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Error with Motoman SDA10F package

asked 2015-11-29 23:31:30 -0500

jcgarciaca gravatar image

Hello, When I try the instruction roslaunch motoman_sda10f_moveit_config moveit_planning_execution.launch sim:=true, the next errors appear

[ INFO] [1448860557.614217751]: Loading robot model 'motoman_sda10f'...
[ERROR] [1448860558.119278078]: Group 'torso' is not a chain
[ERROR] [1448860558.119350084]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'torso'
[ERROR] [1448860558.119792175]: Kinematics solver could not be instantiated for joint group torso.
[ INFO] [1448860558.126523519]: Loading robot model 'motoman_sda10f'...
[ERROR] [1448860558.572781895]: Group 'arms' is not a chain
[ERROR] [1448860558.572861970]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'arms'
[ERROR] [1448860558.573263572]: Kinematics solver could not be instantiated for joint group arms.
[ INFO] [1448860558.578935053]: Loading robot model 'motoman_sda10f'...
[ERROR] [1448860559.023278249]: Group 'sda10f' is not a chain
[ERROR] [1448860559.023357702]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'sda10f'
[ERROR] [1448860559.023930325]: Kinematics solver could not be instantiated for joint group sda10f.
[ WARN] [1448860883.486564338]: Failed to call service /get_planning_scene, have you launched move_group? at /tmp/buildd/ros-indigo-moveit-ros-planning-0.6.5-0trusty-20151112-0345/planning_scene_monitor/src/planning_scene_monitor.cpp:461
[ERROR] [1448860575.979981301]: MoveitSimpleControllerManager: Action client not connected: sda10f/sda10f_r1_controller/joint_trajectory_action
[ INFO] [1448860581.096676607]: MoveitSimpleControllerManager: Waiting for sda10f/sda10f_b1_controller/joint_trajectory_action to come up
[ INFO] [1448860586.096886543]: MoveitSimpleControllerManager: Waiting for sda10f/sda10f_b1_controller/joint_trajectory_action to come up
[ERROR] [1448860591.097130984]: MoveitSimpleControllerManager: Action client not connected: sda10f/sda10f_b1_controller/joint_trajectory_action
[ INFO] [1448860596.225098638]: MoveitSimpleControllerManager: Waiting for sda10f/sda10f_b2_controller/joint_trajectory_action to come up
[ INFO] [1448860601.225290651]: MoveitSimpleControllerManager: Waiting for sda10f/sda10f_b2_controller/joint_trajectory_action to come up

So, I can't plan trajectories.

How can I solve it?

Thank you

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I've cross-posted this to the ROS-I mailing list. In the meantime: can you tell us how you installed the package, and on what OS and ROS version?

gvdhoorn gravatar image gvdhoorn  ( 2015-11-30 02:57:49 -0500 )edit

Thanks for your answer. I installed the package from source according with this link motoman_indigo, on Ubuntu 10.04.1 (trusty) with ROS Indigo.

jcgarciaca gravatar image jcgarciaca  ( 2015-12-01 07:08:36 -0500 )edit

Ok. Please report this issue at the issue tracker at the motoman repository. You can just refer to your question on ROS answers here.

gvdhoorn gravatar image gvdhoorn  ( 2015-12-01 07:29:24 -0500 )edit

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answered 2015-12-01 12:58:30 -0500

The simulation mode for the motoman package doesn't support dual arm configuration at this time. If you simply want to plan in MoveIt, you can do this using roslaunch motoman_sda10f_moveit_config demo.launch.

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Thanks for your answer.

I had tried the instruction that you suggested, but it shows the errors about the robot isn't a chain. Additionally, in MoveIt I can plan just for the left robot.

And, isn't it possible to connect with the real robot?

Thank you

jcgarciaca gravatar image jcgarciaca  ( 2015-12-01 14:05:11 -0500 )edit

Something must have changed in the underlying MoveIt library (or maybe it never worked). I will verify this tonight. Connecting to the real robot is possible assuming the latest driver code (indigo) is loaded. Connecting to a simulated robot is not supported.

sedwards gravatar image sedwards  ( 2015-12-01 14:28:11 -0500 )edit

I have verified the issue. The MoveIt configuration appears correct. I'm working to track to the cause of the issue. Thanks for reporting this.

sedwards gravatar image sedwards  ( 2015-12-01 21:43:34 -0500 )edit

Thanks for your help. I installed the driver one year ago, so I suppose it isn't the latest available. Could you tell me how to update it? and please let me know if you find out how to fix this problem, I am working with a robot like it. How could I try to track the cause?

jcgarciaca gravatar image jcgarciaca  ( 2015-12-01 22:21:25 -0500 )edit

It turns out to not be an issue. The other planning groups can be selected under Motion Planning->Planning Request->Planning Group. Only the arms have a valid IK solver. Interactive markers won't appear for other groups. Planning can be done on other groups using "random" positions.

sedwards gravatar image sedwards  ( 2015-12-01 22:46:26 -0500 )edit

Thank you so much for your help. The planning in MoveIt works well, I'll try to connect with the real robot then I tell you. Thanks again.

jcgarciaca gravatar image jcgarciaca  ( 2015-12-02 08:45:23 -0500 )edit

I got this:

 [ERROR] [1449332869.289388644]: Failed to parse position data from JointFeedbackMessage
    [ERROR] [1449332869.289693349]: Failed to convert SimpleMessage
jcgarciaca gravatar image jcgarciaca  ( 2015-12-05 11:59:23 -0500 )edit
[ERROR] [1449332869.320907873]: Failed to copy JointData.  Len (11) out of range (0 to 10)
jcgarciaca gravatar image jcgarciaca  ( 2015-12-05 12:01:26 -0500 )edit

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Asked: 2015-11-29 23:31:30 -0500

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Last updated: Dec 01 '15