Description

MoveIt Setup Assistant consistently crashes with a segmentation fault when loading a valid URDF on ROS 2 Jazzy running on Ubuntu 24.04.

The URDF loads successfully and the robot model is parsed without errors. However, immediately after the rendering window initializes (RViz embedded inside Setup Assistant), the application crashes with a segmentation fault originating from RViz rendering.

The issue occurs:
-With a custom UR5e + Inspire Hand URDF
-With the official UR robot URDF
-After clean driver reinstall
-With NVIDIA driver 535.288.01
-On X11 session
-With confirmed OpenGL 4.6 support

This suggests the issue is not related to the URDF model itself, but to RViz rendering or MoveIt Setup Assistant integration on Jazzy.

ROS Distro

Jazzy

OS and version

Ubuntu 24.04 (Noble)

Source or binary build?

Source

If binary, which release version?

No response

If source, which branch?

No response

Which RMW are you using?

None

Steps to Reproduce

1. Install ROS 2 Jazzy on Ubuntu 24.04,
2. Install MoveIt2: sudo apt install ros-jazzy-moveit
3. Launch Setup Assistant: ros2 run moveit_setup_assistant moveit_setup_assistant
4. Load any valid URDF (official UR robot or custom robot)
5. Click “Load Files”
6. The application crashes with segmentation fault

Expected behavior

MoveIt Setup Assistant should load the robot model and proceed to the configuration interface without crashing.

Actual behavior

The robot model loads successfully:
[INFO] Loaded ur5e_inspire_setup robot model.
[INFO] Loading robot model 'ur5e_inspire_setup'...
[INFO] No root/virtual joint specified in SRDF. Assuming fixed joint

RViz initializes:
OpenGl version: 4.6 (GLSL 4.6)
Stereo is NOT SUPPORTED

Then the application crashes with segmentation fault.

Additional Notes:

• URDF parses successfully using: check_urdf
• Standalone rviz2 works.
• Issue appears specific to MoveIt Setup Assistant (embedded RViz).
• Reinstalling and downgrading NVIDIA drivers (580 → 535) did not resolve the issue.
• Issue occurs even with official UR robot model.

Backtrace or Console output

[rviz_rendering:debug] Available Renderers(1): OpenGL Rendering Subsystem
[rviz_rendering:info] OpenGl version: 4.6 (GLSL 4.6)

...

Segmentation fault (Address not mapped to object)
[ros2run]: Segmentation fault

Stack trace excerpt:

#1 rviz_common::properties::PropertyTreeModel::propertyHiddenChanged
#0 Qt5Core
Segmentation fault (Signal sent by the kernel)

In earlier attempts (with different driver state), also observed:

Unable to create a suitable GLXContext
Failed to create an OpenGL context
Unable to create the rendering window after 100 tries