Moveit's joystick control tutorial does not work

asked 2020-01-27 07:29:20 -0600

argargreg gravatar image

updated 2020-01-27 13:11:25 -0600

Hi,

I have followed this tutorial to add control over my end effector's pose in RViz using a wired Xbox360 controller. I had to follow these Xbox360 driver installation instructions and run "sudo xboxdrv" in another terminal to make the launch file work.

In the terminal running xboxdrv, I can see the values changing when I operate the controller, however rostopic joy_pose remains silent and RViz does not show anything, even after adding "Pose" to the tree view.

The terminal running joystick_control says it's waiting for goal_hand. What does that mean?

usr@legion:~$ roslaunch simple6dofarm_config joystick_control.launch robot_description:="/robot_description"
... logging to /home/usr/.ros/log/f059545e-4135-11ea-8774-57c74a526de0/roslaunch-legion-2686.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://legion:38463/

SUMMARY
========

PARAMETERS
 * /joy/autorepeat_rate: 40
 * /joy/coalesce_interval: 0.025
 * /joy/deadzone: 0.2
 * /joy/dev: /dev/input/js0
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /
    joy (joy/joy_node)
    moveit_joy (moveit_ros_visualization/moveit_joy.py)

ROS_MASTER_URI=http://localhost:11311

process[joy-1]: started with pid [2701]
process[moveit_joy-2]: started with pid [2702]
[ERROR] [1580151143.930259718]: Couldn't open joystick force feedback!
[ INFO] [1580151144.905146302]: Loading robot model 'simple6dof'...
[ WARN] [1580151145.029145956]: No kinematics plugins defined. Fill and load kinematics.yaml!
arm ['/rviz/moveit/move_marker/goal_hand']
[INFO] [1580151145.063446]: Changed planning group to arm
[INFO] [1580151145.072662]: Changed controlled end effector to hand
[INFO] [1580151145.164243]: Changed planning group to arm
[INFO] [1580151145.167173]: Waiting for pose topic of 'goal_hand' to be initialized
[INFO] [1580151146.173877]: Waiting for pose topic of 'goal_hand' to be initialized
[WARN] [1580151147.177464]: Unable to initialize planning group arm. Trying different group.
[WARN] [1580151147.180333]: Is 'Allow External Comm.' enabled in Rviz? Is the 'Query Goal State' robot enabled?

Here is my Moveit package.

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