My MoveIt planned robot moves with rviz but not in gazebo

asked 2018-05-09 22:55:50 -0500

hrp2jp gravatar image

Hello, i used moveit setup assistant to generate config and controller manager files of my robot as it is requested here to work with gazebo : and then when i launch both gazebo and rviz, i am able to move my arm depending on where i move the blue ball in rviz. But gazebo doesn't follow...

Also i have an error displayed in the gazebo dedicated shell : ERROR: cannot launch node of type [play_motion/play_motion]: play_motion ,

A warning about a root link base_link which has an inertia in the URDF that KDL doesn't like,

A deprecation warning that the parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution', please adjust

Some not fatal error about a camera service but we don't care,

AND ANYWAY it goes through the initialization and tells me that i can start planning now.

By the side of the rviz dedicated shell : a deprec warning : trajectory execution service is deprecated (was replaced by an action). Please replace 'MoveGroupExecutiveService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch

and a warning about EE:goal_grasping_frame which contains unnormalized quaternions, please enable DEBUG messages for ros.rviz.quaternions to see more details.

Also here is the rqt_graph :

and some lists of what rostopic rosnode is running :

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