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Hi all, the answer gave by Jeremy is more a suggestion than an answer, it is an issue, but it only appears at the end of performing all the planning.

So if you update the code from the training unit 3.6 to something like this one:

```

include <ros ros.h="">

include <moveit move_group_interface="" move_group.h="">

int main(int argc, char **argv) { ros::init(argc, argv, "lesson_move_group");

// start a background "spinner", so our node can process ROS messages // - this lets us know when the move is completed ros::AsyncSpinner spinner(1); spinner.start();

moveit::planning_interface::MoveGroup group("manipulator"); //group.setRandomTarget(); int count=0; while(count<2){ if(count==0){ Eigen::Affine3d pose1 = Eigen::Translation3d(0.490, -0.872, 1.176) * Eigen::Quaterniond(0.905, -0.090, 0.242, -0.339); group.setPoseTarget(pose1); group.move(); ROS_INFO("first pose published"); }else{ Eigen::Affine3d pose2 = Eigen::Translation3d(0.421, -0.312, 1.861) * Eigen::Quaterniond(0.905, -0.090, 0.242, -0.339); group.setPoseTarget(pose2); group.move(); ROS_INFO("second pose published"); }

count=count+1;

}

} ```

The error is still published, but after performing both plans, see below.

~/catkin_ws$ rosrun lesson_move_group lesson_move_group_1 terminate called after throwing an instance of 'class_loader::LibraryUnloadException' what(): Attempt to unload library that class_loader is unaware of. Aborted (core dumped)

Hi all, the answer gave given by Jeremy is more a suggestion than an answer, it is indeed an issue, issue in MoveIt, but it only appears at the end of performing all the planning.planning tasks.

So if you update the code from the training unit 3.6 to something like this one:

```

include <ros ros.h="">

include <moveit move_group_interface="" move_group.h="">

#include <ros/ros.h>    
#include <moveit/move_group_interface/move_group.h>

int main(int argc, char **argv)
{
**argv)    
{    
  ros::init(argc, argv, "lesson_move_group");

"lesson_move_group"); // start a background "spinner", so our node can process ROS messages messages // - this lets us know when the move is completed completed ros::AsyncSpinner spinner(1); spinner.start();

spinner(1); spinner.start(); moveit::planning_interface::MoveGroup group("manipulator"); //group.setRandomTarget(); group("manipulator"); //group.setRandomTarget(); int count=0; count=0; while(count<2){ if(count==0){ if(count==0){ Eigen::Affine3d pose1 = Eigen::Translation3d(0.490, -0.872, 1.176) 1.176) * Eigen::Quaterniond(0.905, -0.090, 0.242, -0.339); group.setPoseTarget(pose1); group.move(); group.setPoseTarget(pose1); group.move(); ROS_INFO("first pose published"); }else{ published"); }else{ Eigen::Affine3d pose2 = Eigen::Translation3d(0.421, -0.312, 1.861) 1.861) * Eigen::Quaterniond(0.905, -0.090, 0.242, -0.339); group.setPoseTarget(pose2); group.move(); group.setPoseTarget(pose2); group.move(); ROS_INFO("second pose published"); }

count=count+1;
published");    
    }

    count=count+1;    
  }      
}

}

} ```

The error is still published, but after performing both plans, see below.

 ~/catkin_ws$ rosrun lesson_move_group lesson_move_group_1 
[ INFO] [1459864834.040952302]: Loading robot model 'abb_irb2400'...
[ INFO] [1459864834.411154624]: Loading robot model 'abb_irb2400'...
[ INFO] [1459864835.508244424]: Ready to take MoveGroup commands for group manipulator.
[ INFO] [1459864839.172945011]: first pose published
[ INFO] [1459864841.435278706]: second pose published
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.
Aborted (core dumped)