moveit demo.launch, rviz initializing forever
Hi everyone, here is my problem:
I setup my model using the setup assistant of moveit. Everything seems to work. I export the package, save it under src/ in the catkin_ws/. Then I run "roslaunch my_package demo.launch" .
Here the process starts until the terminal says in green " You can start planning now! " The RViz initializing picture is freezed forever.
However, I get in the terminal "[INFO] [1498661559]: MoveGroup context initialization complete".
What do you think about that? is my PC not strong enough or do I have another problem? Thank you in advance, Stefano
Details:
-I can run RViz stand-alone, no problem.
-I am using a 4 years old laptop, intel i3 quadcore 2.53GHz, geforce 610M.
-I am using Ubuntu 16.04 LTS installed by a friend's usb flashkey
-can I run gazebo if the grafics drivers are not installed?
Complete terminal:
zampieri@zampieri-Hack:~/catkin_ws$ roslaunch moveit_config_complete_arm_3 demo.launch
... logging to /home/zampieri/.ros/log/8bbb4536-5bd0-11e7-b431-7ce9d3541a7d/roslaunch-zampieri-Hack-26924.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://zampieri-Hack:45617/
SUMMARY
========
PARAMETERS
* /joint_state_publisher/use_gui: False
* /move_group/allow_trajectory_execution: True
* /move_group/arm/longest_valid_segment_fraction: 0.005
* /move_group/arm/planner_configs: ['SBLkConfigDefau...
* /move_group/arm/projection_evaluator: joints(joint_1,jo...
* /move_group/controller_list: [{'joints': ['joi...
* /move_group/jiggle_fraction: 0.05
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_fake_contr...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
* /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
* /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
* /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
* /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
* /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
* /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
* /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
* /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
* /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/BiESTkConfigDefault/range: 0.0
* /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
* /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
* /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
* /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
* /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
* /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
* /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/FMTkConfigDefault/cache_cc: 1
* /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
* /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
* /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
* /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
* /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
* /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
* /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/LBTRRTkConfigDefault/epsilon: 0.4
* /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0 ...
Can you run RViz stand-alone? What sort of hardware are you using? A regular desktop PC, a raspberry pi, something else? Which Linux version is this, how did you install it, do you have the graphics drivers for your video card installed? Please edit your question and add these details.
I made my robot model using the setup assistant as well. The next message I get after the "You can start planning now" is "loading robot model mybot". So maybe there is something wrong with your robot model. Did you write the urdf file yourself? Have you successfully included it in setup assistant?
@gvdhoorn: Thanks for guiding my question. I updated it.
@felix : Yeah, I dont get "loading robot model mybot". I made the urdf file using the SolidWorks plug-in "export to urdf". I included it successfully in the setup assistant, i can move my joints and see my model. How ever I have some warnings
I corrected the errors in the warnings. I have no more warnings. Still no response from RViz. I hope i don't have to reinstall ros ^^.
sometimes. It won't run very well, but it'll probably produce some image.
It might help if you copy-paste the complete terminal output into your question (use the Preformatted Text button (the one with
101010
on it)). Can you tell us anything about the model you're trying to load? How big are the meshes? If they are too detailed, loading can be very slow.in the options within the SlidWorks plug-in I could choose corse meshes or fine meshes. I choose fine... How ever I dont get until the "loading robot model mybot" phase (see terminal in the updated question). In addition i left my computer loading for 3-4 hours with no results.
I am going to try anyway with a corse meshing. I keep you updated.
This has probably nothing to do with your problem, but:
did you enable this yourself?
nope, I did not enable anything. how to disable it?
I now tried with a corse mesh but the result is the same.
Well, by default
debug:=false
indemo.launch
, so I'm wondering how it says 'ON' if that hasn't changed. Can you checkdemo.launch
?I updated the question with the demo.launch. It seems ok " debug="false".
Now when I
roslaunch
thedemo.launch
I have to more lines in the terminal (in addition to the terminal I posted). One is saying[INFO] [1498722837.712557891]: Stereo is NOT SUPPORTED
Again: this is probably not the cause of your problem, but I'm just curious now.
And in
move_group.launch
?Does the output change if you start it like:
roslaunch <your_moveit_cfg> demo.launch debug:=false
?As for your rviz problem: try commenting the part in
demo.launch
that starts RViz (second to lastinclude
). Then startdemo.launch
. If that is successful, keep it running, then in a separate terminal, start justrviz
. Does that work? If so, try adding the MoveIt RViz display.does your laptop have two graphics cards by any chance? So it's using 'nvidia optimus technology'? If so, that could be a problem. Do you have that setup correctly (ie: installed necessary drivers)? Try disabling the Intel video card, just to rule things out.
Btw: an i3 with a geforce 610M is rather low-specced. It's probably possible to get things to run, but for any real use of RViz, Gazebo and / or MoveIt it's probably going to be a tad slow.
move_group.launch
debug is falsedebug:=false
at the end of the commandWhat is the MoveIt RViz display?
Yeah I have nvidia optimus tech. I'll try to disable the Intel video card (I have no Idea how to do such things ^^). Maybe I should install linux in my new laptop which is way more powerful and have only one graphics card.