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MoveIt! benchmarking issue: Unable to solve the planning problem

asked 2021-08-31 04:27:48 -0600

Rahutam gravatar image

updated 2021-08-31 08:08:16 -0600

I am using Ubutnu 18 (Melodic) and am facing problems when trying to apply benchmarking to my ur10 robot. I follow the tutorial for benchmarking (http://docs.ros.org/en/melodic/api/mo...) only instead of panda, I use my ur10 robot. At the step 10 (roslaunch moveit_ros_benchmarks demo_ur10.launch) I get the following message in terminal:

NODES
  /
    mongo_wrapper_ros_matejg_MS_7B29_27981_5619968982974598340 (warehouse_ros_mongo/mongo_wrapper_ros.py)
    moveit_run_benchmark (moveit_ros_benchmarks/moveit_run_benchmark)

auto-starting new master
process[master]: started with pid [27994]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2b4ad742-0a37-11ec-b70e-309c23d5acfe
process[rosout-1]: started with pid [28005]
started core service [/rosout]
process[mongo_wrapper_ros_matejg_MS_7B29_27981_5619968982974598340-2]: started with pid [28012]
process[moveit_run_benchmark-3]: started with pid [28013]
[ INFO] [1630399261.818871263]: Benchmark host: 127.0.0.1
[ INFO] [1630399261.819346952]: Benchmark port: 33829
[ INFO] [1630399261.819358487]: Benchmark scene: Kitchen1
[ INFO] [1630399261.823262622]: Benchmark name: 'KitchenPick1'
[ INFO] [1630399261.823294675]: Benchmark #runs: 1
[ INFO] [1630399261.823310192]: Benchmark timeout: 150.000000 secs
[ INFO] [1630399261.823324869]: Benchmark group: manipulator
[ INFO] [1630399261.823335841]: Benchmark query regex: 'Pick2'
[ INFO] [1630399261.823351968]: Benchmark start state regex: 'Start1':
[ INFO] [1630399261.823363170]: Benchmark goal constraint regex: '':
[ INFO] [1630399261.823375343]: Benchmark path constraint regex: '':
[ INFO] [1630399261.823391534]: Benchmark goal offsets (0.000000 0.000000 0.000000, 0.000000 0.000000 0.000000)
[ INFO] [1630399261.823404065]: Benchmark output directory: /home/matejg/catkin_ws/tmp/moveit_benchmarks/

[ INFO] [1630399261.823438825]: Benchmark workspace: header: 
  seq: 0
  stamp: 0.000000000
  frame_id: 
min_corner: 
  x: 0
  y: 0
  z: 0
max_corner: 
  x: 0
  y: 0
  z: 0

[ INFO] [1630399261.823688348]: Reading in planner names for planning pipeline 'ompl'
[ INFO] [1630399261.823715802]:   [0]: BKPIECE1
[ INFO] [1630399261.823724896]:   [1]: PRM
[ INFO] [1630399261.823734058]:   [2]: LAZYPRM
[ INFO] [1630399261.823740555]:   [3]: EST
[ INFO] [1630399261.823744915]:   [4]: TRRT
[ INFO] [1630399261.823749185]:   [5]: STRIDE
[ INFO] [1630399261.823754741]:   [6]: APS
[ INFO] [1630399261.823760707]:   [7]: RRT
[ INFO] [1630399261.823765122]:   [8]: EST
[ INFO] [1630399261.823769876]:   [9]: SYCLOPEST
[ERROR] [1630399261.846538794]: Could not parse collision element for Link [robot_cell_link]
[ INFO] [1630399261.847227495]: Loading robot model 'ur10'...
[ WARN] [1630399261.847245566]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1630399261.847252631]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1630399261.847312309]: Link robot_cell_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ INFO] [1630399261.921285106]: Using planning interface 'OMPL'
[ INFO] [1630399261.923303666]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1630399261.923516589]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1630399261.923718151]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1630399261.923924608]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1630399261.924086620]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1630399261.924245251]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1630399261.924277087]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1630399261.924293950]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1630399261.924310974]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1630399261.924325584]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1630399261.924346216]: Using planning request ...
(more)
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answered 2021-09-02 03:30:26 -0600

Rahutam gravatar image

updated 2021-09-02 03:30:46 -0600

I fixed the problem by changing the port to 27017 in .yaml file. For some reason that solved it.

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Hi, how did you apply MoveIt benchmarking to your robot? I see that the tutorial only gives some examples of application on panda or fanuc.

mug gravatar image mug  ( 2022-01-13 03:11:17 -0600 )edit

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Asked: 2021-08-31 04:27:48 -0600

Seen: 31 times

Last updated: Sep 02 '21