Visualizing a model that uses .gltf

[TrevorJohst]

Hi, sorry if I am missing something simple but I can't seem to figure out how to visualize a model that uses .gltf meshes instead of .obj. I made a copy of the iiwa manipulator example, and tried to load my own urdf with a parser. It seemingly works fine looking at rqt_graph and echoing the visualization topic, but if I try to open rviz I get a segmentation fault.

When I tried replacing the .gltf files with an .obj, it worked perfectly fine. I would think .gltf simply doesn't work, but looking at the multirobot example, it seems to be loading this urdf, which uses .gltf.

My file is the same as the iiwa manipulator example, but I removed the manipulation_station and replaced it with this:

plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.1)

parser = Parser(plant)
parser.AddModels("path/to/urdf")
link_1_frame = plant.GetFrameByName("link-1")
plant.WeldFrames(plant.world_frame(), link_1_frame)
plant.Finalize()

rviz_visualizer = builder.AddSystem(
    RvizVisualizer(ros_interface_system.get_ros_interface()))

rviz_visualizer.RegisterMultibodyPlant(plant)
rviz_visualizer.ComputeFrameHierarchy()

builder.Connect(
    scene_graph.GetOutputPort('query'),
    rviz_visualizer.get_graph_query_input_port()
)

I have confirmed that the urdf works normally in Drake, as I was able to load it in Meshcat in a separate notebook.