get forward kinematics fail [closed]

edit

When using the get_fk.cpp and get_ik.cpp source code from this tutorial and am receiving a kinematics failed response in one terminal, and this daunting error message in the other.

[al5b_arm_kinematics-4] process has died [pid 1722, exit code -11, cmd /home/oliver/ros_workspace/Source/arm_navigation/arm_kinematics_constraint_aware/bin/arm_kinematics_constraint_aware __name:=al5b_arm_kinematics __log:=/home/oliver/.ros/log/e3db037a-ab39-11e1-add2-00242c4909b3/al5b_arm_kinematics-4.log].
log file: /home/oliver/.ros/log/e3db037a-ab39-11e1-add2-00242c4909b3/al5b_arm_kinematics-4*.log

EDIT: I seem to be publishing four links (two joint's connections), even though I've verified the urdf using

urdf_parser check_urdf <urdf_model>

gets

---------- Successfully Parsed XML ---------------
root Link: world has 1 child(ren)
    child(1):  shoulder_roll_link
        child(1):  shoulder_flex_link
            child(1):  upperarm_link
                child(1):  forearm_flex_link
                    child(1):  forearm_roll_link
                        child(1):  wrist_flex_link
                            child(1):  wrist_roll_link
                                child(1):  laser

and the planning components visualiser. But running

rosrun tf tf_monitor

I get two trees

->laser - wrist_roll_link ->world - shoulder_roll_link

the same as this pos

EDIT1: I'm not using the services above mentioned exactly from this tutorial - the requested services were altered to match the services created by the planning description component wizard ("/al5b_arm_kinematics/get_fk " etc. which are available - checked using rosservice list), sorry about that confusion.

The error does not occur anymore but now I am curious as to why, when I publish the topic /joint_states as a sensor_msgs/JointState (with all joints) the al5b_arm_navigation node gives me the warning

[ WARN] [1338564374.593596001]: Got joint state update but did not update some joints for more than 1 second.  Turn on DEBUG for more info
[ INFO] [1338564375.318709521]: Waiting for robot state ...
[ INFO] [1338564375.318775881]: Waiting for joint state ...
[ INFO] [1338564375.552888161]: Waiting for environment server planning scene registration service /register_planning_scene
[ INFO] [1338564375.554357401]: waitForService: Service [/register_planning_scene] has not been advertised, waiting...

and does not instantiate the above mentioned /al5b_arm_kinematics/ services, continuously.

but when I use the robot_state_publisher, which according to my previous post, does not correlate to the IK/FK described in the planning configuration wizard, the output is

[ INFO] [1338564645.890675001]: Successfully connected to planning scene action server for /al5b_arm_kinematics
[ INFO] [1338564646.191609841]: Successfully connected to planning scene action server for /ompl_planning
[ INFO] [1338564646.491904641]: Successfully connected to planning scene action server for /planning_scene_validity_server
[ INFO] [1338564647.294952841]: Successfully connected to planning scene action server for /trajectory_filter_server

The robot_state publisher shoulder just publish the currently Cartesian and Quaternion states of each link to tf from a robot description URDF and joint state, correct? Why is this allowing my al5b_arm_navigation to work rather than just publishing the states raw as a sensor_msgs/JointState?

EDIT2:The Forward kinematics still fails, which leads me to believe the tree is not complete...somewhere, but I've scoured all my launch files/nodes etc. and don't know where to look anymore. My urdf is located in a previous question here. Forward kinematics is essentially just a transform matrix from the "frame_id" to the target id, given the robot description (urdf) and joint states ("/joint_states" topic), which is why I previously posted regarding the discrepancy between my link description ... (more)