No multi dof joints specified [closed]

asked 2011-11-19 08:45:06 -0600

Nikkio gravatar image

I would use the ompl_ros_interface package for add a planner on my pioneer 3AT simulated on Gazebo. I follow the Beginner Tutorials inside the package and I made this p3at_description.yaml:

multi_dof_joints:
  - name: odom_joint
    type: Floating
    parent_frame_id: odom
    child_frame_id: chassis_body
groups:
  - name: robot_body
joints:
  - chassis_body
  - left_front_unit_cylinder
  - left_rear_unit_cylinder
  - right_front_unit_cylinder
  - right_rear_unit_cylinder
  - left_front_tire
  - left_rear_tire
  - right_front_tire
  - right_rear_tire
links:
  - left_front_wheel_hinge
  - left_rear_wheel_hinge
  - right_front_wheel_hinge
  - right_rear_wheel_hinge

And loaded it as server parameter by the following launch file:

<launch>
<param name="robot_description" textfile="$(find human_avoidance)/pioneer3AT.xml" /> 
<node pkg="ompl_ros_interface" type="ompl_ros" name="ompl_planning" output="screen">    
   <rosparam command="load" file="$(find human_avoidance)/p3at_planning.yaml" />
<rosparam command="load" file="$(find human_avoidance)/p3at_description.yaml" />
</node>
</launch>

After launching that I start a gazebo simulation where I spawn my pioneer3AT urdf model and create a transform between a root frame, called odom, and the base_link frame, called chassis_body. When I launch the ompl node i receive this errors:

[ WARN] [1321740761.671079439]: No multi dof joints specified, including root to world conversion
[ WARN] [1321740761.672289999]: No groups for planning specified in /robot_description_planning/groups
[ WARN] [1321740761.672403679]: Can't do anything without a root transform
[ WARN] [1321740761.674428279]: No default collision operations specified

Where am I wrong? It's a good idea using the ompl interface for this kind of stuff?Should I use other motion_planning packages for diffdrive robots? Thanks in advance! Nikkio

edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-03-11 15:51:04