Question

Hi, I'm performing a robot arm movement to the target's position in the ROS1, noetic, and Gazebo environment to grasp the object. However, there was a problem using the moveit. The questions are as follows.

first Error

[ WARN] [1682318752.584089818, 183.506000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 183.503000 according to authority unknown_publisher
[ WARN] [1682318752.584098988, 183.506000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 183.503000 according to authority unknown_publisher
[ WARN] [1682318752.584141309, 183.506000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link at time 183.503000 according to authority unknown_publisher
[ WARN] [1682318752.584158418, 183.506000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link at time 183.503000 according to authority unknown_publisher

But it doesn't have to be so much of a concern

[ERROR] [1682319061.856444867, 8.062000000]: IK solver error code: -31
[ERROR] [1682319061.856489754, 8.062000000]: Failed to compute the IK solution for the given target pose.

[ERROR] [1682319061.851170673, 8.057000000]: Found empty JointState message

I will provide my GitHub.

https://github.com/98kje/CJU_MASTER/blob/main/SaveFile1/vuasrl_ws/src/tugcar_simulations/launch/tugcar_bringup_obstacle_moveit.launch

this part is launch (moveit and gazebo)

The main error is this phrase.

[ WARN] [1682319262.709269641, 208.409000000]: Timed out

The expected problem is

Collision problem of urdf
Increase the planning time (up to 300s if it was useless no matter how much you increase it)
Planner? (The same problem when using RRT and RRT connect)

See the code.

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/* Authors: Sachin Chitta
                        Jonathan Cacace
*/
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>

#include <moveit/move_group_interface/move_group_interface.h>

#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/DisplayTrajectory.h>

#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "move_group_interface_tutorial");
  ros::NodeHandle node_handle;  
  ros::AsyncSpinner spinner(1);
  spinner.start();

  /* This sleep is ONLY to allow Rviz to come up */
  sleep(2.0);

  // BEGIN_TUTORIAL
  // 
  // Setup
  // ^^^^^
  // 
  // The :move_group_interface:`MoveGroup` class can be easily 
  // setup using just the name
  // of the group you would like to control and plan for.
  moveit::planning_interface::MoveGroupInterface group("arm");

  // We will use the :planning_scene_interface:`PlanningSceneInterface`
  // class to deal directly with the world.
  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;  

  // (Optional) Create a publisher for visualizing plans in Rviz.
  ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
  moveit_msgs::DisplayTrajectory display_trajectory;

  // Getting Basic Information
  // ^^^^^^^^^^^^^^^^^^^^^^^^^
  //    
  // We can print the name of the reference frame for this robot.
  ROS_INFO("Reference frame: %s", group.getPlanningFrame().c_str());

  // We can also print the name of the end-effector link for this group.
  ROS_INFO("Reference frame: %s", group.getEndEffectorLink().c_str());

  // Planning to a Pose goal
  // ^^^^^^^^^^^^^^^^^^^^^^^
  // We can plan a motion for this group to a desired pose for the 
  // end-effector.
  geometry_msgs::Pose target_pose1;
  target_pose1.orientation.w = 0.726282;
  target_pose1.orientation.x= 4.04423e-07;
  target_pose1.orientation.y = -0.687396;
  target_pose1.orientation.z = 4.81813e-07;

  target_pose1.position.x = 0.0261186;
  target_pose1.position.y = 4.50972e-07;
  target_pose1.position.z = 0.573659;
  group.setPoseTarget(target_pose1);

  // Now, we call the planner to compute the plan
  // and visualize it.
  // Note that we are just planning, not asking move_group 
  // to actually move the robot.
    moveit::planning_interface::MoveGroupInterface::Plan my_plan;
    moveit::planning_interface::MoveItErrorCode success = group.plan(my_plan); 
  ROS_INFO("Visualizing plan 1 (pose goal) %s",success.val ? "":"FAILED");    

  // Sleep to give Rviz time to visualize the plan. 
    group.move();   
    // END_TUTORIAL

  ros::shutdown();  

 return 0;
}

1.The robot's urdf is a combination of Robotis' open manipulator-x and Turtlebot 3. I'm working on a moveit using only the urdf part of Robotis

However, I added a camera, but the color of Turtlebot 3 (inside Turtlebot) appears red in rviz, and the robot arm part appears orange. Still, I've seen plan and execute work well on rviz and gazebo now. However, it is a problem that does not move when applying the code.

target_pose1.orientation.w = 0.726282;
target_pose1.orientation.x= 4.04423e-07;
target_pose1.orientation.y = -0.687396;
target_pose1.orientation.z = 4.81813e-07;

I think this part is the problem.

I can't study because this part is blocked.. Is there anyone who can solve what's wrong with me

$ rostopic list
/arm_camera/depth/camera_info
/arm_camera/depth/image_raw
/arm_camera/depth/points
/arm_camera/ir/camera_info
/arm_camera/ir/image_raw
/arm_camera/ir/image_raw/compressed
/arm_camera/ir/image_raw/compressed/parameter_descriptions
/arm_camera/ir/image_raw/compressed/parameter_updates
/arm_camera/ir/image_raw/compressedDepth
/arm_camera/ir/image_raw/compressedDepth/parameter_descriptions
/arm_camera/ir/image_raw/compressedDepth/parameter_updates
/arm_camera/ir/image_raw/theora
/arm_camera/ir/image_raw/theora/parameter_descriptions
/arm_camera/ir/image_raw/theora/parameter_updates
/arm_camera/parameter_descriptions
/arm_camera/parameter_updates
/arm_camera/rgb/camera_info
/arm_camera/rgb/image_raw
/arm_camera/rgb/image_raw/compressed
/arm_camera/rgb/image_raw/compressed/parameter_descriptions
/arm_camera/rgb/image_raw/compressed/parameter_updates
/arm_camera/rgb/image_raw/compressedDepth
/arm_camera/rgb/image_raw/compressedDepth/parameter_descriptions
/arm_camera/rgb/image_raw/compressedDepth/parameter_updates
/arm_camera/rgb/image_raw/theora
/arm_camera/rgb/image_raw/theora/parameter_descriptions
/arm_camera/rgb/image_raw/theora/parameter_updates
/arm_camera/rgb/points
/attached_collision_object
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/cmd_vel
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_ros_control/pid_gains/gripper_sub/parameter_descriptions
/gazebo_ros_control/pid_gains/gripper_sub/parameter_updates
/imu
/joint_states
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/fake_controller_joint_states
/move_group/feedback
/move_group/goal
/move_group/monitored_planning_scene
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_pipelines/ompl/ompl/parameter_descriptions
/move_group/planning_pipelines/ompl/ompl/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/odom
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/recognized_object_array
/rosout
/rosout_agg
/rviz/moveit/execute
/rviz/moveit/move_marker/goal_end_effector_link
/rviz/moveit/plan
/rviz/moveit/select_planning_group
/rviz/moveit/stop
/rviz/moveit/update_custom_goal_state
/rviz/moveit/update_custom_start_state
/rviz/moveit/update_goal_state
/rviz/moveit/update_start_state
/rviz_kimjaen_275947_5389474948466575842/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_kimjaen_275947_5389474948466575842/motionplanning_planning_scene_monitor/parameter_updates
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/sequence_move_group/cancel
/sequence_move_group/feedback
/sequence_move_group/goal
/sequence_move_group/result
/sequence_move_group/status
/smart_tugcar/gazebo_ros_control/pid_gains/joint1/parameter_descriptions
/smart_tugcar/gazebo_ros_control/pid_gains/joint1/parameter_updates
/smart_tugcar/gazebo_ros_control/pid_gains/joint2/parameter_descriptions
/smart_tugcar/gazebo_ros_control/pid_gains/joint2/parameter_updates
/smart_tugcar/gazebo_ros_control/pid_gains/joint3/parameter_descriptions
/smart_tugcar/gazebo_ros_control/pid_gains/joint3/parameter_updates
/smart_tugcar/gazebo_ros_control/pid_gains/joint4/parameter_descriptions
/smart_tugcar/gazebo_ros_control/pid_gains/joint4/parameter_updates
/smart_tugcar/smart_tugcar_gripper_controller/command
/smart_tugcar/smart_tugcar_gripper_controller/follow_joint_trajectory/cancel
/smart_tugcar/smart_tugcar_gripper_controller/follow_joint_trajectory/feedback
/smart_tugcar/smart_tugcar_gripper_controller/follow_joint_trajectory/goal
/smart_tugcar/smart_tugcar_gripper_controller/follow_joint_trajectory/result
/smart_tugcar/smart_tugcar_gripper_controller/follow_joint_trajectory/status
/smart_tugcar/smart_tugcar_gripper_controller/gains/gripper/parameter_descriptions
/smart_tugcar/smart_tugcar_gripper_controller/gains/gripper/parameter_updates
/smart_tugcar/smart_tugcar_gripper_controller/state
/smart_tugcar/smart_tugcar_joint_controller/command
/smart_tugcar/smart_tugcar_joint_controller/follow_joint_trajectory/cancel
/smart_tugcar/smart_tugcar_joint_controller/follow_joint_trajectory/feedback
/smart_tugcar/smart_tugcar_joint_controller/follow_joint_trajectory/goal
/smart_tugcar/smart_tugcar_joint_controller/follow_joint_trajectory/result
/smart_tugcar/smart_tugcar_joint_controller/follow_joint_trajectory/status
/smart_tugcar/smart_tugcar_joint_controller/state
/tf
/tf_static
/trajectory_execution_event
/tugcar/laser/scan

Asked by jaeeunkim on 2023-04-24 02:10:20 UTC

Moveit operation error in temporary compensation

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