How can I execute a planned trajectory in rviz again?
I tried executing a successfully planned trajectory several more time using
namespace rvt = rviz_visual_tools;
moveit_visual_tools::MoveItVisualTools visual_tools("base_link");
visual_tools.deleteAllMarkers();
visual_tools.loadRemoteControl();
moveit::planning_interface::MoveGroupInterface move_group("manipulator");
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group, static_cast<rviz_visual_tools::colors(0));
visual_tools.trigger();
visual_tools.prompt("Press next to execute the trajectory again in rviz!");
move_group.execute(my_plan);
visual_tools.trigger();
sleep(3.0);
My launch file is
<launch>
<arg name="db" default="false" />
<arg name="debug" default="false" />
<arg name="limited" default="false"/>
<include file="$(find ur10_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="limited" value="$(arg limited)"/>
</include>
<node
pkg="tf"
type="static_transform_publisher"
name="base_link_2_fake_world_static"
args="0 0 0.8636 3.14159265358 0 0 /fake_world /base_link 30"/>
<!-- I do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="true"/>
<!-- listen to the my current joint angles topic published-->
<rosparam param="source_list">["/my_current_joint_states"]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find ur10_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find ur10_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<include file="$(find ur10_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"/>
</launch>
but the robot (ur10) doesn't move in rviz for the second time (after planning and execution for the first time), although in the terminal it says:
Fake execution of trajectory Completed trajectory execution with status SUCCEEDED ...
I would appreciate any tips on this?
thanks
I have followed this tutorial.
I'm using: ROS_VERSION=1 ROS_DISTRO=kinetic Robot type (using move it config)= UR10 and Ubuntu 16.04 LTS
you didn't execute you trajectory at the first time, you only planned. but then yes - trajectory was executed. Are you using default ur10 launch file? if so, did you set param simulation to true?
I see, you are following a tutorial. Well, the code above is ok, there are no mistakes. Show me your launch file to run the rviz simulation
I just added my launch file. when I do the plan it will execute it and I can see the motion, but I wanted to do it for a second time further down in my code.
try setting fake execution to false
I will try myself the tutorial a bit later
thanks, I set the fake execution to false in the launch file but now it's looking for controllers, saying
I have a fake controller in the ur10 config folder
I see that wasn't a good advice for me. so fake execution is actually robot simulation.
well, every thing seems right to me. Does planning execution works in the rviz? I mean if you do planning in rviz moveit interface?
Hi, sorry for delay in getting back. I tried planning in rviz that is followed by execution. but the second time execution still doesn't work although in terminal it says Execution completed: SUCCEEDED
as an alternative to execution, would you suggest how to load the trajectory slider with a previously planned trajectory (play an old plan again) using the GUI even after planning a new one? to compare the two (old vs new plan)!