Error with Motoman SDA10F package

ros-industrial

asked 2015-11-29 23:31:30 -0600

jcgarciaca
67 ●23 ●27 ●29

Hello, When I try the instruction roslaunch motoman_sda10f_moveit_config moveit_planning_execution.launch sim:=true, the next errors appear

[ INFO] [1448860557.614217751]: Loading robot model 'motoman_sda10f'...
[ERROR] [1448860558.119278078]: Group 'torso' is not a chain
[ERROR] [1448860558.119350084]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'torso'
[ERROR] [1448860558.119792175]: Kinematics solver could not be instantiated for joint group torso.
[ INFO] [1448860558.126523519]: Loading robot model 'motoman_sda10f'...
[ERROR] [1448860558.572781895]: Group 'arms' is not a chain
[ERROR] [1448860558.572861970]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'arms'
[ERROR] [1448860558.573263572]: Kinematics solver could not be instantiated for joint group arms.
[ INFO] [1448860558.578935053]: Loading robot model 'motoman_sda10f'...
[ERROR] [1448860559.023278249]: Group 'sda10f' is not a chain
[ERROR] [1448860559.023357702]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'sda10f'
[ERROR] [1448860559.023930325]: Kinematics solver could not be instantiated for joint group sda10f.
[ WARN] [1448860883.486564338]: Failed to call service /get_planning_scene, have you launched move_group? at /tmp/buildd/ros-indigo-moveit-ros-planning-0.6.5-0trusty-20151112-0345/planning_scene_monitor/src/planning_scene_monitor.cpp:461
[ERROR] [1448860575.979981301]: MoveitSimpleControllerManager: Action client not connected: sda10f/sda10f_r1_controller/joint_trajectory_action
[ INFO] [1448860581.096676607]: MoveitSimpleControllerManager: Waiting for sda10f/sda10f_b1_controller/joint_trajectory_action to come up
[ INFO] [1448860586.096886543]: MoveitSimpleControllerManager: Waiting for sda10f/sda10f_b1_controller/joint_trajectory_action to come up
[ERROR] [1448860591.097130984]: MoveitSimpleControllerManager: Action client not connected: sda10f/sda10f_b1_controller/joint_trajectory_action
[ INFO] [1448860596.225098638]: MoveitSimpleControllerManager: Waiting for sda10f/sda10f_b2_controller/joint_trajectory_action to come up
[ INFO] [1448860601.225290651]: MoveitSimpleControllerManager: Waiting for sda10f/sda10f_b2_controller/joint_trajectory_action to come up

So, I can't plan trajectories.

How can I solve it?

Thank you

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Comments

I've cross-posted this to the ROS-I mailing list. In the meantime: can you tell us how you installed the package, and on what OS and ROS version?

gvdhoorn ( 2015-11-30 02:57:49 -0600 )edit

Thanks for your answer. I installed the package from source according with this link motoman_indigo, on Ubuntu 10.04.1 (trusty) with ROS Indigo.

jcgarciaca ( 2015-12-01 07:08:36 -0600 )edit

Ok. Please report this issue at the issue tracker at the motoman repository. You can just refer to your question on ROS answers here.

gvdhoorn ( 2015-12-01 07:29:24 -0600 )edit

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Thanks for your answer.

I had tried the instruction that you suggested, but it shows the errors about the robot isn't a chain. Additionally, in MoveIt I can plan just for the left robot.

And, isn't it possible to connect with the real robot?

Thank you

jcgarciaca ( 2015-12-01 14:05:11 -0600 )edit

Something must have changed in the underlying MoveIt library (or maybe it never worked). I will verify this tonight. Connecting to the real robot is possible assuming the latest driver code (indigo) is loaded. Connecting to a simulated robot is not supported.

sedwards ( 2015-12-01 14:28:11 -0600 )edit

I have verified the issue. The MoveIt configuration appears correct. I'm working to track to the cause of the issue. Thanks for reporting this.

sedwards ( 2015-12-01 21:43:34 -0600 )edit

Thanks for your help. I installed the driver one year ago, so I suppose it isn't the latest available. Could you tell me how to update it? and please let me know if you find out how to fix this problem, I am working with a robot like it. How could I try to track the cause?

jcgarciaca ( 2015-12-01 22:21:25 -0600 )edit

It turns out to not be an issue. The other planning groups can be selected under Motion Planning->Planning Request->Planning Group. Only the arms have a valid IK solver. Interactive markers won't appear for other groups. Planning can be done on other groups using "random" positions.

sedwards ( 2015-12-01 22:46:26 -0600 )edit

Thank you so much for your help. The planning in MoveIt works well, I'll try to connect with the real robot then I tell you. Thanks again.

jcgarciaca ( 2015-12-02 08:45:23 -0600 )edit

I got this:

 [ERROR] [1449332869.289388644]: Failed to parse position data from JointFeedbackMessage
    [ERROR] [1449332869.289693349]: Failed to convert SimpleMessage

jcgarciaca ( 2015-12-05 11:59:23 -0600 )edit

[ERROR] [1449332869.320907873]: Failed to copy JointData.  Len (11) out of range (0 to 10)

jcgarciaca ( 2015-12-05 12:01:26 -0600 )edit

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Error with Motoman SDA10F package

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