Rviz cannot execute the planning trajectory in the physical robot UR3
Hi,
We're using roslaunch ur3moveitconfig moveitrviz.launch config:=true to move a UR3 robot. We can receive the position of the robot in the simulator RViz, but we cannot send a motion to the robot. The problem seem to be with Moveit. We're using the moderndriver and the test_move.py also is not working.
roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch
... logging to /home/malu/.ros/log/3f456222-bc50-11e8-ada1-00242c08dfd7/roslaunch-labmec-Latitude-E5400-23879.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://labmec-Latitude-E5400:39283/
SUMMARY
========
PARAMETERS
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'action_ns': 'f...
* /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
* /move_group/jiggle_fraction: 0.05
* /move_group/manipulator/longest_valid_segment_fraction: 0.01
* /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
* /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/range: 0.0
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/execution_duration_monitoring: False
* /move_group/use_controller_manager: False
* /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
* /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
* /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 3.15
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 3.15
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
* /robot_description_semantic: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/
move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://localhost:11311
process[move_group-1]: started with pid [23896]
[ INFO] [1537391392.457753250]: Loading robot model 'ur3'...
[ WARN] [1537391392.457972279]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1537391392.458068453]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1537391392.793746637]: Loading robot model 'ur3'...
[ WARN] [1537391392.793804676]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1537391392.793835757]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1537391393.180911184]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1537391393.186243375]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1537391393.186354915]: Starting scene monitor
[ INFO] [1537391393.191161256]: Listening to '/planning_scene'
[ INFO] [1537391393.191245767]: Starting world geometry monitor
[ INFO] [1537391393.201128463]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1537391393.205851691]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1537391393.355269419]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1537391393.723744439]: Initializing OMPL interface using ROS parameters
[ INFO] [1537391393.785637884]: Using planning interface 'OMPL'
[ INFO] [1537391393.810466222]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1537391393.811590351]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1537391393.816279426]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1537391393.819149639]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1537391393.820465697]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1537391393.821462222]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1537391393.821736777]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1537391393.821834348]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1537391393.822034589]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1537391393.822129855]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1537391393.822194390]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1537391394.149371237]: Added FollowJointTrajectory controller for
[ INFO] [1537391394.149853086]: Returned 1 controllers in list
[ INFO] [1537391394.184232714]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1537391394.470490287]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1537391394.470585693]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1537391394.470706522]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1537391586.642941484]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ WARN] [1537391586.643189498]: Joint 'wrist_3_joint' from the starting state is outside bounds by a significant margin: [ 18.3557 ] should be in the range [ -6.28319 ], [ 6.28319 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.1)
[ INFO] [1537391586.697633473]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ WARN] [1537391586.746910511]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.747327056]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.747643726]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.747709308]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.747802270]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.747849554]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.747919746]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.747970662]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.748061249]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.001319 seconds
[ WARN] [1537391586.748578369]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.748647653]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.748725040]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.748772393]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.749069926]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.749151712]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.751237862]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.751381949]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.751491603]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.003178 seconds
[ WARN] [1537391586.751816165]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.751874204]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.751946842]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1537391586.751992519]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1537391586.752113488]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000458 seconds
[ INFO] [1537391586.752507753]: Unable to solve the planning problem
Thanks,
Jose Luis Briceño
Asked by josebripe on 2018-09-18 20:09:43 UTC
Comments
Please post the full output of all your launches.
Asked by Geoff on 2018-09-18 20:31:29 UTC
I know this is pedantic, but it's also really important that this gets re-iterated: RViz is not a simulator. It's a visualisation tool.
Asked by gvdhoorn on 2018-09-19 01:29:55 UTC
That would seem to indicate that there is something more fundamentally wrong with your current setup.
Without the information @Geoff asks for, we cannot help you.
Asked by gvdhoorn on 2018-09-19 01:30:33 UTC
Full output of all the launches is updated in the post. Thanks
Asked by josebripe on 2018-09-19 16:29:22 UTC
I don't see you starting the
ur_modern_driveranywhere. That would be the cause oftest_move.pynot working.Asked by gvdhoorn on 2018-09-19 16:32:06 UTC
ur_modern_driver was previously runned in another terminal
Asked by josebripe on 2018-09-21 10:24:36 UTC
I have the exact same problem. Did you found a solution so fare?
i use: - Kinetic (virtual box) - UR3 robot - modern_driver
Maybe it is because of the virtual box?
Asked by Tim_ros_user on 2018-11-14 08:49:50 UTC
Is the
ur_modern_drivernode connected to the robots properly? Does MoveIt recognize it? Are there any error messages? Have you checked your network settings, especially if you are running in a VM?Asked by fvd on 2018-12-17 05:43:21 UTC