MoveIt Panda benchmarking example "but frame 'panda_link0' was expected" error
I am using Ubuntu 18 ROS melodic and I'm following the benchmarking instructions under Example- section found on the MoveIt tutorial website (http://docs.ros.org/en/melodic/api/mo...).
I'm pretty sure I have installed all required packages (I have moved franka_ros-melodic-devel package into panda_moveit_config-melodic-devel one, as I couldn't execute Catkin_make command with the first package being in src folder of Catkin_WS, but I'm guessing that doesn't really matter).
The problem I get is when I get to the 10th line of the Example part of the tutorial (Run the benchmarks: roslaunch moveit_ros_benchmarks demo_panda.launch)
I get the following error message:
ERROR [1628499762.838983788]: Given transform is to frame 'world', but frame 'panda_link0' was expected. ERROR [1628499762.839061409]: Unable to transform from frame 'world' to frame 'panda_link0'. Returning identity. INFO [1628499762.839163426]: Benchmarking query 'Start1_Pick1' (1 of 1)
0% 10 20 30 40 50 60 70 80 90 100% |----|----|----|----|----|----|----|----|----|----| WARN [1628499762.839303444]: Cannot find planning configuration for group 'panda_arm' using planner 'BKPIECE1ConfigDefault'. Will use defaults instead. and later on:
WARN [1628499763.565132755]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ================================================================================REQUIRED process [moveit_run_benchmark-3] has died! process has finished cleanly log file: /home/matejg/.ros/log/8d8098aa-f8f0-11eb-be17-0800273aea75/moveit_run_benchmark-3*.log Initiating shutdown! ================================================================================
I also get a lot of repetitive warnings with suspiciously short time for the algorithm to find the solution:
INFO [1628499763.480664202]: SimpleSetup: Path simplification took 0.014556 seconds and changed from 3 to 2 states
*[ INFO] [1628499763.481642583]: RRTConnect: Starting planning with 1 states already in datastructure
INFO [1628499763.482190935]: RRTConnect: Created 4 states (2 start + 2 goal)
INFO [1628499763.482312180]: Solution found in 0.000684 seconds
WARN [1628499763.482420532]: Goal sampling thread never did any work.
When I change the port number in my demo1.yaml file from 27017 to 33829 (which is the default port when I click the connect button the Panda robot in the context tab of MotionPlanning section of moveit.rviz), i get a different error, as the program fails to even find the planning scenes and benchmark query data, although I also save the Kitchen1, Pick1 and Start1 information to port 33829 as well. I get the following error:
ERROR [1628501021.472529399]: Failed to find planning scene 'Kitchen1'
INFO [1628501021.472552901]: Loaded planning scene successfully
ERROR [1628501021.472560577]: Failed to load benchmark query data
ERROR [1628501021.472571067]: Failed to run all benchmarks
WARN [1628501021.491719544]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ================================================================================REQUIRED process [moveit_run_benchmark-3] has died! process has finished cleanly log file: /home/matejg/.ros/log/78b7f10e-f8f3-11eb-be17-0800273aea75/moveit_run_benchmark-3*.log Initiating shutdown! ================================================================================
(I eddited some [brackets] out of the Terminal messages as they wouldn't show if I ...
