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How to correctly configure MoveIt! for each workspace?

asked 2021-06-07 23:21:22 -0500

Speedracer1702 gravatar image

updated 2021-06-08 14:23:41 -0500

I'm currently learning MoveIt and was trying to understand how to setup up my workspaces. I was wondering if MoveIt is installed system-wide or do I have to include it in every workspace I build?

I installed MoveIt using the getting started tutorial: https://ros-planning.github.io/moveit...

I created a workspace manually (https://drive.google.com/drive/folder...), added robot URDFs from different sources, and tried to create configuration files using MoveIt but was unsuccessful. I was only able to load the rrbot urdf provided in the tutorials and for that too I could not set the default joint poses in the setup assistant.

This is the error I get when I try to adjust poses for the rrbot -

Unable to set pose for rrbot

This is the error I get when I try to include urdfs for other robots (BMDA3 Robot from https://github.com/ros-industrial/mot...) (nothing happens when I try to click 'Show Default Pose', 'MoveIt', 'Edit Selected' or 'Add Pose') -

Error while loading Motoman BMDA3 URDF file

My setup is Ubuntu 20.04 with ROS Noetic.

Any help/advice/suggestion is greatly appreciated!

The error log associated with trying to seutp BMDA3 robot is as follows -

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.

started roslaunch server http://OR-LIN-9WG:41151/

SUMMARY

PARAMETERS * /rosdistro: noetic * /rosversion: 1.15.11

NODES / moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant)

auto-starting new master process[master]: started with pid [66874] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5eba220a-c80f-11eb-87f1-8312c45d788f process[rosout-1]: started with pid [66884] started core service [/rosout] process[moveit_setup_assistant-2]: started with pid [66887] [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error: package 'motoman_bmda3_support' not found [rospack] Error ... (more)

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Hello @Speedracer1702,

I have given you enough karma, now you can post images. Can you please! reupload images by pressing edit button below your question.

Ranjit gravatar image Ranjit  ( 2021-06-08 08:02:58 -0500 )edit

@Ranjit, thank you! I have included the images but it would not allow me to attach the error log (I think it only accepts image files, even for attachments). The google drive link should work however, let me know if there are any issues with that.

Speedracer1702 gravatar image Speedracer1702  ( 2021-06-08 10:01:30 -0500 )edit

For that, you have to copy your text and directly add it over here and make the formate to code by pressing the button near to the image.

Ranjit gravatar image Ranjit  ( 2021-06-08 10:13:04 -0500 )edit

I thought about doing that but the log is really long (387 lines).

Speedracer1702 gravatar image Speedracer1702  ( 2021-06-08 10:21:21 -0500 )edit

It's okay you can post it.

Ranjit gravatar image Ranjit  ( 2021-06-08 10:22:56 -0500 )edit

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answered 2021-06-09 12:58:08 -0500

AndyZe gravatar image

The tutorial has you install MoveIt from source. That means, it is local to that workspace. When you source that workspace (source /../../my_workspace/devel/setup.bash), the MoveIt version in there takes precedence over anything else. It should be able to locate any debians you have installed but it won't be aware of packages in other workspaces. (Unless you are using overlayed workspaces, which seems unlikely.)

You can also install the MoveIt debians (sudo apt install ros-melodic-moveit*). If you do not have MoveIt cloned into your current workspace, then the debian version will be used.

I don't know what to say about the "package not found" errors except it seems like your workspace is not sourced correctly. Did you build this Motoman stuff from source or install a debian with sudo apt ...?

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I downloaded the motoman robot files from their git repo and then built my workspace. I believe I skipped sourcing the workspace (I feel stupid SMH). Everything works now! Thanks for pointing that out. Also, I installed the debian file and now it defaults to the system-wide installation folder (/opt/ros/noetic/share/moveit).

Speedracer1702 gravatar image Speedracer1702  ( 2021-06-09 15:26:03 -0500 )edit

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Asked: 2021-06-07 23:21:22 -0500

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Last updated: Jun 09