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When I start the planning _and_execution.launch, there was something output like this:

OSError: [Errno 13] Permission denied: '/home/shantengfei/catkin_ws/src/jaka_ur_moveit_config/default_warehouse_mongo_db'
[..]

and

Here is the output of ls -al /home/shantengfei/catkin_ws/src/jaka_ur_moveit_config

drwxr-xr-x 4 root        root        4096 10月 16 10:00 .
[..]

it would appear you've most likely have either changed the permissions on these folders and made them owned bt root, or have run the MoveIt Setup Assistant as root (with sudo perhaps).

If you now try to start demo.launch or moveit_planning_execution.launch, the Mongo DB will try to create the necessary files in a directory owned by root. As your regular user (shantengfei) does not have permissions to do that, you receive a OSError: Permission denied.

Easiest is most likely to change the owner of the affected folders and files. For that, try:

chown -R shantengfei: /home/shantengfei/catkin_ws/src/jaka_ur_moveit_config

Note the semicolon (:) and I've assumed that your username is shantengfei. If it isn't, please use the correct username.

And it's probably not necessary, but just in case: remove the devel and build folders from your workspace and build it again.

From:

When I start the planning _and_execution.launch, there was something output like this:

OSError: [Errno 13] Permission denied: '/home/shantengfei/catkin_ws/src/jaka_ur_moveit_config/default_warehouse_mongo_db'
[..]

and

Here is the output of ls -al /home/shantengfei/catkin_ws/src/jaka_ur_moveit_config

drwxr-xr-x 4 root        root        4096 10月 16 10:00 .
[..]

it would appear you've most likely have either changed the permissions on these folders and made them owned bt root, or have run the MoveIt Setup Assistant as root (with sudo perhaps).

If you now try to start demo.launch or moveit_planning_execution.launch, the Mongo DB will try to create the necessary files in a directory owned by root. As your regular user (shantengfei) does not have permissions to do that, you receive a OSError: Permission denied.

Easiest is most likely to change the owner of the affected folders and files. For that, try:

chown -R shantengfei: /home/shantengfei/catkin_ws/src/jaka_ur_moveit_config

Note the semicolon (:) and I've assumed that your username is shantengfei. If it isn't, please use the correct username.

And it's probably not necessary, but just in case: remove the devel and build folders from your workspace and build it again.

From:

When I start the planning _and_execution.launch, there was something output like this:

OSError: [Errno 13] Permission denied: '/home/shantengfei/catkin_ws/src/jaka_ur_moveit_config/default_warehouse_mongo_db'
[..]

and

Here is the output of ls -al /home/shantengfei/catkin_ws/src/jaka_ur_moveit_config

drwxr-xr-x 4 root        root        4096 10月 16 10:00 .
[..]

it would appear you've most likely either changed the permissions on these folders and made them owned bt by root, or have run the MoveIt Setup Assistant as root (with sudo perhaps).

If you now try to start demo.launch or moveit_planning_execution.launch, the Mongo DB will try to create the necessary files in a directory owned by root. As your regular user (shantengfei) does not have permissions to do that, you receive a OSError: Permission denied.

Easiest is most likely to change the owner of the affected folders and files. For that, try:

chown -R shantengfei: /home/shantengfei/catkin_ws/src/jaka_ur_moveit_config

Note the semicolon (:) and I've assumed that your username is shantengfei. If it isn't, please use the correct username.

And it's probably not necessary, but just in case: remove the devel and build folders from your workspace and build it again.