moveit_commander.MoveGroupCommander() hangs [closed]

asked 2020-06-30 04:29:43 -0500

Eisenhorn gravatar image

Hello,

Creating an new instance with self.group = moveit_commander.MoveGroupCommander(self.move_group) hangs on one machine.

self.move_group = "arm" which existst. If set it to a nonexisting group the python script throws an exception.

If I use the dbugger to step through I can see that line 50 in move_group.py causes the hang:

-> self.group = moveit_commander.MoveGroupCommander(self.move_group)
(Pdb) s
--Call--
> /opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/move_group.py(50)__init__()
-> def __init__(self, name, robot_description="robot_description", ns=""):
(Pdb) s
> /opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/move_group.py(52)__init__()
-> self._g = _moveit_move_group_interface.MoveGroupInterface(name, robot_description, ns)
(Pdb) s

I have the following packages installed. Strangely this code works on another machine with the same packages but in version 1.0.2.

ii  ros-melodic-moveit                           1.0.4-1bionic.20200601.155249       amd64        Meta package that contains all essential package of MoveIt!.
ii  ros-melodic-moveit-commander                 1.0.4-1bionic.20200601.153046       amd64        Python interfaces to MoveIt
ii  ros-melodic-moveit-core                      1.0.4-1bionic.20200601.140746       amd64        Core libraries used by MoveIt!
ii  ros-melodic-moveit-fake-controller-manager   1.0.4-1bionic.20200601.145019       amd64        A fake controller manager plugin for MoveIt.
ii  ros-melodic-moveit-kinematics                1.0.4-1bionic.20200601.144820       amd64        Package for all inverse kinematics solvers in MoveIt!
ii  ros-melodic-moveit-msgs                      0.10.1-1bionic.20200530.103648      amd64        Messages, services and actions used by MoveIt
ii  ros-melodic-moveit-planners                  1.0.4-1bionic.20200601.153600       amd64        Metapacakge that installs all available planners for MoveIt
ii  ros-melodic-moveit-planners-chomp            1.0.4-1bionic.20200601.153132       amd64        The interface for using CHOMP within MoveIt!
ii  ros-melodic-moveit-planners-ompl             1.0.4-1bionic.20200601.145002       amd64        MoveIt! interface to OMPL
ii  ros-melodic-moveit-plugins                   1.0.4-1bionic.20200601.145940       amd64        Metapackage for MoveIt! plugins.
ii  ros-melodic-moveit-ros                       1.0.4-1bionic.20200601.154314       amd64        Components of MoveIt! that use ROS
ii  ros-melodic-moveit-ros-benchmarks            1.0.4-1bionic.20200601.150353       amd64        Enhanced tools for benchmarks in MoveIt!
ii  ros-melodic-moveit-ros-control-interface     1.0.4-1bionic.20200601.143547       amd64        ros_control controller manager interface for MoveIt!
ii  ros-melodic-moveit-ros-manipulation          1.0.4-1bionic.20200601.151101       amd64        Components of MoveIt! used for manipulation
ii  ros-melodic-moveit-ros-move-group            1.0.4-1bionic.20200601.145908       amd64        The move_group node for MoveIt
ii  ros-melodic-moveit-ros-occupancy-map-monitor 1.0.4-1bionic.20200601.142457       amd64        Components of MoveIt! connecting to occupancy map
ii  ros-melodic-moveit-ros-perception            1.0.4-1bionic.20200601.150601       amd64        Components of MoveIt! connecting to perception
ii  ros-melodic-moveit-ros-planning              1.0.4-1bionic.20200601.143149       amd64        Planning components of MoveIt! that use ROS
ii  ros-melodic-moveit-ros-planning-interface    1.0.4-1bionic.20200601.152153       amd64        Components of MoveIt! that offer simpler interfaces to planning and execution
ii  ros-melodic-moveit-ros-robot-interaction     1.0.4-1bionic.20200601.144830       amd64        Components of MoveIt! that offer interaction via interactive markers
ii  ros-melodic-moveit-ros-visualization         1.0.4-1bionic.20200601.153131       amd64        Components of MoveIt! that offer visualization
ii  ros-melodic-moveit-ros-warehouse             1.0.4-1bionic.20200601.145040       amd64        Components of MoveIt! connecting to MongoDB
ii  ros-melodic-moveit-runtime                   1.0.4-1bionic.20200601.153714       amd64        moveit_runtime meta package contains MoveIt! packages that are essential for its runtime (e.g.
ii  ros-melodic-moveit-setup-assistant           1.0.4-1bionic.20200601.154243       amd64        Generates a configuration package that makes it easy to use MoveIt!
ii  ros-melodic-moveit-simple-controller-manager 1.0.4-1bionic.20200601 ...
(more)
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Closed for the following reason the question is answered, right answer was accepted by Eisenhorn
close date 2020-07-02 07:49:22.584019

Comments

The root cause was that sim_time was set on the real robotic system.

Eisenhorn gravatar image Eisenhorn  ( 2020-07-02 07:48:41 -0500 )edit