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MoveIt octomap not displaying in rviz (ROS indigo)

asked 2017-05-18 07:38:38 -0600

Acwok gravatar image

Hi everyone,

I am working with ROS INDIGO, a Sawyer robot (Rethink robotics), a Kinect v1, and MoveIt, on a Human-Robot Collaboration project.

After installing MoveIt, I have edited "camera_link_pose" from sawyer_moveit.launch to suit my base_to_camera transform. When I run:

roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true

Rviz appears, everything works except that the octomap isn't displayed:

rviz_capture.png

Here is what I have in the terminal:

~/ros_ws$ roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true

... logging to /home/sawyer/.ros/log/33db5810-3ace-11e7-860e-1866da494b18/roslaunch-sawyer-HP-Compaq-Pro-6300-SFF-20862.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://169.254.5.155:38982/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/camera/camera_nodelet_manager/num_worker_threads: 4
 * /move_group/camera/depth_rectify_depth/interpolation: 0
 * /move_group/camera/depth_registered_rectify_depth/interpolation: 0
 * /move_group/camera/disparity_depth/max_range: 4.0
 * /move_group/camera/disparity_depth/min_range: 0.5
 * /move_group/camera/disparity_registered_hw/max_range: 4.0
 * /move_group/camera/disparity_registered_hw/min_range: 0.5
 * /move_group/camera/disparity_registered_sw/max_range: 4.0
 * /move_group/camera/disparity_registered_sw/min_range: 0.5
 * /move_group/camera/driver/data_skip: 0
 * /move_group/camera/driver/debug: False
 * /move_group/camera/driver/depth_camera_info_url: 
 * /move_group/camera/driver/depth_frame_id: camera_depth_opti...
 * /move_group/camera/driver/depth_registration: False
 * /move_group/camera/driver/device_id: #1
 * /move_group/camera/driver/diagnostics_max_frequency: 30.0
 * /move_group/camera/driver/diagnostics_min_frequency: 30.0
 * /move_group/camera/driver/diagnostics_tolerance: 0.05
 * /move_group/camera/driver/diagnostics_window_time: 5.0
 * /move_group/camera/driver/enable_depth_diagnostics: False
 * /move_group/camera/driver/enable_ir_diagnostics: False
 * /move_group/camera/driver/enable_rgb_diagnostics: False
 * /move_group/camera/driver/rgb_camera_info_url: 
 * /move_group/camera/driver/rgb_frame_id: camera_rgb_optica...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: simple_controller...
 * /move_group/head/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/move_group/octomap_frame: camera_link
 * /move_group/move_group/octomap_resolution: 0.02
 * /move_group/move_group/point_subsample: 1
 * /move_group/move_group/sensors: [{'max_range': 5....
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group ...
(more)
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answered 2017-06-15 05:25:05 -0600

Acwok gravatar image

I finally found a solution, check here if you are interested: https://groups.google.com/forum/#!top... . There is a useless "move_group" namespace block in "sawyer_moveit_sensor_manager.launch.xml"

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Asked: 2017-05-18 07:38:38 -0600

Seen: 339 times

Last updated: Jun 15 '17