
10  boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, rviz::InteractiveMarkerDisplay, boost::shared_ptr<visualization_msgs::InteractiveMarkerInit_<std::allocator<void>> const>>, boost::_bi::list2<boost::_bi::value<rviz::InteractiveMarkerDisplay *>, boost::arg<1>>>, void, boost::shared_ptr<visualization_msgs::InteractiveMarkerInit_<std::allocator<void>> const> const&>::invoke function_template.hpp          159  0x7f111d572eca 
11  interactive_markers::SingleClient::checkInitFinished()                                                                                                                                                                                                                                                                                                                                                                                                                      0x7f112d53f2b0 
12  interactive_markers::SingleClient::update()                                                                                                                                                                                                                                                                                                                                                                                                                                 0x7f112d5402cd 
13  interactive_markers::InteractiveMarkerClient::update()                                                                                                                                                                                                                                                                                                                                                                                                                      0x7f112d5351e9 
14  rviz::InteractiveMarkerDisplay::update                                                                                                                                                                                                                                                                                                                                                                                                  interactive_marker_display.cpp 200  0x7f111d56e456 
15  rviz::DisplayGroup::update                                                                                                                                                                                                                                                                                                                                                                                                              display_group.cpp              240  0x7f112dac2758 
16  rviz::VisualizationManager::onUpdate                                                                                                                                                                                                                                                                                                                                                                                                    visualization_manager.cpp      353  0x7f112db8c345 
17  QMetaObject::activate(QObject *, int, int, void * *)                                                                                                                                                                                                                                                                                                                                                                                                                        0x7f1130f7ea45 
18  QTimer::timeout(QTimer::QPrivateSignal)                                                                                                                                                                                                                                                                                                                                                                                                                                     0x7f1130f8b927 
19  QTimer::timerEvent(QTimerEvent *)                                                                                                                                                                                                                                                                                                                                                                                                                                           0x7f1130f8bc88 
20  QObject::event(QEvent *)                                                                                                                                                                                                                                                                                                                                                                                                                                                    0x7f1130f7f56b 
... <Mehr>                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     

[rhaschke]

@v4hn, this issue might be related to your #1275 as well, not defining the text marker anymore if there is some issue (e.g. an empty text?). @simonschmeisser, can you please provide a yaml or rosbag record of your marker message?

[simonschmeisser]

@rhaschke it is indeed due to my commit #1365 , I found that the stl_loader sets

rviz/src/rviz/ogre_helpers/stl_loader.cpp

Line 236 in 6135ee2

object->begin( "BaseWhiteNoLighting", Ogre::RenderOperation::OT_TRIANGLE_LIST );

will now check if something similar gets set with the assimp code path

[simonschmeisser]

ok, changing the following

rviz/src/rviz/mesh_loader.cpp

Line 379 in 325e74c

submesh->setMaterialName(material_table[input_mesh->mMaterialIndex]->getName());

to

submesh->setMaterialName("BaseWhiteNoLighting", "rviz");

fixes STL coloring, this should of course be dependent on some property of the mesh, not sure which

[simonschmeisser]

as a test-case you could use https://github.com/ros-industrial/fanuc and then run

roslaunch fanuc_lrmate200ib_moveit_config demo.launch

it should show a bright and friendly orange instead of the gloom dark one

[simonschmeisser]

about the crash, it appears that TextViewFacingMarker discards messages containing purely whitespace:
https://github.com/ros-visualization/rviz/blame/melodic-devel/src/rviz/default_plugin/markers/text_view_facing_marker.cpp#L60
which was introduced in #1275 however there is no check for nullptr in https://github.com/ros-visualization/rviz/blame/melodic-devel/src/rviz/default_plugin/markers/text_view_facing_marker.cpp#L88

Also the name onNewMessage implies that this might be used to update a marker? So changing the caption from non-whitespace to whitespace would get discarded here. I don't think that's correct either?

[rhaschke]

submesh->setMaterialName("BaseWhiteNoLighting", "rviz");
fixes STL coloring. This should, of course, depend on some property of the mesh. Not sure which.

Would be great, of course, if you could figure out this.

Regarding the crash, @v4hn introduced this white-space-only check in #1275, because they noticed Ogre would crash with such text. Thus, setting an empty text should delete the marker on an update.
@v4hn, could you have a look?

[simonschmeisser]

submesh->setMaterialName("BaseWhiteNoLighting", "rviz");
fixes STL coloring. This should, of course, depend on some property of the mesh. Not sure which.

Would be great, of course, if you could figure out this.

I'll try to investigate sometime later this week what's the difference between a collada mesh and a stl mesh after it has been parsed by assimp. Alternatively we could copy the old behavior and set the material based on file extension

[simonschmeisser]

There are two parts to the coloring issue:

1. The coloring issues seem to be a known and fixed issue in assimp 4.1.0 (as used on ubuntu bionic): Fix white ambient in STL loader assimp/assimp#2563 a workaround cited there replaces pure white ambient light with pure black one: mosra/magnum-plugins@6444d54#diff-bd6ab8f40c2db2c93f2d75de9e4997ed

2. We only apply the urdf color to links that have "BaseWhite" or "BaseWhiteNoLighting" as material name:

   rviz/src/rviz/robot/robot_link.cpp

   Line 631 in b1b5a96

   if (material_name == "BaseWhite" || material_name == "BaseWhiteNoLighting")

So it appears we need to do some magic based on file extensions?

[rhaschke]

Release prepared: ros/rosdistro#22320