ROS MoveIt! move_group.launch

asked 2015-06-12 10:47:23 -0500

TkrA
45 ●7 ●8 ●12

updated 2015-06-13 11:14:47 -0500

When i try to run, the original move_group.launch file, generated by MoveIt!, i get the following error:

auto-starting new master
process[master]: started with pid [25531]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to aea97446-1118-11e5-a1c4-14feb5ae1f20
process[rosout-1]: started with pid [25544]
started core service [/rosout]
process[move_group-2]: started with pid [25561]
[ERROR] [1434123343.429734522]: Robot model not loaded
terminate called after throwing an instance of 'ros::InvalidNameException'
what():  Character [_] is not valid as the first character in Graph Resource Name                    [_planning/shape_transform_cache_lookup_wait_time].  
Valid characters are a-z, A-Z, / and in some cases ~.
[move_group-2] process has died [pid 25561, exit code -6, cmd /home/***/moveit/devel/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/***/.ros/log/aea97446-1118-11e5-  a1c4-14feb5ae1f20/move_group-2.log].
log file: /home/***/.ros/log/aea97446-1118-11e5-a1c4-14feb5ae1f20/move_group-2*.log

Google has no idea, I have no idea what could be the problem:)

<include file="$(find torobot_moveit_final)/launch/planning_context.launch" /> Is included in the beginning of the launch file, which loads the robot model.

Comments

This seems to be the problem: [ERROR] [1434123343.429734522]: Robot model not loaded

dornhege ( 2015-06-12 10:52:14 -0500 )edit

i just edited the post, i have the include in the beginning of the launch file. It is strange, because i didn't edited the file, it was generated by MoveIt! still, isn't working.

TkrA ( 2015-06-12 11:06:08 -0500 )edit

IT seems like some prefix like your robot name or something is missing.

dornhege ( 2015-06-12 11:35:38 -0500 )edit

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answered 2015-06-13 01:54:04 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

move_group.launch does not load the URDF itself, it uses planning_context.launch for that (from move_group.launch):

<include file="$(find your_moveit_config)/launch/planning_context.launch" />

But, planning_context.launch only loads the URDF if load_robot_description is true:

<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="/path/to/your.urdf"/>

and by default, load_robot_description is false, so planning_context.launch doesn't load it.

If you look in demo.launch, you'll see this:

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find your_moveit_config)/launch/planning_context.launch">
  <arg name="load_robot_description" value="true" />
</include>

and finally:

<!-- Run the main MoveIt executable [..] -->
<include file="$(find your_moveit_config)/launch/move_group.launch">
  ...
</include>

So you'll have to set load_robot_description to true before you start move_group.launch. Whether you do that using rosparam set .. or by using the structure of demo.launch is up to you.

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Comments

I just edited the move_group.launch file:

  <include file="$(find torobot_moveit_final)/launch/planning_context.launch">
  <arg name="load_robot_description" value="true" />
  </include>

TkrA ( 2015-06-13 04:23:46 -0500 )edit

But now it gives the following error message:

[FATAL] [1434187128.984235619]: Parameter '~moveit_controller_manager' not specified. This is  needed to identify the plugin to use for interacting with controllers. No paths can be executed.

TkrA ( 2015-06-13 04:24:38 -0500 )edit

Look at what demo.launch does with move_group.launch. There is much more going on than simply setting load_robot_description.

gvdhoorn ( 2015-06-13 05:42:42 -0500 )edit

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ROS MoveIt! move_group.launch

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