Problem with ikfast_moveit tutorial

asked 2014-04-10 07:55:52 -0600

Bastbeat

131 ●17 ●20 ●29

updated 2014-04-16 09:30:50 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

link: http://moveit.ros.org/wiki/Kinematics...

when I finish the tutorial, I try to run: "roslaunch motoman_mh5_moveit_config demo.launch" The rviz opens correctly, but then it closes and the terminal shows:

All is well! Everyone is happy! You can start planning now!

[ INFO] [1397151951.649167498]: Loading robot model 'motoman_mh5'...
[ INFO] [1397151951.649462158]: No root joint specified. Assuming fixed joint
[ INFO] [1397151952.044567779]: joint_s -2.9671 2.9671 1
[ INFO] [1397151952.044887373]: joint_l -1.1345 2.618 1
[ INFO] [1397151952.045032293]: joint_u -2.3736 4.4506 1
[ INFO] [1397151952.045166528]: joint_r -3.3161 3.3161 1
[ INFO] [1397151952.045301182]: joint_b -2.1817 2.1817 1
[ INFO] [1397151952.045439119]: joint_t -6.2831 6.2831 1
[ INFO] [1397151952.225434215]: Starting scene monitor
[ INFO] [1397151952.227811123]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1397151952.732558619]: 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.

[name_machine_15204_2001356156261009935-4] process has died [pid 15262, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d ~/catkin_workspace/src/motoman_mh5_moveit_config/launch/moveit.rviz __name:=rviz_machine_15204_2001356156261009935 __log:=~/.ros/log/e8dfae26-c0d5-11e3-9580-00216a36b28c/rviz_ismael_ThinkPad_T500_15204_2001356156261009935-4.log].
log file: ~/.ros/log/e8dfae26-c0d5-11e3-9580-00216a36b28c/rviz_machine_15204_2001356156261009935-4*.log

Update:

kinematics.yaml:

planning_group:
    kinematics_solver: motoman_mh5_planning_group_kinematics/IKFastKinematicsPlugin
    kinematics_solver_attempts: 3
    kinematics_solver_search_resolution: 0.005
    kinematics_solver_timeout: 0.005

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Comments

RViz seems to be crashing with a `SIGSEGV` (segmentation fault: -11), which can be caused by trying to access an invalid pointer fi. Is this with the IKFast plugin configured in the kinematics.yaml file?

gvdhoorn ( 2014-04-11 06:57:11 -0600 )edit

It would seem you created the MH5 IKFast plugin yourself (AFAIK ROS-Industrial does not supply an MH5 setup). It would help if you could make your pkg / code available somewhere.

gvdhoorn ( 2014-04-14 09:26:04 -0600 )edit

Which file do you need?

Bastbeat ( 2014-04-16 07:03:49 -0600 )edit

All of the pkgs that you created yourself, relating to the MH5 (so the MoveIt configuration pkg and the IKFast plugin package).

gvdhoorn ( 2014-04-16 09:26:24 -0600 )edit

Also, have you checked those logfiles? There could be something in there which could help in debugging this issue (graphics card driver failure, etc).

gvdhoorn ( 2014-04-16 09:31:43 -0600 )edit

Here, I have Upload my files: https://github.com/Bastbeat/ikfastproblem

Bastbeat ( 2014-04-16 21:21:23 -0600 )edit

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answered 2014-04-18 04:14:16 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

After taking a look at your MoveIt configuration package, it appears you have defined a planning group by selecting the Add Joints option. From your motoman_mh5.srdf file:

<group name="planning_group">
    <link name="base_link" />
    <link name="link_b" />
    ...
    <joint name="joint_s" />
    <joint name="joint_l" />
    ...
</group>

I'm not sure why (yet), but MoveIt (or RViz) doesn't seem to like that (see also ros-industrial/universal_robot#41).

If you instead define your planning group as a kinematic chain, things should work just fine. You can do this using the MoveIt Setup Assistant, or just editing your srdf directly. Something like the following should do:

<group name="planning_group">
    <chain base_link="base_link" tip_link="link_t" />
</group>

BTW: your MoveIt configuration package was missing quite a few launch files (demo.launch and move_group.launch among others). Make sure it is complete.

You also might want to rename your planning group to manipulator, which is the ROS-Industrial standard name for a planning group (see also the Create a MoveIt Package for an Industrial Robot tutorial).

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