wsl rviz2 only show black screen + cannot import cffirmware

[KPvivid]

I'm trying to simulate crazyswarm2 on rviz2, but getting this error when running the command ros2 launch crazyflie launch.py backend:=sim:

root@KP:/opt/drone_project/ros2_ws/src# ros2 launch crazyflie launch.py backend:=sim
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-02-22-22-07-33-852212-KP-12414
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [crazyflie_server-3]: process started with pid [12419]
[INFO] [teleop-1]: process started with pid [12415]
[INFO] [joy_node-2]: process started with pid [12417]
[INFO] [rviz2-4]: process started with pid [12421]
[teleop-1] [INFO] [1677121653.982270691] [teleop]: Mode changed to cmd_vel_world
[rviz2-4] QStandardPaths: runtime directory '/mnt/wslg/runtime-dir' is not owned by UID 0, but a directory permissions 0700 owned by UID 1000 GID 1000
[crazyflie_server-3] Traceback (most recent call last):
[crazyflie_server-3]   File "/opt/drone_project/ros2_ws/src/install/crazyflie_sim/lib/crazyflie_sim/crazyflie_server", line 33, in <module>
[crazyflie_server-3]     sys.exit(load_entry_point('crazyflie-sim==2.0.0', 'console_scripts', 'crazyflie_server')())
[crazyflie_server-3]   File "/opt/drone_project/ros2_ws/src/install/crazyflie_sim/lib/crazyflie_sim/crazyflie_server", line 25, in importlib_load_entry_point
[crazyflie_server-3]     return next(matches).load()
[crazyflie_server-3]   File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
[crazyflie_server-3]     module = import_module(match.group('module'))
[crazyflie_server-3]   File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
[crazyflie_server-3]     return _bootstrap._gcd_import(name[level:], package, level)
[crazyflie_server-3]   File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
[crazyflie_server-3]   File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
[crazyflie_server-3]   File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
[crazyflie_server-3]   File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
[crazyflie_server-3]   File "<frozen importlib._bootstrap_external>", line 883, in exec_module
[crazyflie_server-3]   File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
[crazyflie_server-3]   File "/opt/drone_project/ros2_ws/src/install/crazyflie_sim/local/lib/python3.10/dist-packages/crazyflie_sim/crazyflie_server.py", line 27, in <module>
[crazyflie_server-3]     from .crazyflie_sil import CrazyflieSIL, TrajectoryPolynomialPiece
[crazyflie_server-3]   File "/opt/drone_project/ros2_ws/src/install/crazyflie_sim/local/lib/python3.10/dist-packages/crazyflie_sim/crazyflie_sil.py", line 13, in <module>
[crazyflie_server-3]     import cffirmware as firm
[crazyflie_server-3] ModuleNotFoundError: No module named 'cffirmware'
[ERROR] [crazyflie_server-3]: process has died [pid 12419, exit code 1, cmd '/opt/drone_project/ros2_ws/src/install/crazyflie_sim/lib/crazyflie_sim/crazyflie_server --ros-args -r __node:=crazyflie_server --params-file /tmp/launch_params_hjn1_u7t --params-file /tmp/launch_params_b8gk7nne'].
[rviz2-4] [INFO] [1677121655.971737428] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1677121655.971964430] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-4] [INFO] [1677121656.000009204] [rviz2]: Stereo is NOT SUPPORTED

The server process dies and the rviz2 seems to only show a black screen. I cannot run the other command as they are waiting for the server process forever.

I found this similar error, but it seems to not be relevant for crazyswarm2. I'm completely new to this. Any recommendation would be appreciated! I'm currently running this on Windows using WSL2 Ubuntu-22.04 using ROS2 humble. I use MobaXterm as my X server forwarding.

Edited: oops, I just saw the same issue discussion on the discussion board. However, it seems to not have any solution that I can follow yet.

[KPvivid]

I solved the cffirmware problem by adding the <path_to_crazyflies-firmware>/crazyflies-firmware/build directory to the PYTHONPATH variable instead of <path_to_crazyflies-firmware>/crazyflies-firmware. I think the current suggestion on the website is a little misleading.

Now I get this result when running ros2 launch crazyflie launch.py backend:=sim:

root@KP:/opt/drone_project/crazyflie-firmware/build# ros2 launch crazyflie launch.py backend:=sim
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-02-22-23-14-43-132687-KP-3101
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [crazyflie_server-3]: process started with pid [3106]
[INFO] [teleop-1]: process started with pid [3102]
[INFO] [joy_node-2]: process started with pid [3104]
[INFO] [rviz2-4]: process started with pid [3108]
[teleop-1] [INFO] [1677125683.260472195] [teleop]: Mode changed to cmd_vel_world
[rviz2-4] QStandardPaths: runtime directory '/mnt/wslg/runtime-dir' is not owned by UID 0, but a directory permissions 0700 owned by UID 1000 GID 1000
[rviz2-4] [INFO] [1677125685.350419264] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1677125685.350612666] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-4] [INFO] [1677125685.383304463] [rviz2]: Stereo is NOT SUPPORTED

However, I still have a problem that the RVIZ only shows a black screen. I think this is a problem based on wslg. Any recommendation would be appreciated!

Edited: I solved the wslg problem by making a new user with UID1000! Everything works fine now. Sorry for answering my own question, hope this will be helpful for other people!

[knmcguire]

Good you found it out! I think it is due to a very recent PR in the crazyflie firmware that the python-binding been moved to the build directory, so we got to update the documentation or at least warn people if they are using an older version