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  1. 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 ( Subscribers: * /robot_state_publisher ( * /robot/environment_server ( * /calibrate_arm ( * /PositionKinematicsNode_right ( * /JointMotionPathNode_right ( * /motion_controller ( * /sdk_position_w_id_joint_trajectory_action_server_right ( * /move_group ( Any idea of what is going on or how I can further investigate the error ? Thanks for your help.