MoveIt scene not displaying in rviz

asked 2016-10-21 08:52:52 -0500

tycho94 gravatar image


I've been trying to get my PlanningScene visualised in rviz following this tutorial: Move Group Interface Tutorial

The difference is is that I am using the abb irb120 robot & package from ros industrial. I cannot manage to get any box into the rviz enviroment.

I've also tried it with publishing to a planningscene topic in rviz which is also not showing me anything.

Is there anything that could solve this?


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

    #include <moveit_msgs/CollisionObject.h>
    #include <shape_msgs/SolidPrimitive.h>

    using namespace std;
    using namespace ros;
    using namespace moveit::planning_interface;

    int main(int argc, char** argv)
      ros::init(argc, argv, "collision_tutorial_node");
      NodeHandle nh;
      AsyncSpinner spinner(1);

      MoveGroup group("manipulator");
      PlanningSceneInterface planning_scene_interface;

      // First, we will define the collision object message.
      moveit_msgs::CollisionObject collision_object;
      collision_object.header.frame_id = group.getPlanningFrame();

      /* The id of the object is used to identify it. */ = "box1";

      /* Define a box to add to the world. */
      shape_msgs::SolidPrimitive primitive;
      primitive.type = primitive.BOX;
      primitive.dimensions[0] = 0.4;
      primitive.dimensions[1] = 0.1;
      primitive.dimensions[2] = 0.4;

      /* A pose for the box (specified relative to frame_id) */
      geometry_msgs::Pose box_pose;
      box_pose.orientation.w = 1.0;
      box_pose.position.x = 0.6;
      box_pose.position.y = -0.4;
      box_pose.position.z = 1.2;

      collision_object.operation = collision_object.ADD;

      std::vector<moveit_msgs::CollisionObject> collision_objects;

      ROS_INFO("Add an object into the world");

      /* Sleep so we have time to see the object in RViz */
      return 0; 


[ INFO] [1477057790.465111153]: Loading robot model 'abb_irb120'...
[ INFO] [1477057790.465180969]: No root joint specified. Assuming fixed joint
[ INFO] [1477057790.597200619]: Loading robot model 'abb_irb120'...
[ INFO] [1477057790.597232257]: No root joint specified. Assuming fixed joint
[ INFO] [1477057791.467920110, 437.622000000]: Ready to take MoveGroup commands for group manipulator.
[ INFO] [1477057791.469028728, 437.623000000]: Add an object into the world
[ INFO] [1477057796.469184981, 442.611000000]: done
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.

RUN FINISHED; Aborted; core dumped; real time: 6s; user: 280ms; system: 300ms
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Please add which version of ROS this is, how you installed it, OS type and version, how you installed MoveIt, etc.

gvdhoorn gravatar image gvdhoorn  ( 2016-10-21 09:41:22 -0500 )edit