Robotics StackExchange | Archived questions

MoveIt/Rviz plan and execute

Hello All,

I have spent the last couple weeks getting familiar with MoveIt and Rviz and here is where I am at. I can successfully load my robot model into Rviz and plan & execute an action. However, before reaching the goal position there is a lot of extra, unnecessary motions. I have a hunch it has to do with two errors I get upon launching moveit_planning_execution.launch

The first: 

ERROR: cannot launch node of type [industrial_robot_client/joint_trajectory_action]: can't locate node [joint_trajectory_action] in package [industrial_robot_client]

If I source the setup.bash then I can use rosrun and execute the joint_trajectory_action and industrial_robot_simulator files solo without any errors, but I cannot source the setup.bash and re-execute the moveit_planning_execution.launch.

The second:

[FATAL] [1443558286.149773220]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed.

File organization: Within the src folder of my ros workspace are industrialcorews and v068description. Within the description folder are my .stl files, moveitconfig files, and my URDF file. I modeled my controllers.yaml, fullactionserver and moveitplanningexecution from the link I mention in the last paragraph. I installed the industrialcore from Github ( https://github.com/ros-industrial/industrialcore ). Also, currently running Indigo on Ubuntu 14.04. Here is the link to my Github files ( https://github.com/fascii/denso_v068 ).

Everything from these links and other ROS resources ( http://answers.ros.org/question/192739/implement-moveit-on-real-robot/ & http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot ) worked for me up to this point. Don't necessarily need to solve this for me...a tip in the right direction and solid resource material is just as valuable to me.

Asked by fascii on 2015-09-29 17:11:49 UTC

Comments

Can you please provide some information on what pkgs you are using, where you got them from, how you installed them and what your workspace layout is? Please update your question with that information (use the edit button/link).

Asked by gvdhoorn on 2015-09-30 11:34:15 UTC

Answers

Looking at the github repo you linked, it appears you have a workspace within a workspace. While that can technically work, I'd not advise it.

Suggested layout for a new workspace:

/path/to/catkin_ws
  src
    industrial_core
      industrial_robot_client
      ..
      industrial_robot_simulator
      ..
    v068_description
      URDF
      ..
    moveit_config
      ..

Now, in a fresh terminal (make sure you have not sourced setup.bash of your old workspace), build the new workspace.

If successful, source /path/to/catkin_ws/devel/setup.bash.

If I source the setup.bash then I can use rosrun and execute the joint_trajectory_action and industrial_robot_simulator files solo without any errors, but I cannot source the setup.bash and re-execute the moveit_planning_execution.launch.

This should be sorted after you source the new workspace: all your pkgs now live in a single workspace.

The second:

[FATAL] [1443558286.149773220]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed.

I believe this could be due to the setup of your MoveIt configuration package. In particular the files in config and the denso_vs068A2-AV6-NNN-AA_moveit_controller_manager.launch.xml file. The Create a MoveIt Package for an Industrial Robot tutorial should show you how to set it up.

General comment: it is not recommended to merge your MoveIt configuration with your description package. Also, you might be interested in the wiki/denso packages. They don't use the industrial_robot_client infrastructure, but are more tailored towards using ROS with Denso robots.

Asked by gvdhoorn on 2015-10-01 06:08:31 UTC

Comments

Reorganizing my workspace was a really good start. So far I am not seeing the first error anymore. I ended up organizing my files as you suggested plus one extra step - moving the package industrial_robot_simulator from the industrial_core_ws to the src folder of my catkin_ws.

Asked by fascii on 2015-10-01 14:37:36 UTC

Will post another comment once I tackle the controller error. Thanks for the advice so far!

Asked by fascii on 2015-10-01 14:39:10 UTC

Seems I erred: the industrial_robot_client pkg is actually a sub directory of the industrial_core git repository. I've updated the layout I suggested. Doing it the other way doesn't make any sense (pkgs should not be children of each other, but siblings).

Asked by gvdhoorn on 2015-10-01 15:18:03 UTC

moving the package industrial_robot_simulator from the industrial_core_ws to the src folder of my catkin_ws

I'd recommend keeping pkgs in the catkin_ws/src folder. As to moving the industrial_robot_simulator, that will work, but is in no way needed.

Asked by gvdhoorn on 2015-10-01 15:19:11 UTC

Update: I eventually figured out that you can change the planning library with a drop-down menu, and now the simulation runs beautifully. Still I am getting the controller parameter error, but could that be due to the fact that I'm not using actual hardware yet, thus no physical controller?

Asked by fascii on 2015-10-07 13:51:04 UTC

Still I am getting the controller parameter error [..]

Make sure your MoveIt config pkg is setup correctly. The denso_vs068A2-AV6-NNN-AA_moveit_controller_manager.launch.xml fi is empty in the repository you linked. That cannot work.

Asked by gvdhoorn on 2015-10-07 14:26:39 UTC

I have since updated that xml file. I'll update the repo.

Asked by fascii on 2015-10-07 15:02:14 UTC