Staubli TX 90 Robot model not loading in Rviz

edit

Hello,

The problem is, that with some point sets the robot model is loaded and can compete 100% of the path, and with some point sets the robot model is not loaded regardless of how much of the path was completed (sometimes even 100% path).

Edit2: I am using moveit's move_group interface to compute cartesian path. I am using stabli_experimental's staubli_val3_driver package to stream the Joint Trajectory message to the live robot, The MATLAB code is ran on another machine, which outputs a .csv file with the points to be followed. I receive a translation and rotation file from someone else (the points set) and input that into my program.

Edit 3: So i have figured out the problem, and the problem was that I was using staubli-experimental's kinetic package, instead of the indigo package. This caused an error in the generation of the moveit_setup_assistant moveit_config files.

Edit 4: I thought the above would solve the problem, but I am still getting the same "no robot state or model" loaded error. One thing I did notice is that when the .cpp file that computes and publishes the path (node) dies while rviz is running (i.e. vector out of bounds error), the "no robot model loaded" error does not show. I think there may be something wrong with the way I am publishing the path to rviz? In the moveit tutorial there was no explicit publishing from the cpp node to the rviz node, so I assumed I would not have to do this.

I ran the regular indigo moveit move group interface tutorials.cpp file, which did not produce the "no robot model loaded" problem.

How would I go about this? This problem does not occur when I just run the demo.launch file.

I assume theres a problem with the way I set up or do things with moveit in my cpp code, so I have provided that below:

    ros::init(argc, argv, "pub_wp");
    ros::NodeHandle nh;

    ros::AsyncSpinner spinner(1);
    spinner.start();

    ros::Publisher pub = nh.advertise<PointCloud>("points2", 1);
    ros::Publisher joint_pub = nh.advertise<trajectory_msgs::JointTrajectory>("/joint_path_command", 1);
    ros::Publisher nav_pub = nh.advertise<nav_msgs::Path>("/path_marker", 1);
    ros::Publisher markerA_pub = nh.advertise<visualization_msgs::MarkerArray>("/array_marker", 1);
    ros::Publisher marker_pub = nh.advertise<visualization_msgs::Marker>("/arrow_marker", 1);
    ros::Subscriber joint_sub = nh.subscribe<sensor_msgs::JointState>("/joint_states", 1, jointStateCallback);
    moveit_msgs::RobotTrajectory trajectory;
    double fraction = group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory);
    sleep(5.0);

    trajectory_msgs::JointTrajectory JT = trajectory.joint_trajectory;
    while (end == false)
    {

        pub.publish(cloud);
        nav_pub.publish(pathx);
        marker_pub.publish(mark);
        // if(JT.points.size() != 0)
        // {

        sleep(5.0);
        end = true;
        // }
        // loop_rate.sleep(30);
    }
    end = false;
    while (end != true)
    {
        joint_pub.publish(JT);
        sleep(5.0);
        end = true;
    }
    ros::shutdown();

    return 0;
}