PR2 planning_component_visualizer
I am trying to run the planning component visualizer on a PR2. I couldn't find a PR2 specific tutorial, so I tried to follow the guidelines on this tutorial. I have a launch file that reads:
<launch>
<include file="$(find planning_environment)/launch/planning_environment_visualization_prerequisites.launch" />
<node pkg="rviz" type="rviz" name="rviz_planning_components" args="-d $(find a-custom-location)/config/planning_components_visualizer.vcg" />
<node pkg="move_arm" type="planning_components_visualizer" name="planning_components_visualizer" output="screen" />
</launch>
However the node planning_components_visualizer hangs with the message:
waitForService: Service [/pr2_left_arm_cartesian_kinematics/get_constraint_aware_ik] has not been advertised, waiting...
I couldn't find a launch file for this service. Could anybody tell me how to launch the component visualizer on the PR2?