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What's the right commands for starting Baxter's Gazebo and MoveIt!?

asked 2016-02-25 18:36:03 -0500

130s gravatar image

updated 2016-03-06 19:36:48 -0500

This thread helped me to run the following commands for MoveIt! along with baxter_gazebo.

roslaunch baxter_gazebo baxter_world.launch
rosrun baxter_interface joint_trajectory_action_server.py -l both
roslaunch baxter_moveit_config demo_baxter.launch

And as usual with Baxter, the robot is "enabled" by rosrun baxter_tools enable_robot.py -e in advance.

Init pose of the robots on both RViz and Gazebo look coordinated, but MoveIt! never succeeds in planning. It says Start state appears to be in collision with respect to group both_arms when MoveIt! is initialized but I'm not sure how to resolve it.

All is well! Everyone is happy! You can start planning now!

[ INFO] [1456444700.284449635, 239.399000000]: Ready to take MoveGroup commands for group both_arms.
[ INFO] [1456444700.284619271, 239.399000000]: Looking around: no
[ INFO] [1456444700.284762549, 239.399000000]: Replanning: no
[ INFO] [1456444741.755292645, 280.084000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1456444741.756526434, 280.084000000]: Found a contact between 'r_gripper_r_finger_tip' (type 'Robot link') and 'r_gripper_r_finger' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1456444741.756576843, 280.084000000]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1456444741.756623440, 280.084000000]: Start state appears to be in collision with respect to group both_arms
[ WARN] [1456444742.559982065, 280.880000000]: Unable to find a valid state nearby the start state (using jiggle fraction of 0.050000 and 100 sampling attempts). Passing the original planning request to the planner.
[ INFO] [1456444742.561598014, 280.881000000]: Planner configuration 'both_arms[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ WARN] [1456444742.562711130, 280.882000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.562794759, 280.882000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.562921643, 280.882000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ WARN] [1456444742.563062573, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563118444, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ERROR] [1456444742.563165882, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563367340, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563404655, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563467942, 280.883000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.001411 seconds
[ WARN] [1456444742.563581499, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ WARN] [1456444742.563622325, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563673372, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563717336, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563765615, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ERROR] [1456444742.563803511, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1456444742.563862642, 280.883000000]: both_arms[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state)
[ERROR] [1456444742.563912097, 280.883000000]: both_arms[RRTConnectkConfigDefault ...
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answered 2016-03-14 09:07:22 -0500

The issue is for sure related to the fact that the Gazebo simulator starts with electric grippers in the /robot_description parameter. By default the launch file that you are running for MoveIt! doesn't assume that there are electric grippers attached. More precisely, the SRDF that gets loaded doesn't explicitly exclude collisions between the gripper fingers and the grippers themselves. If you update your MoveIt! command to be

roslaunch baxter_moveit_config demo_baxter.launch right_electric_gripper:=true left_electric_gripper:=true

the issue should disappear. Those gripper arguments (now true) get passed to planning_context.launch which, in-turn, feeds them to baxter.srdf.xacro to build the SRDF. Since the values are now true, the baxter.srdf.xacro file now includes the rethink_electric_grippers.srdf.xacro file for the left and right side. You can see that this file adds many tags that prevent collision checking for links that are part of the gripper.

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answered 2017-07-17 09:29:31 -0500

JarvisRobot gravatar image

Try this command

roslaunch baxter_moveit_config baxter_grippers.launch right_electric_gripper:=true left_electric_gripper:=true
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Asked: 2016-02-25 18:36:03 -0500

Seen: 2,154 times

Last updated: Jul 17 '17