MoveIt octomap not displaying in rviz (ROS indigo)
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:
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 ...