Unable to run nav2 with rviz2 together

[evshary]

No matter in ROS2 rolling and jazzy, if we try to run nav2 with rviz2 together, rviz2 will crash

export TURTLEBOT3_MODEL=waffle
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

However, it will succeed if we run it separately. Note that we need to wait for rviz2 to be stable, and then run the nav2.

ros2 launch nav2_bringup rviz_launch.py
# Wait until we can control rivz2
export TURTLEBOT3_MODEL=waffle
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False use_rviz:=False

[evshary]

We have some failures in the nav2 unit test item nav2_system_tests. Not sure whether it's related to the issue or not.

[imstevenpmwork]

I can confirm a similar behaviour from my side. If I run:

ros2 launch nav2_bringup tb4_simulation_launch.py headless:=True use_rviz:=False

Wait until the nav2 logs stabilise, and then run:

rviz2

And manually add all the items step by step (including setting the initial pose), the demo works. Sometimes even launching all rviz config works

ros2 launch nav2_bringup rviz_launch.py

But trying to launch:

ros2 launch nav2_bringup tb4_simulation_launch.py headless:=False

Fails every time: rviz2 crashes and nav2 shutdowns

[evshary]

It's related to the issue
ros-navigation/navigation2#4689
I've tried this patch and it works
ros-navigation/navigation2#4717

[evshary]

The issue can be closed after backporting to Jazzy
ros-navigation/navigation2#4725

[ajtudela]

Hi, it's now fixed in main and jazzy.

[evshary]

Hi @ajtudela Thank you so much for the backporting! I believe we can close the issue now.