Moveit perception error

asked 2018-12-26 10:07:43 -0500

akosodry
121 ●30 ●36 ●42

Hello ROS Community!

I am struggling with the configuration of the moveit perception capabilities. I have a robotic arm in Gazebo equipped with an libgazebo_ros_openni_kinect.so-based rgbd camera. I want to do collision avoided path planning from point A to point B based on the simulated point cloud data.

As it is given in the tutorial:

1) In the config folder i defined the following sensors_kinect_pointcloud.yaml:

sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /rgbd_camera/depth_registered/points
    max_range: 5.0
    point_subsample: 1
    padding_offset: 0.1
    padding_scale: 1.0
    max_update_rate: 1.0
    filtered_cloud_topic: filtered_cloud

2) I edited my robot_5s_moveit_sensor_manager.launch.xml file as:

<launch>
  <rosparam command="load" file="$(find robot_5s_moveit_config)/config/sensors_kinect_pointcloud.yaml" />
</launch>

3) My sensor_manager.launch.xml file looks as:

<launch>

  <!-- This file makes it easy to include the settings for sensor managers -->

  <!-- Params for the octomap monitor -->
  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
  <param name="octomap_resolution" type="double" value="0.025" />
  <param name="max_range" type="double" value="5.0" />

  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
  <arg name="moveit_sensor_manager" default="robot_5s" />
  <include file="$(find robot_5s_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />

</launch>

I have no idea why, but if i load the aforementioned sensors_kinect_pointcloud.yaml then suddenly nothing works.

I get the Fail: ABORTED: No motion plan found. No execution attempted. error message for those poses that are reachable.

These poses can be reached successfully without any problem if the sensors_kinect_pointcloud.yaml is not loaded.

/rgbd_camera/depth_registered/points topic is published correctly, and in RVIZ i see the correct octomap.

Any idea what could be the problem?

Thanks in advance.

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answered 2019-02-05 08:00:35 -0500

Apurva
36 ●2 ●3

updated 2019-02-05 08:07:56 -0500

I have only been in ROS for a few months myself.

uncomment this line:

<!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->

so it is like this:

<param name="octomap_frame" type="string" value="odom" />

I used the frame "odom" it can be "world" "map" depends on you. as for the point cloud topic in your .yaml file check your rviz for the proper topic(VERY IMPORTANT) in my case is was:

point_cloud_topic: /depth/points

This is mostly because i used a simlpified version of a kinect urdf.

after setting all of these configurations correct, if you try to display the pointcloud2 via the /move_group/filtered_cloud topic, and if this is still not showing anything. Check if you have the camera point cloud form the normal topic(ie. not the /move_group/filtered_cloud ) and if this is showing try to add this to your launch file:

<launch>    
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
</launch>

If this still does not work, check if you have a "static_transform" in your launch file, if not add that like this, I got my stuff working from this. These guys figured this out! Thank goodness! :)

Good luck!

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