Panda Robot ROS Melodic Setup

asked 2020-09-02 13:42:47 -0600

Abhinavgandhi09 gravatar image

updated 2020-09-02 13:44:34 -0600

Hi all,

I am setting up my labs Panda Robot with ROS Melodic. We previously had it working with ROS Kinetic. I have franka_ros, libfranka and move_it installed from source. I also have the panda_moveit_config cloned from the git repo and compiled in my ws.

When I try to run the following command: roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2 load_gripper:=false

I get the following error:

Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are chomp/OptimizerAdapter default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds

I have seen an issue on github that is related to this error but it did not help: https://github.com/ros-planning/movei...

Any suggestions on how to get the robot working?

Here is the entire console output incase I'm missing something:

roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2 load_gripper:=false ... logging to /home/pandarobot/.ros/log/19336d10-ed48-11ea-b6d3-6c2b59dc4ff6/roslaunch-pandarobot-25110.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://pandarobot:44733/

SUMMARY

PARAMETERS * /franka_control/arm_id: panda * /franka_control/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0... * /franka_control/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0... * /franka_control/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0... * /franka_control/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0... * /franka_control/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0... * /franka_control/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0... * /franka_control/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0... * /franka_control/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0... * /franka_control/cutoff_frequency: 100 * /franka_control/internal_controller: joint_impedance * /franka_control/joint_limit_warning_threshold: 0.1 * /franka_control/joint_names: ['panda_joint1', ... * /franka_control/rate_limiting: True * /franka_control/realtime_config: enforce * /franka_control/robot_ip: 172.16.0.2 * /franka_state_controller/arm_id: panda * /franka_state_controller/joint_names: ['panda_joint1', ... * /franka_state_controller/publish_rate: 30 * /franka_state_controller/type: franka_control/Fr... * /joint_state_desired_publisher/rate: 30 * /joint_state_desired_publisher/source_list: ['franka_state_co... * /joint_state_publisher/rate: 30 * /joint_state_publisher/source_list: ['franka_state_co... * /move_group/allow_trajectory_execution: True * /move_group/controller_list: [{'default': True... * /move_group/hand/planner_configs: ['SBLkConfigDefau... * /move_group/jiggle_fraction: 0.05 * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/moveit_controller_manager: moveit_simple_con... * /move_group/moveit_manage_controllers: True * /move_group/octomap_frame: camera_rgb_optica... * /move_group/octomap_resolution: 0.05 * /move_group/panda_arm/planner_configs: ['SBLkConfigDefau... * /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau... * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0 * /move_group ... (more)

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