Ask Your Question
0

rviz not launching with MoveIt config launch file

asked 2019-06-12 08:09:52 -0600

mt gravatar image

Hello,

System: Virtualbox VM Linux: Ubuntu 16.04 ROS: Kinetic

I am following the tutorials on using MoveIt with ROS. I have tried 2 tutorials both here and here.

The problem occurs in both tutorials after creating the MoveIt config file and attempting to launch it with roslaunch:

roslaunch myworkcell_moveit_config myworkcell_planning_execution.launch

The Rviz splashscreen shows up with the initialising status but does not progress from this. There is an error about the planner:

[ERROR] [1560344053.702727103]: Could not find the planner configuration 'None' on the param server

It even states in the terminal:

You can start planning now.

I am able to run rviz fine on its own with:

rosrun rviz rviz

The rest of the output in the terminal is as follows:

`

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/source_list: ['move_group/fake...
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'joints': ['joi...
 * /move_group/disable_capabilities: 
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/default_planner_config: None
 * /move_group/manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/manipulator/projection_evaluator: joints(joint_a1,j...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0 ...
(more)
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2019-06-12 11:15:08 -0600

mt gravatar image

updated 2019-06-12 12:52:45 -0600

gvdhoorn gravatar image

EDIT: Just found out that I had been running a roscore hidden behind the many terminal windows which was the culprit. The launch file for the MoveIt config launches its own master so there probably is a conflict there. Just tested with the original ompl_planning.yaml file and it ran fine although still gave the error could not find the planner configuration 'None' on the param server but that is probably a non-issue.

edit flag offensive delete link more

Comments

Which version of MoveIt are you using? Afaik this has been fixed quite some time ago, so either the MoveIt configuration is outdated, or the MoveIt version you are using.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-12 11:19:26 -0600 )edit

0.9.15. Apparently the latest version under kinetic when running the command apt install ros-kinetic-moveit

mt gravatar imagemt ( 2019-06-12 11:26:13 -0600 )edit

And where did you get the moveit configuration package?

gvdhoorn gravatar imagegvdhoorn ( 2019-06-12 11:26:46 -0600 )edit

Generated myself using the setup assistant as in the tutorials

mt gravatar imagemt ( 2019-06-12 11:43:09 -0600 )edit

Just updated answer above

mt gravatar imagemt ( 2019-06-12 12:04:54 -0600 )edit

So there was essentially no real problem then?

gvdhoorn gravatar imagegvdhoorn ( 2019-06-12 12:17:30 -0600 )edit

No. Just my oversight

mt gravatar imagemt ( 2019-06-12 12:18:36 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2019-06-12 08:09:52 -0600

Seen: 68 times

Last updated: Jun 12