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Actually I solve this problem. The steps was:

1 - Followed Exactly this tutorial: tutorial

2 - I realized that my demo.launch provided by Moveit! Setup Assistant have those commands that are not shown in ANY tutorial:

  <!-- By default, we do not start a database (it can be large) -->
  <arg name="db" default="false" />
  <!-- Allow user to specify database location -->
  <arg name="db_path" default="$(find manipulator_h_moveit)/default_warehouse_mongo_db" />

  <!-- By default, we are not in debug mode -->
  <arg name="debug" default="false" />

  <!--
  By default, hide joint_state_publisher's GUI

  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
  The latter one maintains and publishes the current joint configuration of the simulated robot.
  It also provides a GUI to move the simulated robot around "manually".
  This corresponds to moving around the real robot without the use of MoveIt.
  -->
  <arg name="use_gui" default="false" />

  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(find manipulator_h_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
  </include>

So I copied those commands and put in my moveit_planning_execution.launch and then Works finally!