MoveIt Setup Assistant Segmentation Fault – ROS 2 Humble

Workspace: ur5_simple_ws

🎯 Goal

Set up a UR5e workcell (UR5e + table + gripper) using MoveIt Setup Assistant (MSA) on ROS 2 Humble to generate a MoveIt 2 configuration package.

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✅ Working

• URDF/XACRO files are valid (check_urdf passes)
• Robot model loads correctly using robot_state_publisher
• The workspace builds and sources successfully

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❌ Problems

1. MSA Crash

Running:

ros2 run moveit_setup_assistant moveit_setup_assistant

When selecting the URDF file, the GUI instantly crashes with:

Segmentation fault (Address not mapped to object [0x1d])

Stack trace indicates:

rviz_common::properties::PropertyTreeModel::propertyHiddenChanged()

This happens during RViz GUI rendering, not URDF parsing but why?

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2. Manual MoveIt Config Also Fails

• Created simple_workcell_moveit_config manually
• Added all required config files:
  • srdf, kinematics.yaml, joint_limits.yaml, moveit_controllers.yaml, etc.
• Created and tested demo.launch.py

Result:
The launch file runs and opens RViz, but:

• Motion planning panel does not function properly
• Controllers or fake hardware fail to connect
• Planning or execution does not complete successfully

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🧠 Likely Cause

• This appears to be a unknown bug in MoveIt Setup Assistant on ROS 2 Humble related to Qt5.15.3 / RViz property tree rendering.
• The segmentation fault occurs inside RViz GUI libraries, not URDF logic.
• Manual setup issues may be caused by missing or misconfigured ROS 2 controllers or SRDF definitions.

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🧩 What Was Tried

Attempt	Description	Result
1	Fixed xacro arg() syntax and used proper xacro:property	MSA still crashes
2	Simplified URDF (UR5 + table + box)	Still crashes
3	Created manual MoveIt config	Launches but not functional
4	Reinstalled MoveIt + Qt	No change

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🛠️ Current Status

• MSA GUI: Unusable due to segmentation fault
• Manual MoveIt config: Builds and launches but not fully functional
• System: Ubuntu 22.04, ROS 2 Humble, MoveIt 2, Qt 5.15.3

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