arm_kinematics_constraint_aware waiting for environment
Hi all,
We are trying to implement a armkinematicsconstraint_aware node, following this tutorial.
We get no errors messages, but no services are being published and the following gets printed periodically:
[INFO] Waiting for environment server planning scene registration service /register_planning_scene
[INFO] waitForService: Service [/register_planning_scene] has not been advertised, waiting...
Similar problems have been posted before (eg. here and here), and making sure JointState is being published for all joints seem to solve the problem for most people. Unfortunately, not in our case...
Here's an overview of our setup:
ROS Fuerte with Ubuntu 12.04.
Parameters set on rosparam server in robotdescriptionplanning namespace:
multi_dof_joints:
- name: world_joint
type: Fixed
parent_frame_id: world
child_frame_id: world
groups:
- name: rbase
joints:
- base_joint
links:
- world
- base_link
- name: arm
joints:
- A1
- A2
- A3
- A4
- A5
- A6
- A6-TOOL
links:
- A1
- A2
- A3
- A4
- A5
- A6
- TOOL
default_collision_operations:
- object1: TOOL
object2: A1
operation: enable
Parameters set in examplearmkinematics namespace (example_kinematics.yaml):
arm:
tip_name: TOOL
root_name: base_link
kinematics_solver: arm_kinematics_constraint_aware/KDLArmKinematicsPlugin
use_collision_map: false
collision_map_safety_timeout: 10000.0
joint_states_safety_timeout: 1.0
tf_safety_timeout: 10.0
default_robot_padding: 0.02
link_padding:
- link: arm
padding: .02
/robot_description is loaded using an urdf model.
The launch file we are using looks like this:
<launch>
<node pkg="arm_kinematics_constraint_aware" type="arm_kinematics_constraint_aware" name="example_arm_kinematics" output="screen">
<rosparam command="load" file="$(find collision_test)/example_kinematics.yaml" />
</node>
</launch>
Following joints are being published in a JointState message (0 values for fixed joints):
["world_joint", "base_joint", "A1", "A2", "A3", "A4", "A5", "A6", "A6-TOOL"]
Any ideas would be greatly appreciated!
Thanks in advance,
Eli
Asked by ereekmans on 2013-05-21 11:17:33 UTC
Comments