MoveIt doesn't assume the initial pose in RViz

asked 2018-01-12 10:06:57 -0600

hansolo gravatar image

I have modified the fake_controllers.yaml in my robot config package as described here. It has this final state:

  - name: fake_manipulator_controller
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint
  - name: fake_endeffector_controller
  - group: manipulator
    pose:  home

And modified the SRDF file to add a new group_state omitting the joint elements here:

<group_state name="home" group="manipulator">  ...  </group_state>

When I run roslaunch ur5_moveit_config demo.launch the robot doesn't take the initial home pose as I defined it. Although I can select home in the Select goal state dropdown menu and clicking update changes the goal state to the pose I defined in the SRDF file.

image description

Can you point me what I may be missing?

I'm running ros-kinetic on Ubuntu 16.04. The robot is ur5 and I use the provided ur5_moveit_config package.

edit retag flag offensive close merge delete



This is old, but are you launching the package that you built, or the binary you installed? What is the output of rospack list | grep ur5_moveit_config?

fvd gravatar image fvd  ( 2020-02-06 05:49:36 -0600 )edit

It is too old, I am not fully sure. Do you mean that the universal-robot package installed through apt-get may be run instead of the modified package? I don't remember if I had universal-robot installed in addition. Shouldn't ROS automatically choose the workspace version over the system version?

hansolo gravatar image hansolo  ( 2020-02-06 06:32:36 -0600 )edit

It should, but maybe you had a different workspace sourced, or the package wasn't built/linked yet, or another unrelated thing went wrong. I couldn't reproduce the problem at least.

fvd gravatar image fvd  ( 2020-02-07 02:24:57 -0600 )edit