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Failed to load planning library in MOVEIT motion planning

asked 2018-03-13 10:02:12 -0600

nd gravatar image

updated 2018-03-13 10:11:13 -0600

We are doing project on igus robot arm. We have developed URDF package from SW2URDF extension. After that we are trying to integrate it in moveit setup assistant and generated package for moveit_config.

But, we are facing some error as below while launching demo.launch file,

[ INFO] [1520952510.319394087]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1520952515.319986595]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.11/planning_scene_monitor/src/planning_scene_monitor.cpp:486
[ INFO] [1520952534.691775951]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1520952534.711537925]: Constructing new MoveGroup connection for group 'igus_planning' in namespace ''
[ERROR] [1520952564.725922669]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
[ INFO] [1520952564.728670183]: Constructing new MoveGroup connection for group 'igus_planning' in namespace ''
[ WARN] [1520952564.779985993]: Interactive marker 'EE:goal_l4' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.

It is not showing planning library in moveit*rviz window under motion planning.

Packages for URDF and moveit_config package are in github link below.

https://github.com/npd26/igus

Anyone have idea about what should we do to get planning library?

ROS version : kinetic

Thankyou

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answered 2018-03-13 11:34:04 -0600

Levi-Armstrong gravatar image

This has been experience when the URDF is highly detailed and takes a while to load such that certain node times out after a period of time. Does your URDF contain detailed meshes?

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we have 5 links so in total 5 meshes. you can see in github URDF package.

nd gravatar imagend ( 2018-03-13 11:39:25 -0600 )edit

@nnnnn: if you've exported from SolidWorks the STLs are most likely way too detailed. Try subsampling your meshes and see if that works.

For a quick test you could even comment all visual elements and see if things start working. If they do, it's the meshes.

gvdhoorn gravatar imagegvdhoorn ( 2018-03-13 11:41:31 -0600 )edit

ok, we will try and update here.

nd gravatar imagend ( 2018-03-13 11:44:35 -0600 )edit

@gvdhoorn We tried by commenting all visual elements in urdf and generated moveit package but same error is showing while launching demo.launch file.

nd gravatar imagend ( 2018-03-14 05:22:59 -0600 )edit

Then it might be that something else is wrong/not working.

Subsampling meshes coming from SolidWorks is most likely a good idea anyway though. And creating separate collision meshes (with much lower face and vertex count) is also a good idea.

gvdhoorn gravatar imagegvdhoorn ( 2018-03-14 05:28:58 -0600 )edit

If you run roslaunch igus_description display.launch does everything load in rviz?

Levi-Armstrong gravatar imageLevi-Armstrong ( 2018-03-14 07:47:52 -0600 )edit
1

So I just clone your repository and tested things. Your models are to detailed (~25MB each) and the reason commenting out the visual did not work is because you are using the same model for visual and collision. I replace the meshes with boxes and everything works.

Levi-Armstrong gravatar imageLevi-Armstrong ( 2018-03-14 08:02:23 -0600 )edit
1

I recommend decimating the models using Blender or Meshlab. If you required this level of detail you will need to break up the launch sequence yourself so you can wait for certain nodes to fully load before launching other nodes.

Levi-Armstrong gravatar imageLevi-Armstrong ( 2018-03-14 08:04:39 -0600 )edit

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Asked: 2018-03-13 10:02:12 -0600

Seen: 671 times

Last updated: Mar 13 '18