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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

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