Arunava Nag Posted September 21, 2017 Share Posted September 21, 2017 Do we have demos in C++ for Sawyer? Especially by using the MoveIt. Link to comment Share on other sites More sharing options...
Arunava Nag Posted September 21, 2017 Author Share Posted September 21, 2017 Some issues with moveit and sawyer. When i use the rviz gui, I can plan and get it to execute anything, it always shows failed. I have followed the tutorial here. I am attaching screen shots. In my terminal where I have launched the sawyer_moveit.launch I get these errors, where the motion libraries fail to make any plans. I don't see any reason for failure. However, if I move the robot manually and then update in my moveit rviz plugin it is able to get the new current state, which means it can communicate properly and also getting the right model. [ INFO] [1505961916.667357671]: Planner configuration 'right_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ WARN] [1505961916.667939775]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.668017335]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.668054340]: RRTConnect: Skipping invalid start state (invalid state) [ WARN] [1505961916.668107652]: RRTConnect: Skipping invalid start state (invalid state) [ WARN] [1505961916.668252780]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.668335750]: RRTConnect: Motion planning start tree could not be initialized! [ERROR] [1505961916.668482475]: RRTConnect: Motion planning start tree could not be initialized! [ERROR] [1505961916.668549402]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.668617261]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000981 seconds [ WARN] [1505961916.668731782]: RRTConnect: Skipping invalid start state (invalid state) [ WARN] [1505961916.668761186]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.668789237]: RRTConnect: Motion planning start tree could not be initialized! [ERROR] [1505961916.668858412]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.668881027]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.668905397]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.668963676]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.6690155 71]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.669040041]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000321 seconds [ WARN] [1505961916.669129654]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.669153470]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.669213097]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.669275733]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.669304528]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000186 seconds [ WARN] [1505961916.677427348]: Goal sampling thread never did any work. [ INFO] [1505961916.677537430]: Unable to solve the planning problem [ WARN] [1505961916.689782603]: Fail: ABORTED: No motion plan found. No execution attempted. [ WARN] [1505961922.792857952]: Failed to fetch current robot state. Link to comment Share on other sites More sharing options...
Arunava Nag Posted September 21, 2017 Author Share Posted September 21, 2017 Some more issues. I tried getting the sawyer joint values using moveit using the sawyer model. I am using planning_context.launch and kinematics.yaml i am thrown this error, it seems it can't find one joint: core service [/rosout] found process[get_joint_value-1]: started with pid [29586] [ INFO] [1505987860.528420052]: Loading robot model 'sawyer'... [ INFO] [1505987860.626946087]: Loading robot model 'sawyer'... [ INFO] [1505987860.630467442]: Model frame: /base [ INFO] [1505987860.630508969]: Joint right_j0: 0.000000 [ INFO] [1505987860.630531864]: Joint right_j1: 0.000000 [ INFO] [1505987860.630545672]: Joint right_j2: 0.000000 [ INFO] [1505987860.630561089]: Joint right_j3: 0.000000 [ INFO] [1505987860.630574145]: Joint right_j4: 0.000000 [ INFO] [1505987860.630591775]: Joint right_j5: 0.000000 [ INFO] [1505987860.630604603]: Joint right_j6: 0.000000 [ INFO] [1505987860.630668234]: Current state is valid [ INFO] [1505987860.630685078]: Current state is valid [ERROR] [1505987860.630718979]: Link 'r_wrist_roll_link' not found in model 'sawyer' [get_joint_value-1] process has died [pid 29586, exit code -11, cmd /home/artc/catkin_ws/devel/lib/sawyer_interface/sw_node __name:=get_joint_value __log:=/home/artc/.ros/log/fe21adee-9eb1-11e7-8bb9-34e6d73f4508/get_joint_value-1.log]. log file: /home/artc/.ros/log/fe21adee-9eb1-11e7-8bb9-34e6d73f4508/get_joint_value-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete Link to comment Share on other sites More sharing options...
Arunava Nag Posted October 4, 2017 Author Share Posted October 4, 2017 Is there any update on this? Link to comment Share on other sites More sharing options...
Brad Hayes Posted November 15, 2017 Share Posted November 15, 2017 I have the same issue. The robot seems to be in constant self-collision. If you look at the collision space surrounding the screen, the spherical collision space around the screen appears to be permanently crossed with the insertion joint of the arm to the main body/mount. I'll be messing with Sawyer's SRDF / configuration to see if I can remedy the situation but this is unfortunate that the tutorials are broken out of the box Link to comment Share on other sites More sharing options...
saracasao Posted February 5, 2019 Share Posted February 5, 2019 Hi! i´m trying to do motion planning pipeline but there only is tutorial in C++, Did you get some demo in c++ ? Thanks!! Link to comment Share on other sites More sharing options...
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