PR2 planning_component_visualizer

asked 2011-10-10 02:06:40 -0500

Lorenzo Riano
1342 ●26 ●34 ●50 http://www.eecs.berkel...

updated 2014-11-22 17:05:07 -0500

ngrennan
1 ●1 ●1

I am trying to run the planning component visualizer on a PR2. I couldn't find a PR2 specific tutorial, so I tried to follow the guidelines on this tutorial. I have a launch file that reads:

<launch>
    <include file="$(find planning_environment)/launch/planning_environment_visualization_prerequisites.launch" />
    <node pkg="rviz" type="rviz" name="rviz_planning_components" args="-d $(find a-custom-location)/config/planning_components_visualizer.vcg" />
    <node pkg="move_arm" type="planning_components_visualizer" name="planning_components_visualizer" output="screen" />
</launch>

However the node planning_components_visualizer hangs with the message:

waitForService: Service [/pr2_left_arm_cartesian_kinematics/get_constraint_aware_ik] has not been advertised, waiting...

I couldn't find a launch file for this service. Could anybody tell me how to launch the component visualizer on the PR2?

answered 2011-10-10 04:47:06 -0500

egiljones
2026 ●5 ●18 ●36

updated 2011-10-10 04:48:02 -0500

Lorenzo,

The planning_components_visualizer is meant to be run in concert with the Arm Navigation Wizard, which will auto-generate all the necessary launch files - they get pretty complicated and will be painful to generate by hand. If you want to use it with the PR2 I'd recommend running this tutorial - Arm Navigation Wizard - it will tell you how to run it will a copy of the PR2 urdf, and you'll get an auto-generated application that will contain a planning_components_visualizer, as well as an rviz config. You can then also, with a bit of additional work, use the warehouse viewer, which is substantially more general and powerful than the planning_components_visualizer.

Note that by running the tutorial your application will contain a KDL-based numeric IK solver which is not as fast as the PR2 custom solver. You can replace the solver by changing the kinematics solver in your autogenerated constraint_aware_kinematics.launch file from "arm_kinematics_constraint_aware/KDLArmKinematicsPlugin" to "pr2_arm_kinematics/PR2ArmKinematicsPlugin" .

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Thank for your answer. I started with the wizard first, and taken away bits that are already implemented on the PR2. I guess it wasn't enough. I still don't know what node provides the cartesian_kinematics. Do you know what on the PR2 provides this service?

Lorenzo Riano ( 2011-10-10 06:35:06 -0500 )edit

Ah - I didn't realize you were launching this along side a bunch of other components. So the problem is that in pr2_arm_navigation/pr2_arm_navigation_config/pr2_planning_description.yaml there are groups defined for right_arm_cartesian and left_arm_cartesian - you can safely delete these, and things should work. I will likely do a release with them deleted once I ascertain that it doesn't break anything.

egiljones ( 2011-10-10 07:03:04 -0500 )edit

Ok, removing the cartesian groups solved the problem, thanks.

Lorenzo Riano ( 2011-10-10 23:20:01 -0500 )edit

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