Fail to use move group interface of the MoveIt! when connecting gazebo with Moveit!.
After I succeeded to connect the gazebo with Moveit!, I launched the move_group_interface.cpp but the Rviz failed to load the robot model and failed to recognize the Reference frame. As a result, the trajectory and motion of the robot cannot be displayed on the Rviz. The gazebo_moveit.launch file is:
<launch>
<include file="$(find slave_gazebo)/launch/slave_world.launch"/>
<include file="$(find slave_control)/launch/slave_gazebo_states.launch"/>
<include file="$(find slave_control)/launch/slave_trajectory_controller.launch"/>
<include file="$(find slavedarm_config)/launch/moveit_planning_execution.launch"/>
</launch>
The content of the moveit_planning_execution.launch is:
<launch>
<include file="$(find slavedarm_config)/launch/move_group.launch">
</include>
<!-- The visualization component of MoveIt!-->
<include file="$(find slavedarm_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
</include>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[/slave/joint_states]</rosparam>
</node>
</launch>
The move_group_interface.launch file is:
<launch>
<node name="group_interface" pkg="moveit_myarm" type="group_interface" respawn="false" output="screen">
</node>
</launch>
After launch the gazebo and Moveit! launch file, the error information, with no effect on the system, is listed:
- MoveGroup using:
- ApplyPlanningSceneService
- CartesianPathService
- ExecuteTrajectoryAction
- GetPlanningSceneService
- MoveAction
- PickPlaceAction
- MotionPlanService
- QueryPlannersService
- StateValidationService
You can start planning now!
[ERROR] [1529585150.124966293, 3.214000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1529585150.244122237, 3.333000000]: Semantic description is not specified for the same robot as the URDF
And after launch the move_group_interface.launch, the infromation is listed:
[ERROR] [1529586437.344894935, 1277.554000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1529586437.475137289, 1277.684000000]: Semantic description is not specified for the same robot as the URDF
And after launch the move_group_interface.launch, the infromation is listed:
[ERROR] [1529586437.344894935, 1277.554000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1529586437.475137289, 1277.684000000]: Semantic description is not specified for the same robot as the URDF
[ INFO] [1529586439.048185756, 1279.232000000]: Reference frame: /world
[ERROR] [1529586444.136977092, 1284.312000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1529586444.229218318, 1284.404000000]: Semantic description is not specified for the same robot as the URDF
Pay attention to the Reference frame.It should be /base_link, not /world.So here is a mistake. And there are other errors as above.
Therefore, I don't know how to get the moveit, gazebo and move group together.
Wish for your answer and help.