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a trouble with the training unit 3.6 from ROS-I

asked 2015-10-10 17:30:02 -0500

jaam002 gravatar image

updated 2015-10-11 02:25:37 -0500

gvdhoorn gravatar image

Hi, I'm doing the tutorials from ROS-Industrial, and i have a problem with this:

http://aeswiki.datasys.swri.edu/rosit...

In the steps 5 and 6 from the first part i Have this problem

jaam002@jaam002:~/industrial_training/training/work/3.6$ rosrun lesson_move_group lesson_move_group 
[ INFO] [1444515389.737938520]: Loading robot model 'abb_irb2400'...
[ INFO] [1444515389.893979856]: Loading robot model 'abb_irb2400'...
[ INFO] [1444515390.713263586]: Ready to take MoveGroup commands for group manipulator.
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.
Abortado (`core' generado)

the robot plan succesfully the path, but it doesn't execute the path.

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answered 2015-10-13 14:02:11 -0500

The errors you listed (LibraryUnloadException) are a known issue when disposing of a MoveGroup object (see here), but should not affect the observed planning or execution.

Check the terminal window in which you launched the move_group node (not the same window as above) for additional error messages. Are you sure that the planning was completed successfully? The ROS-I tutorial you reference tries to move the robot to a random joint position, which is not always reachable by the robot. You may see failure messages related to "unreachable position" or similar.

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thanks so much Jeremy, i could finally execute the path, it was just a mistake with the rviz

jaam002 gravatar image jaam002  ( 2015-10-13 14:57:16 -0500 )edit
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answered 2016-04-05 09:19:32 -0500

pablocesar gravatar image

updated 2016-04-05 09:28:04 -0500

Hi all, the answer given by Jeremy is more a suggestion than an answer, it is indeed an issue in MoveIt, but it only appears at the end of performing all the planning tasks.

So if you update the code from the training unit 3.6 to something like this one:

#include <ros/ros.h>    
#include <moveit/move_group_interface/move_group.h>

int main(int argc, char **argv)    
{    
  ros::init(argc, argv, "lesson_move_group");    
  // start a background "spinner", so our node can process ROS messages    
  //  - this lets us know when the move is completed    
  ros::AsyncSpinner spinner(1);    
  spinner.start();

  moveit::planning_interface::MoveGroup group("manipulator");    
  //group.setRandomTarget();    
  int count=0;    
  while(count<2){

    if(count==0){    
        Eigen::Affine3d pose1 = Eigen::Translation3d(0.490, -0.872, 1.176)    
                         * Eigen::Quaterniond(0.905, -0.090, 0.242, -0.339);

        group.setPoseTarget(pose1);    
        group.move();    
        ROS_INFO("first pose published");    
    }else{    
        Eigen::Affine3d pose2 = Eigen::Translation3d(0.421, -0.312, 1.861)    
                         * Eigen::Quaterniond(0.905, -0.090, 0.242, -0.339);

        group.setPoseTarget(pose2);    
        group.move();    
        ROS_INFO("second pose published");    
    }

    count=count+1;    
  }      
}

The error is still published, but after performing both plans, see below.

~/catkin_ws$ rosrun lesson_move_group lesson_move_group_1 
[ INFO] [1459864834.040952302]: Loading robot model 'abb_irb2400'...
[ INFO] [1459864834.411154624]: Loading robot model 'abb_irb2400'...
[ INFO] [1459864835.508244424]: Ready to take MoveGroup commands for group manipulator.
[ INFO] [1459864839.172945011]: first pose published
[ INFO] [1459864841.435278706]: second pose published
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.
Aborted (core dumped)
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I'm still trying to solve this situation, it might be that the robot must move to a pose that is linked with an existing state, I'll come back after solving this.

pablocesar gravatar image pablocesar  ( 2016-04-05 09:53:54 -0500 )edit

Any development on this?

bhavyadoshi26 gravatar image bhavyadoshi26  ( 2016-11-03 03:04:58 -0500 )edit

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Asked: 2015-10-10 17:30:02 -0500

Seen: 1,615 times

Last updated: Apr 05 '16