Cannot Launch Universal Robot in RViz

asked 2019-11-11 08:04:48 -0600

therobotman gravatar image

I am trying to launch a UR10 in RViz, and when I launch this command:

roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true

I get the following error message:

[ERROR] [1573248244.342930024]: Robot model parameter not found! Did you remap 'robot_description'?
[ERROR] [1573248244.362488739]: Robot model not loaded
[ERROR] [1573248244.376630752]: Planning scene not configured
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Please show all commands you're using and tell us how you've installed things / have setup your workspace.

Be precise. Without precise information we cannot help you.

gvdhoorn gravatar image gvdhoorn  ( 2019-11-11 10:35:35 -0600 )edit

And pedantic (but perhaps also informative):

Cannot Launch Universal Robot in RViz

please understand that RViz is not a simulator or offline programming tool. You don't "load X robot into RViz". The only thing RViz does is visualise data streams. Those visualisations are affected by values of specific parameters. robot_description is one such parameter, which typically contains an textual description of the kinematic (and some dynamic) parameters of a robot model.

The error message you show seems to indicate that you haven't populated the robot_description parameter, so RViz cannot find it and therefore cannot visualise your robot model for you.

But it's very likely that you're not following the required startup sequence for all of this, hence the question to tell us about which commands you are using, and in which order.

gvdhoorn gravatar image gvdhoorn  ( 2019-11-11 10:38:34 -0600 )edit

I apologize for not providing this information. My goal is to "visualize" a UR robot doing a pick and place operation. I am assuming from your last post that it is best to do this in Gazebo then? If I am supposed to use Gazebo, what would be the best way to approach simulating a UR doing pick and place operations? I am relatively new to ROS so I apologize for the stupid questions!

To answer your question, I was able to get it working. My question is, I am getting an error under "Global Status: Warn" in the Fixed Frame, I am getting "No tf data. Actual error: Fixed Frame [world] does not exist". I was able to move the robot around initially, but now the globes off the flange of the robot are not displaying. Please see the link here for a screenshot of the issue: link text

therobotman gravatar image therobotman  ( 2019-11-11 16:11:48 -0600 )edit

Do you only want to visualise it (ie: kinematic play-out), or also simulate the dynamics (ie: interact with the environment, "really" pick something up)?

If the former: RViz could be used. If the latter: use a proper simulator (such as Gazebo, but V-REP or Webots would also be options).

If using a simulator: consider the simulator as a stand-in for real hw. Simulator plugins publish sensor data (ie: robot and world state), your code consumes that and publishes actuation messages. Simulator consumes those and 'makes things move'.

gvdhoorn gravatar image gvdhoorn  ( 2019-11-12 03:24:11 -0600 )edit

The latter. So if I am using gazebo, what is the best way to approach my task? I have tried launching gazebo but I can't seem to control the objects? Is it just the C++ files and you run everything in the gazebo environment?

therobotman gravatar image therobotman  ( 2019-11-12 10:30:58 -0600 )edit