moveit setup show no active joints or end effectors found for group ''
I forked ROS packages from ROS-I/universal_robot. And I follow Moveit Setup Assistant Tutorial. After setup Moveit config, I got a demo.launch
file, then
roslaunch ur5_grasp_moveit_config demo.launch
I got the following errors, and the rviz
did not show any interactive markers
.
[ INFO] [1505957647.779692210]: Fake controller 'fake_ur5manipulator_controller' with joints [ shoulder_pan_joint shoulder_lift_joint elbow_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ INFO] [1505957647.788025775]: Fake controller 'fake_gripper_controller' with joints [ bh_j11_joint bh_j12_joint bh_j22_joint bh_j32_joint ]
[ INFO] [1505957647.796457498]: Fake controller 'fake_moveit_ee_controller' with joints [ ]
[ INFO] [1505957647.807434551]: Returned 3 controllers in list
[ INFO] [1505956629.889136115]: Loading robot model 'ur5'...
[ WARN] [1505956629.889226914]: Skipping virtual joint 'virtual_joint' because its child frame 'box_fixed_link' does not match the URDF frame 'world'
[ INFO] [1505956631.143209340]: 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.
[ INFO] [1505956631.143508371]: No active joints or end effectors found for group 'gripper'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1505956631.212833955]: No active joints or end effectors found for group 'gripper'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1505956631.213958002]: Constructing new MoveGroup connection for group 'gripper' in namespace ''
[ INFO] [1505956633.034567194]: Ready to take commands for planning group gripper.
It seems that I got a group named '', it's so strange!
I make a robot using a fixed box as the human-like truck, a UR5 robot arm and a Kinect as human-like eyes.
My URDF model please see here
My SRDF file is here.
And I can't find a way to debug it.
My system configuration:
Ubuntu: 16.04
ROS: kinetic
Moveit: 0.9.9-Alpha
Any help will be appreciated!
Asked by Jack Liu on 2017-09-20 21:40:12 UTC
Comments
I don't see the error list. Are you able to post a link to your actual URDF?
Asked by andymcevoy on 2017-10-02 00:41:14 UTC
please see my post here https://github.com/jacknlliu/development-issues/issues/1.
Asked by Jack Liu on 2017-10-02 23:22:11 UTC
@Jack Liu: please include all images directly in your post. I've given you enough karma to do that. Off-site images will disappear at some point in the future, decreasing the value of this question (and it's answers) for future readers.
Thanks.
Asked by gvdhoorn on 2017-10-03 03:01:03 UTC
See if my answer here solves your problem
Asked by Rufus on 2022-04-27 13:37:45 UTC