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Found 8 results

  1. Hi everyone! I'm trying to do motion planning pipeline with moveIt in my Sawyer but there are only tutorials in c++ by MoveIt!, when i run this tutorial i have a error with systaxis (but i'm sure that it's okay). do anyone some code or tutorial about it in python? or do anyone know if i need to do anything to copile code in c++? can anyone help me? thanks a lot!
  2. jorgegalds_DON

    Use MoveIt with Joystick

    Hello, I am trying to use MoveIt connected to a PS3 controller. I found a tutorial explaining this could be possible and it seemed pretty straight forward. But when I launch the joystick_control.launch file I keep on getting an error regarding the "moveit_joy.py" file apparently. If anyone has any experience on this field I would greatly appreciate any tips. Thanks! -Jorge
  3. KHLee

    Using Moveit with Clicksmart

    Hi. I want use the sawyer robot with moveit package, to generate obstacle avoid path. The tutorial works perfectky with or without your electric gripper. But with clicksmart, it cann't generate path. I am using this command(There is no options for clicksmart.) $ roslaunch sawyer_moveit_config sawyer_moveit.launch When launch finished, I can see the clicksmart pad at the right_hand link. But after that I tried to generate plan with random position, it failed with this log. How can I launch the sawyer model with clicksmart to use moveit?
  4. JUNCHAO

    Moveit Trajectory Failed

    Hello Intera Team, I was trying to plan and execute the trajectory in Moveit, but it always fails whatever how to plan it. I know it seems to be similar to the few previous topics that other users posted, but I really tried all the methods I found in this forum and even on the whole Internet. Our university tech guys fixed the NTP issue for me, but it still fails. I don't know what to do right now. I have been suffering from this for few weeks too. I attach the whole launch code and the trajectory plan code here. [intera - http://021705CP00093.local:11311] robotics@robotics-Latitude-E5470:~/ros_ws$ roslaunch sawyer_moveit_config sawyer_moveit.launch ... logging to /home/robotics/.ros/log/0293b4ba-69ac-11e8-8124-484d7ef5fc80/roslaunch-robotics-Latitude-E5470-28978.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://169.254.9.57:35385/ SUMMARY ======== PARAMETERS * /move_group/allow_trajectory_execution: True * /move_group/allowed_execution_duration_scaling: 1.2 * /move_group/allowed_goal_duration_margin: 0.5 * /move_group/capabilities: move_group/MoveGr... * /move_group/controller_list: [{'default': True... * /move_group/controller_manager_name: simple_controller... * /move_group/head/planner_configs: ['SBLkConfigDefau... * /move_group/jiggle_fraction: 0.05 * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/moveit_controller_manager: moveit_simple_con... * /move_group/moveit_manage_controllers: True * /move_group/octomap_resolution: 0.025 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar * /move_group/planner_configs/SBLkConfigDefault/range: 0.0 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT * /move_group/planning_plugin: ompl_interface/OM... * /move_group/planning_scene_monitor/publish_geometry_updates: True * /move_group/planning_scene_monitor/publish_planning_scene: True * /move_group/planning_scene_monitor/publish_state_updates: True * /move_group/planning_scene_monitor/publish_transforms_updates: True * /move_group/request_adapters: default_planner_r... * /move_group/right_arm/planner_configs: ['SBLkConfigDefau... * /move_group/start_state_max_bounds_error: 0.1 * /move_group/use_controller_manager: True * /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/head/kinematics_solver_attempts: 3 * /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/head/kinematics_solver_timeout: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/right_arm/kinematics_solver_attempts: 10 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005 * /robot_description_planning/joint_limits/right_j0/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j0/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j0/max_acceleration: 3.5 * /robot_description_planning/joint_limits/right_j0/max_velocity: 0.88 * /robot_description_planning/joint_limits/right_j1/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j1/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j1/max_acceleration: 2.5 * /robot_description_planning/joint_limits/right_j1/max_velocity: 0.678 * /robot_description_planning/joint_limits/right_j2/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j2/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j2/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j2/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j3/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j3/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j3/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j3/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j4/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j4/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j4/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j4/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j5/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j5/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j5/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j5/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j6/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j6/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j6/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j6/max_velocity: 2.316 * /robot_description_semantic: <?xml version="1.... * /rosdistro: kinetic * /rosversion: 1.12.13 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver: kdl_kinematics_pl... * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_attempts: 3 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_search_resolution: 0.005 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_timeout: 0.005 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_attempts: 10 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_search_resolution: 0.005 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_timeout: 0.005 NODES / move_group (moveit_ros_move_group/move_group) rviz_robotics_Latitude_E5470_28978_3340562522888942337 (rviz/rviz) ROS_MASTER_URI=http://021705CP00093.local:11311 process[move_group-1]: started with pid [28990] process[rviz_robotics_Latitude_E5470_28978_3340562522888942337-2]: started with pid [28991] [ INFO] [1528323945.052649773]: Loading robot model 'sawyer'... [ INFO] [1528323945.065726462]: rviz version 1.12.16 [ INFO] [1528323945.066183718]: compiled against Qt version 5.5.1 [ INFO] [1528323945.066228000]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1528323945.125379174]: Loading robot model 'sawyer'... [ INFO] [1528323945.191456726]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1528323945.205863997]: MoveGroup debug mode is ON Starting context monitors... [ INFO] [1528323945.206793758]: Starting scene monitor [ INFO] [1528323945.224457880]: Listening to '/planning_scene' [ INFO] [1528323945.224713866]: Starting world geometry monitor [ INFO] [1528323945.236506174]: Listening to '/collision_object' using message notifier with target frame '/base ' [ INFO] [1528323945.245107492]: Stereo is NOT SUPPORTED [ INFO] [1528323945.245556299]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1528323945.245635256]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1528323945.276487852]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1528323945.314766664]: Initializing OMPL interface using ROS parameters [ INFO] [1528323945.366329714]: Using planning interface 'OMPL' [ INFO] [1528323945.369706289]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1528323945.371147439]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1528323945.372469617]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1528323945.373617677]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1528323945.375042832]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1528323945.376669402]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1528323945.376744465]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1528323945.376773618]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1528323945.376839280]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1528323945.376858191]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1528323945.376894036]: Using planning request adapter 'Fix Start State Path Constraints' [ WARN] [1528323945.383325501]: Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ WARN] [1528323945.384526347]: Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ INFO] [1528323945.651669985]: Added FollowJointTrajectory controller for /robot/limb/right [ INFO] [1528323945.652065587]: Returned 1 controllers in list [ INFO] [1528323945.708770350]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1528323946.063715013]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1528323946.063987749]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1528323946.064149028]: MoveGroup context initialization complete You can start planning now! [ INFO] [1528323948.847131272]: Loading robot model 'sawyer'... [ INFO] [1528323948.924133996]: Loading robot model 'sawyer'... [ INFO] [1528323948.999324040]: Starting scene monitor [ INFO] [1528323949.013077514]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1528323950.032157486]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. [ INFO] [1528323950.037879837]: Constructing new MoveGroup connection for group 'right_arm' in namespace '' [ WARN] [1528323951.055104848]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch [ INFO] [1528323951.073245861]: Ready to take commands for planning group right_arm. [ INFO] [1528323951.073354076]: Looking around: no [ INFO] [1528323951.073407860]: Replanning: no [ WARN] [1528323951.086621598]: Interactive marker 'EE:goal_right_hand' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details. [ WARN] [1528323974.891747073]: Failed to fetch current robot state. [ INFO] [1528323974.892801862]: Planning request received for MoveGroup action. Forwarding to planning pipeline. Debug: Starting goal sampling thread Debug: Waiting for space information to be set up before the sampling thread can begin computation... [ INFO] [1528323974.899332549]: Planner configuration 'right_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Debug: Beginning sampling thread computation Debug: Stopped goal sampling thread after 10 sampling attempts Debug: RRTConnect: Waited 0.010144 seconds for the first goal sample. Debug: RRTConnect: Waited 0.010110 seconds for the first goal sample. Debug: RRTConnect: Waited 0.010098 seconds for the first goal sample. Debug: RRTConnect: Waited 0.010095 seconds for the first goal sample. Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.016088 seconds Info: RRTConnect: Created 5 states (3 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.018401 seconds Debug: ParallelPlan.solveMore: Spent 0.000181 seconds hybridizing 1 solution paths (attempted 0 connections between paths) Debug: ParallelPlan.solveMore: Spent 0.000227 seconds hybridizing 2 solution paths (attempted 1 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.018802 seconds Debug: ParallelPlan.solveMore: Spent 0.000042 seconds hybridizing 3 solution paths (attempted 2 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.021260 seconds Debug: ParallelPlan.solveMore: Spent 0.000047 seconds hybridizing 4 solution paths (attempted 3 connections between paths) Info: ParallelPlan::solve(): Solution found by one or more threads in 0.025939 seconds Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003359 seconds Debug: ParallelPlan.solveMore: Spent 0.000078 seconds hybridizing 6 solution paths (attempted 11 connections between paths) Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Created 5 states (3 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003567 seconds Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003620 seconds Debug: ParallelPlan.solveMore: Spent 0.000114 seconds hybridizing 8 solution paths (attempted 13 connections between paths) Debug: ParallelPlan.solveMore: Spent 0.000016 seconds hybridizing 8 solution paths (attempted 0 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.005818 seconds Debug: ParallelPlan.solveMore: Spent 0.000046 seconds hybridizing 9 solution paths (attempted 8 connections between paths) Info: ParallelPlan::solve(): Solution found by one or more threads in 0.005998 seconds Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.002479 seconds Debug: ParallelPlan.solveMore: Spent 0.000124 seconds hybridizing 11 solution paths (attempted 23 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003580 seconds Debug: ParallelPlan.solveMore: Spent 0.000119 seconds hybridizing 12 solution paths (attempted 11 connections between paths) Info: ParallelPlan::solve(): Solution found by one or more threads in 0.003834 seconds Info: SimpleSetup: Path simplification took 0.012288 seconds and changed from 3 to 2 states [ INFO] [1528323978.521995934]: Received new trajectory execution service request... [ WARN] [1528323979.522709048]: Failed to validate trajectory: couldn't receive full current joint state within 1s [ INFO] [1528323979.523042746]: Execution completed: ABORTED [ INFO] [1528323989.342307823]: Stopping scene monitor [ WARN] [1528323989.349337698]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [rviz_robotics_Latitude_E5470_28978_3340562522888942337-2] process has finished cleanly log file: /home/robotics/.ros/log/0293b4ba-69ac-11e8-8124-484d7ef5fc80/rviz_robotics_Latitude_E5470_28978_3340562522888942337-2*.log ^C[move_group-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
  5. Ulysse

    Execute Trajectory using MoveIt!

    Hi all, I am facing an issue trying to use the MoveIt! package to control the Sawyer. I followed all tutorials on how to set up ROS Kinetic, the Sawyer SDK packages and the MoveIt! package. I am know trying to work my way through the MoveIt tutorial. I am able to successfully load the robot inside Rviz, move the end effector in the interface and plan a trajectory. However when I try to execute it, Rviz shows a "failed" message and in the terminal output I can read : Failed to validate trajectory: couldn't receive full current joint state within 1s I also tried to use MoveIt! through the Python interface but when I execute the following : import sys import copy import rospy import moveit_commander import moveit_msgs.msg import geometry_msgs.msg from std_msgs.msg import String moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('move_group_python_interface_tutorial', anonymous=True) robot = moveit_commander.RobotCommander() scene = moveit_commander.PlanningSceneInterface() group = moveit_commander.MoveGroupCommander("right_arm") display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=20) print "============ Reference frame: %s" % group.get_planning_frame() print "============ End effector: %s" % group.get_end_effector_link() print "============ Robot Groups:" print robot.get_group_names() print "============ Printing robot state" print robot.get_current_state() print "============" ... I get something like : ============ Reference frame: /base ============ End effector: right_hand ============ Robot Groups: ['right_arm'] ============ Printing robot state [ WARN] [1526377733.002742750]: Joint values for monitored state are requested but the full state is not known joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base" name: [right_j0, head_pan, right_j1, right_j2, right_j3, right_j4, right_j5, right_j6] position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base" joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False ============ This is basically the same problem as in this ROS Q&A question : MoveIt: troubles with joint values Unfortunately this question did not get any useful answer. The weird thing is that the joint state is actually published, when I echo the /robot/joint_states topic I can see the values being updated : header: seq: 600867 stamp: secs: 1526364559 nsecs: 890697828 frame_id: '' name: [head_pan, right_j0, right_j1, right_j2, right_j3, right_j4, right_j5, right_j6, torso_t0] position: [-4.0742021484375, -0.2243544921875, -1.1203125, 0.4582724609375, 2.05134375, -0.29490625, 0.69954296875, -4.114162109375, 0.0] velocity: [-0.001, -0.001, -0.001, -0.001, -0.001, -0.001, -0.001, -0.001, 0.0] effort: [-0.012, 0.052, -20.068, -1.06, -5.996, 0.572, 0.104, -0.284, 0.0] And when I query informations about the /robot/joint_states topic, I can see that both the /realtime_loop and /move_group nodes are publishing/subscribing to it : Type: sensor_msgs/JointState Publishers: * /realtime_loop (http://192.168.212.60:42358/) Subscribers: * /robot_state_publisher (http://192.168.212.60:38760/) * /robot/environment_server (http://192.168.212.60:59368/) * /calibrate_arm (http://192.168.212.60:57953/) * /PositionKinematicsNode_right (http://192.168.212.60:56399/) * /JointMotionPathNode_right (http://192.168.212.60:58612/) * /motion_controller (http://192.168.212.60:37187/) * /sdk_position_w_id_joint_trajectory_action_server_right (http://192.168.212.160:37229/) * /move_group (http://192.168.212.160:43623/) Any idea of what is going on or how I can further investigate the error ? Thanks for your help.
  6. Hello Sawyer Team, I was trying to learn how to use MoveIt. I followed the tutorial of MoveIt and tried to rosrun the joint_trajectory_action_server.py, then open Rviz, but it appeared that the joint_trajectory_action_server couldn't be executed successfully. Few errors were reported, please see the attachments. If I directly open Rviz, then it showed the library is not loaded in. I thought the file has error, so I tried to download some Moveit packages from online resources like Github, but don't know how to apply them and I am not sure they will work or not. This is the main issue I have. Back to the beginning of this tutorial, during I was trying to install MoveIt and run the update code, I also encountered few errors. So I am thinking if they are associated with the problem I had with trajectory file. I skipped them at the beginning. These errors happened when I ran "apt_get update" and "wstool update". Please see the last two attachments. Please post comments if you know what cause these issues and how to fix. Thanks a lot for the help!!! Sincerely, Junchao Li
  7. Hello, I installed MoveIt for Sawyer using the tutorial on your website (http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial). Everything works well, except that the PlanningScene (octomap) isn't displayed. I just modified the default camera transform (in sawyer_moveit.launch) to: <arg name="camera_link_pose" default="1.63370914 0.18878118 0.83806239 -2.458593673374903 0.33172728805592044 -0.0750022861088028"/> Then to launch MoveIt, I just: - rosrun intera_interface joint_trajectory_action_server.py in a SDK terminal session - roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true in another SDK terminal session Here is a capture of Rviz (Nothing is published on the Planning Scene Topic): Here is what I have in the terminal: ~/ros_ws$ roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true ... logging to /home/sawyer/.ros/log/33db5810-3ace-11e7-860e-1866da494b18/roslaunch-sawyer-HP-Compaq-Pro-6300-SFF-20862.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://169.254.5.155:38982/ SUMMARY ======== PARAMETERS * /move_group/allow_trajectory_execution: True * /move_group/allowed_execution_duration_scaling: 1.2 * /move_group/allowed_goal_duration_margin: 0.5 * /move_group/camera/camera_nodelet_manager/num_worker_threads: 4 * /move_group/camera/depth_rectify_depth/interpolation: 0 * /move_group/camera/depth_registered_rectify_depth/interpolation: 0 * /move_group/camera/disparity_depth/max_range: 4.0 * /move_group/camera/disparity_depth/min_range: 0.5 * /move_group/camera/disparity_registered_hw/max_range: 4.0 * /move_group/camera/disparity_registered_hw/min_range: 0.5 * /move_group/camera/disparity_registered_sw/max_range: 4.0 * /move_group/camera/disparity_registered_sw/min_range: 0.5 * /move_group/camera/driver/data_skip: 0 * /move_group/camera/driver/debug: False * /move_group/camera/driver/depth_camera_info_url: * /move_group/camera/driver/depth_frame_id: camera_depth_opti... * /move_group/camera/driver/depth_registration: False * /move_group/camera/driver/device_id: #1 * /move_group/camera/driver/diagnostics_max_frequency: 30.0 * /move_group/camera/driver/diagnostics_min_frequency: 30.0 * /move_group/camera/driver/diagnostics_tolerance: 0.05 * /move_group/camera/driver/diagnostics_window_time: 5.0 * /move_group/camera/driver/enable_depth_diagnostics: False * /move_group/camera/driver/enable_ir_diagnostics: False * /move_group/camera/driver/enable_rgb_diagnostics: False * /move_group/camera/driver/rgb_camera_info_url: * /move_group/camera/driver/rgb_frame_id: camera_rgb_optica... * /move_group/capabilities: move_group/MoveGr... * /move_group/controller_list: [{'default': True... * /move_group/controller_manager_name: simple_controller... * /move_group/head/planner_configs: ['SBLkConfigDefau... * /move_group/jiggle_fraction: 0.05 * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/move_group/octomap_frame: camera_link * /move_group/move_group/octomap_resolution: 0.02 * /move_group/move_group/point_subsample: 1 * /move_group/move_group/sensors: [{'max_range': 5.... * /move_group/moveit_controller_manager: moveit_simple_con... * /move_group/moveit_manage_controllers: True * /move_group/octomap_resolution: 0.025 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar * /move_group/planner_configs/SBLkConfigDefault/range: 0.0 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT * /move_group/planning_plugin: ompl_interface/OM... * /move_group/planning_scene_monitor/publish_geometry_updates: True * /move_group/planning_scene_monitor/publish_planning_scene: True * /move_group/planning_scene_monitor/publish_state_updates: True * /move_group/planning_scene_monitor/publish_transforms_updates: True * /move_group/request_adapters: default_planner_r... * /move_group/right_arm/planner_configs: ['SBLkConfigDefau... * /move_group/start_state_max_bounds_error: 0.1 * /move_group/use_controller_manager: True * /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/head/kinematics_solver_attempts: 3 * /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/head/kinematics_solver_timeout: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/right_arm/kinematics_solver_attempts: 10 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005 * /robot_description_planning/joint_limits/right_j0/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j0/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j0/max_acceleration: 3.5 * /robot_description_planning/joint_limits/right_j0/max_velocity: 0.88 * /robot_description_planning/joint_limits/right_j1/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j1/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j1/max_acceleration: 2.5 * /robot_description_planning/joint_limits/right_j1/max_velocity: 0.678 * /robot_description_planning/joint_limits/right_j2/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j2/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j2/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j2/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j3/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j3/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j3/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j3/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j4/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j4/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j4/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j4/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j5/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j5/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j5/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j5/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j6/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j6/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j6/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j6/max_velocity: 2.316 * /robot_description_semantic: <?xml version="1.... * /rosdistro: indigo * /rosversion: 1.11.21 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver: kdl_kinematics_pl... * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_attempts: 3 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_search_resolution: 0.005 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_timeout: 0.005 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_attempts: 10 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_search_resolution: 0.005 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_timeout: 0.005 NODES /move_group/camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_metric (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) /move_group/ camera_base_link (tf/static_transform_publisher) camera_base_link1 (tf/static_transform_publisher) camera_base_link2 (tf/static_transform_publisher) camera_base_link3 (tf/static_transform_publisher) camera_link_broadcaster (tf/static_transform_publisher) / move_group (moveit_ros_move_group/move_group) rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334 (rviz/rviz) ROS_MASTER_URI=http://021611CP00073.local:11311 core service [/rosout] found process[move_group/camera/camera_nodelet_manager-1]: started with pid [20874] process[move_group/camera/driver-2]: started with pid [20875] process[move_group/camera/rgb_debayer-3]: started with pid [20876] process[move_group/camera/rgb_rectify_mono-4]: started with pid [20877] process[move_group/camera/rgb_rectify_color-5]: started with pid [20878] process[move_group/camera/ir_rectify_ir-6]: started with pid [20879] process[move_group/camera/depth_rectify_depth-7]: started with pid [20883] process[move_group/camera/depth_metric_rect-8]: started with pid [20890] process[move_group/camera/depth_metric-9]: started with pid [20891] process[move_group/camera/depth_points-10]: started with pid [20902] process[move_group/camera/register_depth_rgb-11]: started with pid [20906] process[move_group/camera/points_xyzrgb_sw_registered-12]: started with pid [20907] process[move_group/camera/depth_registered_sw_metric_rect-13]: started with pid [20919] process[move_group/camera/depth_registered_rectify_depth-14]: started with pid [20923] process[move_group/camera/points_xyzrgb_hw_registered-15]: started with pid [20926] [ INFO] [1495016462.598547792]: Initializing nodelet with 4 worker threads. process[move_group/camera/depth_registered_hw_metric_rect-16]: started with pid [20927] process[move_group/camera/depth_registered_metric-17]: started with pid [20941] process[move_group/camera/disparity_depth-18]: started with pid [20946] process[move_group/camera/disparity_registered_sw-19]: started with pid [20948] process[move_group/camera/disparity_registered_hw-20]: started with pid [20952] process[move_group/camera_base_link-21]: started with pid [20953] process[move_group/camera_base_link1-22]: started with pid [20965] process[move_group/camera_base_link2-23]: started with pid [20969] process[move_group/camera_base_link3-24]: started with pid [20980] process[move_group/camera_link_broadcaster-25]: started with pid [20984] process[move_group-26]: started with pid [20986] process[rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334-27]: started with pid [20993] [ INFO] [1495016462.693509168]: Number devices connected: 1 [ INFO] [1495016462.693602953]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00366907653103A' [ INFO] [1495016462.694673734]: Searching for device with index = 1 (rviz:20993): Gtk-WARNING **: Unable to locate theme engine in module_path: "adwaita", [ INFO] [1495016462.750378327]: rviz version 1.11.15 [ INFO] [1495016462.750424452]: compiled against Qt version 4.8.6 [ INFO] [1495016462.750436423]: compiled against OGRE version 1.8.1 (Byatis) [ INFO] [1495016462.778280205]: Starting a 3s RGB and Depth stream flush. [ INFO] [1495016462.778359537]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'A00366907653103A' [ INFO] [1495016462.779418408]: Loading robot model 'sawyer'... [ INFO] [1495016462.859296395]: Stereo is NOT SUPPORTED [ INFO] [1495016462.859370647]: OpenGl version: 3 (GLSL 1.3). [ WARN] [1495016462.895187551]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1. [ INFO] [1495016462.938451761]: Loading robot model 'sawyer'... [ INFO] [1495016462.996939730]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1495016463.005977717]: MoveGroup debug mode is ON Starting context monitors... [ INFO] [1495016463.006036440]: Starting scene monitor [ INFO] [1495016463.016688848]: Listening to '/planning_scene' [ INFO] [1495016463.016734632]: Starting world geometry monitor [ INFO] [1495016463.025046719]: Listening to '/collision_object' using message notifier with target frame '/base ' [ INFO] [1495016463.033351917]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1495016463.062230866]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1495016463.110704157]: Initializing OMPL interface using ROS parameters [ INFO] [1495016463.159454318]: Using planning interface 'OMPL' [ INFO] [1495016463.189799983]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1495016463.192609516]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1495016463.195020096]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1495016463.197465266]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1495016463.201089427]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1495016463.203597709]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1495016463.203654817]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1495016463.203682529]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1495016463.203711417]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1495016463.203723132]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1495016463.203761613]: Using planning request adapter 'Fix Start State Path Constraints' [ WARN] [1495016463.215644770]: Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ WARN] [1495016463.217830741]: Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ INFO] [1495016463.481330910]: Added FollowJointTrajectory controller for /robot/limb/right [ INFO] [1495016463.481450028]: Returned 1 controllers in list [ INFO] [1495016463.516304840]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1495016463.767432287]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1495016463.767507058]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1495016463.767531704]: MoveGroup context initialization complete All is well! Everyone is happy! You can start planning now! [ INFO] [1495016463.848688873]: rgb_frame_id = 'camera_rgb_optical_frame' [ INFO] [1495016463.848798099]: depth_frame_id = 'camera_depth_optical_frame' [ WARN] [1495016463.876687681]: Camera calibration file /home/sawyer/.ros/camera_info/rgb_A00366907653103A.yaml not found. [ WARN] [1495016463.876777590]: Using default parameters for RGB camera calibration. [ WARN] [1495016463.876814517]: Camera calibration file /home/sawyer/.ros/camera_info/depth_A00366907653103A.yaml not found. [ WARN] [1495016463.876862956]: Using default parameters for IR camera calibration. [ INFO] [1495016465.779364068]: Stopping device RGB and Depth stream flush. [ INFO] [1495016466.428636329]: Loading robot model 'sawyer'... [ INFO] [1495016466.532779604]: Loading robot model 'sawyer'... [ INFO] [1495016466.585212741]: Starting scene monitor [ INFO] [1495016466.592453780]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1495016467.461837577]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. [ INFO] [1495016467.469390902]: Constructing new MoveGroup connection for group 'right_arm' in namespace '' [ INFO] [1495016468.301998541]: TrajectoryExecution will use old service capability. [ INFO] [1495016468.302066666]: Ready to take MoveGroup commands for group right_arm. [ INFO] [1495016468.302105415]: Looking around: no [ INFO] [1495016468.302133111]: Replanning: no I suspect this line to cause a problem with the self filtering: [ INFO] [1495016467.461837577]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. Did you ever succeed using a Kinect with Sawyer and MoveIt before ? Could you help me with this problem ? Thanks in advance !
  8. Hi everyone, My group is working on a human-robot collaboration project. We are trying to use a Microsoft Xbox 360 Kinect with the Sawyer robot. The Kinect is functioning properly and, in fact, when we run roslaunch sawyer_moveit_config sawyer_moveit.launch Kinect:=true electric_gripper:=true, it brings up Rviz and we can visualize the point-cloud generated by the Kinect. However, the octomap does not show up in Rviz. We tried to remove the name space “move_group” in the “sawyer_moveit_sensor_manager.launch.xml” under “moveit_sawyer_config” directory as suggested by this thread: https://groups.google.com/forum/#!topic/moveit-users/Fz-Hxhjr5zI. It didn’t work for us. Next, we looked on the Baxter Research Robot Community forum and found similar, if not identical questions, that were asked back in 2013. The supposed issue is that clock time on the robot computer and time on my development PC are desynchronized. (as suggested by this thread: https://groups.google.com/a/rethinkrobotics.com/forum/#!searchin/brr-users/lookup$20would$20require/brr-users/9z3h8etJkp0/Pkn4p-J0t3gJ). When we run the launch file, we get the warning: [ WARN ] [1499805321.709597996]: Unable to transform object from frame ‘camera_link’ to planning frame ‘/base’ (Lookup would require extrapolation into the past. Requested time 1499805321.720482463 but the earliest data is at time 1499805348.802233425, when looking up transform from frame [camera_link] to frame [base]) Also mentioned in the thread, there was a patch released to fix this issue. However, our softwares are up to date on both the robot computer and our development PC and we are still having this clock desynchronization issue. We are out of ideas as to how to fix this problem. Could anyone please give us some guidance with this issue? Thanks in advance for the help. Bruce