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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Comments

It looks like your controller is not publishing its data correctly. Is it connected correctly and recognized? Do you have access to the controller? If you need to use sudo xboxdrv, it looks like your user may not have the rights to the controller.

fvd gravatar image fvd  ( 2020-02-26 21:26:27 -0600 )edit