moveit: param server is missing planner configurations
Hello all, here are the errors,
[ERROR] [1528993777.322079817]: Could not find the planner configuration 'RRTConneckConfigDefault' on the param server
[ERROR] [1528993777.326028820]: Could not find the planner configuration 'SBLkConfigDefault' on the param server
[ERROR] [1528993777.326619022]: Could not find the planner configuration 'ESTkConfigDefault' on the param server
[ERROR] [1528993777.327209350]: Could not find the planner configuration 'LBKPIECEkConfigDefault' on the param server
[ERROR] [1528993777.327770784]: Could not find the planner configuration 'BKPIECEkConfigDefault' on the param server
[ERROR] [1528993777.328322494]: Could not find the planner configuration 'KPIECEkConfigDefault' on the param server
[ERROR] [1528993777.328897858]: Could not find the planner configuration 'RRTkConfigDefault' on the param server
[ERROR] [1528993777.329486582]: Could not find the planner configuration 'RRTConnectkConfigDefault' on the param server
[ERROR] [1528993777.330046872]: Could not find the planner configuration 'RRTstarkConfigDefault' on the param server
[ERROR] [1528993777.330620285]: Could not find the planner configuration 'TRRTkConfigDefault' on the param server
[ERROR] [1528993777.331185690]: Could not find the planner configuration 'PRMkConfigDefault' on the param server
[ERROR] [1528993777.331821514]: Could not find the planner configuration 'PRMstarkConfigDefault' on the param server
[ERROR] [1528993777.332365152]: Could not find the planner configuration 'FMTkConfigDefault' on the param server
[ERROR] [1528993777.332903057]: Could not find the planner configuration 'BFMTkConfigDefault' on the param server
[ERROR] [1528993777.333557242]: Could not find the planner configuration 'PDSTkConfigDefault' on the param server
[ERROR] [1528993777.334391734]: Could not find the planner configuration 'STRIDEkConfigDefault' on the param server
[ERROR] [1528993777.335209338]: Could not find the planner configuration 'BiTRRTkConfigDefault' on the param server
[ERROR] [1528993777.337834268]: Could not find the planner configuration 'LBTRRTkConfigDefault' on the param server
[ERROR] [1528993777.340810491]: Could not find the planner configuration 'BiESTkConfigDefault' on the param server
[ERROR] [1528993777.343505094]: Could not find the planner configuration 'ProjESTkConfigDefault' on the param server
[ERROR] [1528993777.344906710]: Could not find the planner configuration 'LazyPRMkConfigDefault' on the param server
[ERROR] [1528993777.346300595]: Could not find the planner configuration 'LazyPRMstarkConfigDefault' on the param server
[ERROR] [1528993777.347891216]: Could not find the planner configuration 'SPARSkConfigDefault' on the param server
[ERROR] [1528993777.352570257]: Could not find the planner configuration 'SPARStwokConfigDefault' on the param server
i know they are from the drop down menu of the OMPL planning library section. what should i edit to fix this?
EDIT: Current ompl_planning.yaml (fixed through the fix i mentioned)
planner_configs:
SBL:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup ...
Have you found a solution to this problem? I am currently going through the same problem. Thanks!
I believe this is because of a recent update to moveit. Because now the motion planning window is different than it was before
Afaik the motion planning window (you mean the rviz plugin?) doesn't set these. The launch file(s) do(es).
gvdhoorn, the moveit setup assistant creates a .yaml file when you create a moveit config package. it ends up concatenating kconfigdefault to the end of the planner names and confused the system because now RRTConnect is RRTConnectkConfigDefault
RRTConnectkConfigDefault
is a valid planner configuration name. I don't recognise that as an issue per se.If you feel this is a regression, then I recommend reporting this over at ros-planning/moveit/issues.
@nquattro: can you please include an example
ompl_planning.yaml
that shows the problem?Please add it to your original question (edit it).
@nquattro: the
kConfigDefault
should actually be there, for all entries. The changes you suggest in your answer are essentially a 'reverse fix' (ie: you remove something, while it should probably be added). Compare with existingompl_planning.yaml
files.Please open an issue about this.
Is there a reason why it could still be planning even with these errors showing up?