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moveit, the tutorial node motion_planning_api_tutorial.launch does not work

asked 2019-03-07 05:39:59 -0600

mag.rod gravatar image

updated 2019-03-07 08:19:04 -0600

gvdhoorn gravatar image

Use ROS KINETIC and follow the moveit tutorial with the panda robot. When I get to the Motion Planning API section roslaunch moveit_tutorials motion_planning_api_tutorial.launc and it does not work

[ INFO] [1551957988.227433232]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1551957988.228301045]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1551957993.252379843]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.15/planning_scene_monitor/src/planning_scene_monitor.cpp:498

Waiting to continue: Press 'next' in the RvizVisualToolsGui window to start the demo... continuing
[ERROR] [1551958010.698152718]: Found empty JointState message
[ INFO] [1551958010.698603620]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead.
[ WARN] [1551958010.698868104]: It looks like the planning volume was not specified.
[ WARN] [1551958010.699443559]: Returning dirty link transforms
[ WARN] [1551958010.699707379]: Returning dirty link transforms
[ WARN] [1551958010.700800471]: Returning dirty link transforms
[ WARN] [1551958010.700925252]: Returning dirty link transforms
[ INFO] [1551958010.702531413]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ WARN] [1551958010.704931847]: RRTConnect: Skipping invalid start state (invalid state)
[ERROR] [1551958010.705226085]: RRTConnect: Motion planning start tree could not be initialized!
[ INFO] [1551958010.705367614]: No solution found after 0.001233 seconds
[ WARN] [1551958010.712392455]: Goal sampling thread never did any work.
[ INFO] [1551958010.713125350]: Unable to solve the planning problem
[ERROR] [1551958010.713624272]: Could not compute plan successfully
[ WARN] [1551958010.731398605]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[motion_planning_api_tutorial-6] process has finished cleanly
log file: /home/miguel/.ros/log/d807cba8-40cb-11e9-b535-94e979ff4f93/motion_planning_api_tutorial-6*.log
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I'm also experiencing this same issue; logs are identical. I'm digging on it now, and I'll post an answer if I figure something out.

clawson gravatar image clawson  ( 2019-04-30 13:07:17 -0600 )edit

The first error ("Found empty JointState message") is addressed here. Seems like that one is just a holdover a change last summer, and basically indicates that somewhere the planner is trying to apply a zero diff configuration. Not a big deal.

clawson gravatar image clawson  ( 2019-04-30 13:30:48 -0600 )edit

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answered 2019-04-30 13:54:13 -0600

clawson gravatar image

updated 2019-04-30 14:15:38 -0600

After some digging, I found a patch for the melodic-devel branch that is applicable to kinetic-devel too. The merge request for that patch is here, and the relevant commit is 89f3257. From the command line, navigate to the moveit_tutorials package and run this command:

git checkout kinetic-devel
git cherry-pick 89f3257

You might need to resolve a few minor conflicts depending on the state of your working directory. It's probably a good idea to git stash your changes before your start. Once you get the patch applied, run catkin_make on your workspace and you should be good to go.

Note that after the patch you now need to run two launch scripts for this demo, in order:

roslaunch panda_moveit_config demo.launch
roslaunch moveit_tutorials motion_planning_api_tutorial.launch

I have created a pull request to officially backport this patch to the kinetic-devel branch.

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thank you very much for your help

mag.rod gravatar image mag.rod  ( 2019-05-02 06:44:13 -0600 )edit

Thanks a lot!

nf gravatar image nf  ( 2019-06-09 06:31:03 -0600 )edit

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Asked: 2019-03-07 05:39:59 -0600

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Last updated: Apr 30 '19