moveit regression? Found empty JointState message

asked 2017-07-13 06:47:48 -0500

Sietse
168 ●31 ●36 ●40

updated 2017-07-13 10:28:10 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Dear List,

Since the last update of indigo (juli 2017) I am getting error messages in move_group with moveit.

For example with moveit-commander, after each "go up" or so, there are 4 lines with

[ERROR] [1499944106.195095905]: Found empty JointState message

Moveit seems to work however. It did NOT occur before the last update, and it also occurs in the kinetic version.

Anything I can do?

Regards, Sietse

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gvdhoorn ( 2017-07-13 10:28:38 -0500 )edit

+1 Observing same issue across three different robots in Kinetic, does not affect the operation for any of them.

hvpandya ( 2017-07-17 18:02:26 -0500 )edit

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answered 2017-07-13 11:50:33 -0500

v4hn
2950 ●18 ●53 ●57

updated 2017-08-16 09:10:16 -0500

I noticed that too, but did not find the time to debug it yet. This is the relevant commit: https://github.com/ros-planning/movei...

To the best of my current knowledge the error message does not change any behavior of the node though, but I'm not 100% sure.

Apparently some code in the PlanAndExecute pipeline uses the RobotStateMsg -> RobotState conversion tools without checking whether the message is actually filled in.

Anything I can do?

You could track down when and where this happens and file an issue on the github project. That would (hopefully) help a lot.

--- EDIT ---

By now, this should be fixed upstream. See https://github.com/ros-planning/movei... .

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answered 2017-08-08 14:32:53 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

As discussed before, this appears to be a regression. I opened a issue as suggested: https://github.com/ros-planning/movei...

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