"Error:Joint 'virtual_joint' not found in model" when trying MoveIt's MoveGroup go_to_pose_goal function

asked 2020-09-24 08:54:08 -0500

jurp20 gravatar image

updated 2020-09-28 05:34:41 -0500

I am running Ubuntu 18.04 with ROS melodic with MoveIt and Gazebo. Everything starts up and I can control my robot arm from Rviz and it will simulate the movement in Gazebo but when I try to move the arm by inputing coordinates through Moveit with the function called go_to_goal in the move_group_python_interface_tutorial.py

I get the following error output:

----------------------------------------------------------
Welcome to the MoveIt MoveGroup Python Interface Tutorial
----------------------------------------------------------
Press Ctrl-D to exit at any time

[ INFO] [1600951018.352263608]: Loading robot model 'jurp1'...
[ WARN] [1600951018.354061978]: Skipping virtual joint 'virtual_joint' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1600951018.354118113]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ERROR] [1600951018.391165040]: Joint 'virtual_joint' not found in model 'jurp1'
[ INFO] [1600951018.402475308]: Using empty link_prefix.
[ INFO] [1600951019.606275842, 18219.426000000]: Ready to take commands for planning group jurp1_arm.
============ Planning frame: world
============ End effector link: Elbow_Link
============ Available Planning Groups: ['hand', 'jurp1_arm']
============ Printing robot state
joint_state: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs:         0
    frame_id: "world"
  name: [Shoulder_Joint, Transverse_Joint, Elbow_Joint]
  position: [-0.04012838801582408, -6.249988411834226, -0.11011923930278034]
  velocity: []
  effort: []
multi_dof_joint_state: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs:         0
    frame_id: "world"
  joint_names: []
  transforms: []
  twist: []
  wrench: []
attached_collision_objects: []
is_diff: False

How do I solve this?

I imagine it has something to do with this known issue: https://github.com/ros-industrial/uni... But this problem from what I understand has been solved with the newer versions of ROS. I downloaded my version of ROS Melodic a couple of weeks ago.

edit retag flag offensive close merge delete