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Moveit: Interactive markers missing

asked 2014-01-07 09:10:09 -0500

mfran89 gravatar image

updated 2014-01-28 17:05:49 -0500

ngrennan gravatar image

I am fairly new to the using Moveit (as well as ROS overall), and did the tutorial on using the setup assistant for moveit. moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start.

After successfully creating the package at the end, I then went on to run the demo.launch file that was created after creating moveit package. RVIZ came up successfully with the PR2 robot model showing. However I am unable to use the interactive markers to control the planning groups because there are no interactive markers showing. Can anyone help me understand why the interactive markers are missing?

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answered 2014-01-07 17:28:44 -0500

Fred gravatar image

Look at this: http://answers.ros.org/question/114936/interact-button-in-moveitrviz-plugin/ I think you have the same problem. Check your end effector.

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In the tutorial that I pointed out in my original question, step 8 asks to label the end effectors. I took this as defining the end effectors. So my problem still exists after the fact that I have defined my end effectors. Thank you for your suggestion.

mfran89 gravatar image mfran89  ( 2014-01-08 01:37:06 -0500 )edit

I added a comment in the link above; in my case the parent group for the eef definition was necessary.

130s gravatar image 130s  ( 2014-10-18 11:28:00 -0500 )edit
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answered 2022-04-27 13:35:24 -0500

Rufus gravatar image

updated 2022-09-24 04:54:16 -0500

There can be multiple reasons the interactive marker fails to load

Possibility 1: kinematics solver not set up correctly

In order for the interactive marker to appear, the group must have a kinematic solver attached to it.

Check your kinematics.yaml to make sure you've specified the correct group name and kinematic solver AND check log outputs to make sure there were no errors when loading the kinematic solver

If you see the following line

[kinematics_plugin_loader]: The kinematics plugin (your group name) failed to load.

you are very likely to get the No active joints or end effectors found for group error (which also directly leads to the missing interactive marker)

ref

Possibility 2: Something causing MoveIt rviz plugin to not "find" the interactive marker server

Click "Add" in the rviz display panel, select "By Topic" and add the topic /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update topic which should be of type InteractiveMarkers. The InteractiveMarker that gets added will still work correctly with the MoveIt rviz plugin

Possibility 3: Issues with FastDDS (seems more prominent in docker containers)

Try switching to CycloneDDS by following these instructions

Ref:

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This was my case, the group defined in kinematics.yaml was not correct.

hector.herrero gravatar image hector.herrero  ( 2022-05-10 01:17:39 -0500 )edit

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Asked: 2014-01-07 09:10:09 -0500

Seen: 2,806 times

Last updated: Sep 24 '22