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Error When running tutorial on moveit

asked 2021-05-18 05:22:37 -0500

arno gravatar image

Hello,

I just install moveit for melodic from that tutorial: http://docs.ros.org/en/melodic/api/mo...

When I run the demo example, I get that error:

roslaunch panda_moveit_config demo.launch

Error:

[ INFO] [1621332924.648205185]: Loading robot model 'panda'...
[ INFO] [1621332925.050765019]: Loading robot model 'panda'...
[ERROR] [1621332925.103988618]: Group 'hand' is not a chain
[ERROR] [1621332925.104022297]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1621332925.104066937]: Kinematics solver could not be instantiated for joint group hand.

And then I want to run the move group tutorial:

roslaunch moveit_tutorials move_group_interface_tutorial.launch

And I get that error:

process[move_group_interface_tutorial-1]: started with pid [14504]
[ INFO] [1621332944.240649978]: Loading robot model 'panda'...
[ERROR] [1621332944.313543425]: Group 'hand' is not a chain
[ERROR] [1621332944.313574409]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1621332944.313611102]: Kinematics solver could not be instantiated for joint group hand.

I see the robot arm in Rviz but I can't interact with rviz gui. What did I made wrong?

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Comments

1

could not be initialized for group 'hand'

I think you have to check your group it should be set to arm, not hand. Over here the word hand means that you are solving the kinematics of your gripper, not your panda arm.

In short, change the planning group to panda arm instead of hand. I think t this may be the issue if is not working feel free to drop a comment.

Ranjit Kathiriya gravatar image Ranjit Kathiriya  ( 2021-05-18 18:14:37 -0500 )edit

Ok thank you, it works properly now

arno gravatar image arno  ( 2021-05-19 14:34:02 -0500 )edit
1

Could you make that a response @Ranjit?

fvd gravatar image fvd  ( 2021-05-20 01:26:25 -0500 )edit
1

Thanks! @fvd. I have to repost to answer as I did right?

Ranjit Kathiriya gravatar image Ranjit Kathiriya  ( 2021-05-20 02:38:35 -0500 )edit

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answered 2021-05-20 02:35:46 -0500

Ranjit Kathiriya gravatar image

could not be initialized for group 'hand'

I think you have to check your group it should be set to arm, not hand. Over here the word hand means that you are solving the kinematics of your gripper, not your panda arm.

In short, change the planning group to panda arm instead of hand. I think t this may be the issue if is not working feel free to drop a comment.

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Asked: 2021-05-18 05:22:37 -0500

Seen: 236 times

Last updated: May 20 '21